初始化提交

2024-07-20 22:09:06 +08:00
commit c247dd07a6
6876 changed files with 2743096 additions and 0 deletions
--- a/arduino-cli/libraries/Adafruit_PWM_Servo_Driver_Library/Adafruit_PWMServoDriver.h
+++ b/arduino-cli/libraries/Adafruit_PWM_Servo_Driver_Library/Adafruit_PWMServoDriver.h
@@ -0,0 +1,105 @@
+/*!
+ *  @file Adafruit_PWMServoDriver.h
+ *
+ *  This is a library for our Adafruit 16-channel PWM & Servo driver.
+ *
+ *  Designed specifically to work with the Adafruit 16-channel PWM & Servo
+ * driver.
+ *
+ *  Pick one up today in the adafruit shop!
+ *  ------> https://www.adafruit.com/product/815
+ *
+ *  These driver use I2C to communicate, 2 pins are required to interface.
+ *  For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4.
+ *
+ *  Adafruit invests time and resources providing this open source code,
+ *  please support Adafruit andopen-source hardware by purchasing products
+ *  from Adafruit!
+ *
+ *  Limor Fried/Ladyada (Adafruit Industries).
+ *
+ *  BSD license, all text above must be included in any redistribution
+ */
+#ifndef _ADAFRUIT_PWMServoDriver_H
+#define _ADAFRUIT_PWMServoDriver_H
+
+#include <Arduino.h>
+#include <Wire.h>
+
+// REGISTER ADDRESSES
+#define PCA9685_MODE1 0x00      /**< Mode Register 1 */
+#define PCA9685_MODE2 0x01      /**< Mode Register 2 */
+#define PCA9685_SUBADR1 0x02    /**< I2C-bus subaddress 1 */
+#define PCA9685_SUBADR2 0x03    /**< I2C-bus subaddress 2 */
+#define PCA9685_SUBADR3 0x04    /**< I2C-bus subaddress 3 */
+#define PCA9685_ALLCALLADR 0x05 /**< LED All Call I2C-bus address */
+#define PCA9685_LED0_ON_L 0x06  /**< LED0 on tick, low byte*/
+#define PCA9685_LED0_ON_H 0x07  /**< LED0 on tick, high byte*/
+#define PCA9685_LED0_OFF_L 0x08 /**< LED0 off tick, low byte */
+#define PCA9685_LED0_OFF_H 0x09 /**< LED0 off tick, high byte */
+// etc all 16:  LED15_OFF_H 0x45
+#define PCA9685_ALLLED_ON_L 0xFA  /**< load all the LEDn_ON registers, low */
+#define PCA9685_ALLLED_ON_H 0xFB  /**< load all the LEDn_ON registers, high */
+#define PCA9685_ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, low */
+#define PCA9685_ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers,high */
+#define PCA9685_PRESCALE 0xFE     /**< Prescaler for PWM output frequency */
+#define PCA9685_TESTMODE 0xFF     /**< defines the test mode to be entered */
+
+// MODE1 bits
+#define MODE1_ALLCAL 0x01  /**< respond to LED All Call I2C-bus address */
+#define MODE1_SUB3 0x02    /**< respond to I2C-bus subaddress 3 */
+#define MODE1_SUB2 0x04    /**< respond to I2C-bus subaddress 2 */
+#define MODE1_SUB1 0x08    /**< respond to I2C-bus subaddress 1 */
+#define MODE1_SLEEP 0x10   /**< Low power mode. Oscillator off */
+#define MODE1_AI 0x20      /**< Auto-Increment enabled */
+#define MODE1_EXTCLK 0x40  /**< Use EXTCLK pin clock */
+#define MODE1_RESTART 0x80 /**< Restart enabled */
+// MODE2 bits
+#define MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
+#define MODE2_OUTNE_1                                                          \
+  0x02 /**< Active LOW output enable input - high impedience */
+#define MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
+#define MODE2_OCH 0x08    /**< Outputs change on ACK vs STOP */
+#define MODE2_INVRT 0x10  /**< Output logic state inverted */
+
+#define PCA9685_I2C_ADDRESS 0x40      /**< Default PCA9685 I2C Slave Address */
+#define FREQUENCY_OSCILLATOR 25000000 /**< Int. osc. frequency in datasheet */
+
+#define PCA9685_PRESCALE_MIN 3   /**< minimum prescale value */
+#define PCA9685_PRESCALE_MAX 255 /**< maximum prescale value */
+
+/*!
+ *  @brief  Class that stores state and functions for interacting with PCA9685
+ * PWM chip
+ */
+class Adafruit_PWMServoDriver {
+public:
+  Adafruit_PWMServoDriver();
+  Adafruit_PWMServoDriver(const uint8_t addr);
+  Adafruit_PWMServoDriver(const uint8_t addr, TwoWire &i2c);
+  void begin(uint8_t prescale = 0);
+  void reset();
+  void sleep();
+  void wakeup();
+  void setExtClk(uint8_t prescale);
+  void setPWMFreq(float freq);
+  void setOutputMode(bool totempole);
+  uint8_t getPWM(uint8_t num);
+  void setPWM(uint8_t num, uint16_t on, uint16_t off);
+  void setPin(uint8_t num, uint16_t val, bool invert = false);
+  uint8_t readPrescale(void);
+  void writeMicroseconds(uint8_t num, uint16_t Microseconds);
+
+  void setOscillatorFrequency(uint32_t freq);
+  uint32_t getOscillatorFrequency(void);
+
+private:
+  uint8_t _i2caddr;
+  TwoWire *_i2c;
+
+  uint32_t _oscillator_freq;
+  uint8_t read8(uint8_t addr);
+  void write8(uint8_t addr, uint8_t d);
+};
+
+#endif