Sipeed Maixシリーズ用 PWMコントローラPCA9685デモプログラム

#
#     このライブラリが必要です
#     https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
#
#include <Arduino.h>
#include <Adafruit_PWMServoDriver.h>


uint8_t DEVICE_ADDRESS_PCA9685 = 0x40;


Adafruit_PWMServoDriver       pca9685_01;

uint8_t _i2caddr = DEVICE_ADDRESS_PCA9685;
TwoWire *_i2c;
int32_t set_duty(int32_t index, int32_t value_1, int32_t invert);
int32_t getPWM(int32_t index, int32_t *result1, int32_t *result2);
int32_t get_duty(int32_t index, int32_t invert);

double func01(int num);

void setup() {
    Serial.begin(115200);
    _i2c = &Wire;
    _i2c->begin((uint8_t) SDA, (uint8_t) SCL, 400000);
    pca9685_01 = Adafruit_PWMServoDriver(_i2caddr, *_i2c);
    pca9685_01.reset();
    pca9685_01.setPWMFreq(250);
    pca9685_01.setOscillatorFrequency(FREQUENCY_OSCILLATOR);
}

void loop() {
    int val01;
    double f01;

    for (int k = 0; k < 8; k++) {
        for (int j = 0; j < 160; j+=10) {
            for (int i = 0; i < 16; i++) {
                f01 = func01(int(320.0 / 16.0 * i + j));
                val01 = int(f01 * 4095.0);
                val01 = 4095 - val01;
                set_duty(i, val01, 0);
            }
            delay(100);
        }
    }
    val01 = 4095;
    for (int i = 0; i < 16; i++) {
        set_duty(i, val01, 0);
    }
    delay(500);

    val01 = 0;
    for (int i = 0; i < 16; i++) {
        set_duty(i, val01, 0);
    }
    delay(1000);

    val01 = 4095;
    for (int i = 0; i < 16; i++) {
        set_duty(i, val01, 0);
    }
    delay(1000);

    val01 = 0;
    for (int i = 0; i < 16; i++) {
        set_duty(i, val01, 0);
    }
    delay(1000);

    val01 = 4095;
    for (int i = 0; i < 16; i++) {
        set_duty(i, val01, 0);
    }
    delay(1000);
}

double func01(int num) {
    double a01, a02;
    a01 = num % 160;
    if (a01 < 80.0) a02 = (1.0 / 80.0 * a01);
    else            a02 = (1.0 / 80.0 * (160.0 - a01));
    return a02 * a02 * a02;
}

int32_t set_duty(int32_t index, int32_t value_1, int32_t invert) {
    int32_t value;
    value = value_1;

    if ((value < 0) | (value > 4095)) {
        return 1;
    }
    if ((int)invert != 0) {
        value = 4095 - value;
    }
    if (value == 0) {
        pca9685_01.setPWM(index, 0, 4096);
    } else if (value == 4095) {
        pca9685_01.setPWM(index, 4096, 0);
    } else {
        pca9685_01.setPWM(index, 0, value);
    }
    return 0;
}

int32_t getPWM(int32_t index, int32_t *result1, int32_t *result2) {
    uint8_t val[4];
    int i = 0;

    _i2c->beginTransmission((uint8_t)_i2caddr);
    _i2c->write((uint8_t)PCA9685_LED0_ON_L + 4 * index);
    _i2c->endTransmission();
    _i2c->requestFrom((uint8_t)_i2caddr, (uint8_t)4);
    while (Wire.available() && i < 4) {
        val[i] = Wire.read();
        ++i;
    }
    if (i < 4) {
        *result1 = 0;
        *result2 = 0;
        return 1;
    }
    *result1 = (uint32_t)val[1] << 8 | (uint32_t)val[0];
    *result2 = (uint32_t)val[3] << 8 | (uint32_t)val[2];

    return 0;
}

int32_t get_duty(int32_t index, int32_t invert){
    int32_t result;
    int32_t pwm01, pwm02, value;
    result = getPWM(index, &pwm01, &pwm02);
    if (result != 0) {
        return -1;
    }
    if (pwm01 == 0 && pwm02 == 4096) {
        value = 0;
    } else if (pwm01 == 4096 && pwm02 == 0) {
