feat: 全量同步 254 个常用的 Arduino 扩展库文件

arduino-libs/arduino-cli/libraries/QDP16PWM/QDP16PWM.cpp

@@ -0,0 +1,166 @@
+
+#include "QDP16PWM.h"
+#include <Wire.h>
+
+
+QDP16PWM::QDP16PWM(uint8_t addr) {
+  _i2caddr = addr;
+
+#if defined(ARDUINO_SAM_DUE)
+  _i2c = &Wire1;
+#else
+  _i2c = &Wire;
+#endif
+}
+
+
+QDP16PWM::QDP16PWM(TwoWire *i2c, uint8_t addr) {
+  _i2c = i2c;
+  _i2caddr = addr;
+}
+
+
+void QDP16PWM::begin(void) {
+  _i2c->begin();
+  reset();
+  setPWMFreq(50);
+}
+
+
+void QDP16PWM::reset(void) {
+  write8(PCA9685_MODE1, 0x80);
+  delay(10);
+}
+
+void QDP16PWM::setPWMFreq(float freq) {
+#ifdef ENABLE_DEBUG_OUTPUT
+  Serial.print("Attempting to set freq ");
+  Serial.println(freq);
+#endif
+
+  freq *= 0.9;
+  float prescaleval = 25000000;
+  prescaleval /= 4096;
+  prescaleval /= freq;
+  prescaleval -= 1;
+
+#ifdef ENABLE_DEBUG_OUTPUT
+  Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
+#endif
+
+  uint8_t prescale = floor(prescaleval + 0.5);
+#ifdef ENABLE_DEBUG_OUTPUT
+  Serial.print("Final pre-scale: "); Serial.println(prescale);
+#endif
+
+  uint8_t oldmode = read8(PCA9685_MODE1);
+  uint8_t newmode = (oldmode & 0x7F) | 0x10;
+  write8(PCA9685_MODE1, newmode);
+  write8(PCA9685_PRESCALE, prescale);
+  write8(PCA9685_MODE1, oldmode);
+  delay(5);
+  write8(PCA9685_MODE1, oldmode | 0xa0);
+
+#ifdef ENABLE_DEBUG_OUTPUT
+  Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
+#endif
+}
+void QDP16PWM::set_180(uint16_t _min,uint16_t _max){
+min = _min;
+max = _max;
+
+}
+void QDP16PWM::setDegree1(uint8_t num, uint8_t degree) {
+  degree = constrain(degree, 0, 180);
+  uint16_t pulselen = map(degree, 0, 180, min, max);//110?490
+ //Serial.println(pulselen);
+ 
+  if (degree<0){ 
+    setPWM(num, 4096, 0);//停止输出的特殊指令
+  }else{
+    setPWM(num, 0, pulselen);
+  }
+}
+
+void QDP16PWM::set_360(uint16_t _S_param,uint16_t _CW_L_param,uint16_t _CW_H_param,uint16_t _CCW_L_param,uint16_t _CCW_H_param ){
+  S_param = _S_param;
+  CW_L_param = _CW_L_param;
+  CW_H_param = _CW_H_param;
+  CCW_L_param = _CCW_L_param;
+  CCW_H_param = _CCW_H_param ;
+
+}
+void QDP16PWM::setDegree2(uint8_t num, bool dir, uint8_t speed) {
+  uint16_t pulselen = 0;
+  speed = constrain(speed, 0, 10);
+  if (speed == 0) {
+    pulselen = S_param;//停止285?
+  }
+  else if (dir) {
+    pulselen = map(speed, 1, 10, CW_L_param, CW_H_param);//正转 220-80
+  }
+  else {
+    pulselen = map(speed, 1, 10, CCW_L_param, CCW_H_param);//反转320-470?
+  }
+  setPWM(num, 0, pulselen);
+
+}
+void QDP16PWM::setPWM(uint8_t num, uint16_t on, uint16_t off) {
+#ifdef ENABLE_DEBUG_OUTPUT
+  Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
+#endif
+
+  _i2c->beginTransmission(_i2caddr);
+  _i2c->write(LED0_ON_L + 4 * num);
+  _i2c->write(on);
+  _i2c->write(on >> 8);
+  _i2c->write(off);
+  _i2c->write(off >> 8);
+  _i2c->endTransmission();
+}
+
+
+void QDP16PWM::setPin(uint8_t num, uint16_t val, bool invert)
+{
+  // Clamp value between 0 and 4095 inclusive.
+  //val = min(val, (uint16_t)4095);
+  if (invert) {
+    if (val == 0) {
+      setPWM(num, 4096, 0);
+    }
+    else if (val == 4095) {
+      setPWM(num, 0, 4096);
+    }
+    else {
+      setPWM(num, 0, 4095 - val);
+    }
+  }
+  else {
+    if (val == 4095) {
+      setPWM(num, 4096, 0);
+    }
+    else if (val == 0) {
+      setPWM(num, 0, 4096);
+    }
+    else {
+      setPWM(num, 0, val);
+    }
+  }
+}
+
+
+uint8_t QDP16PWM::read8(uint8_t addr) {
+  _i2c->beginTransmission(_i2caddr);
+  _i2c->write(addr);
+  _i2c->endTransmission();
+
+  _i2c->requestFrom((uint8_t)_i2caddr, (uint8_t)1);
+  return _i2c->read();
+}
+
+void QDP16PWM::write8(uint8_t addr, uint8_t d) {
+  _i2c->beginTransmission(_i2caddr);
+  _i2c->write(addr);
+  _i2c->write(d);
+  _i2c->endTransmission();
+}

arduino-libs/arduino-cli/libraries/QDP16PWM/QDP16PWM.h

@@ -0,0 +1,54 @@
+
+
+#ifndef _QDP16PWM_H
+#define _QDP16PWM_H
+
+#if ARDUINO >= 100
+ #include <Arduino.h>
+#else
+ #include <WProgram.h>
+#endif
+#include <Wire.h>
+
+#define PCA9685_SUBADR1 0x2
+#define PCA9685_SUBADR2 0x3
+#define PCA9685_SUBADR3 0x4
+
+#define PCA9685_MODE1 0x0
+#define PCA9685_PRESCALE 0xFE
+
+#define LED0_ON_L 0x6
+#define LED0_ON_H 0x7
+#define LED0_OFF_L 0x8
+#define LED0_OFF_H 0x9
+
+#define ALLLED_ON_L 0xFA
+#define ALLLED_ON_H 0xFB
+#define ALLLED_OFF_L 0xFC
+#define ALLLED_OFF_H 0xFD
+
+
+class QDP16PWM {
+ public:
+  QDP16PWM(uint8_t addr = 0x40);
+  QDP16PWM(TwoWire *I2C, uint8_t addr = 0x40);
+  void begin(void);
+  void reset(void);
+  void setPWMFreq(float freq);
+  void setPWM(uint8_t num, uint16_t on, uint16_t off);
+  void set_180(uint16_t _min,uint16_t _max);
+  void setDegree1(uint8_t num,uint8_t degree);
+  void set_360(uint16_t _S_param,uint16_t _CW_L_param,uint16_t _CW_H_param,uint16_t _CCW_L_param,uint16_t _CCW_H_param );
+  void setDegree2(uint8_t num, bool dir, uint8_t speed);
+  void setPin(uint8_t num, uint16_t val, bool invert=false);
+
+ private:
+  uint8_t _i2caddr;
+  uint16_t min, max,S_param, CW_L_param, CW_H_param, CCW_L_param, CCW_H_param ;
+  TwoWire *_i2c;
+
+  uint8_t read8(uint8_t addr);
+  void write8(uint8_t addr, uint8_t d);
+};
+
+#endif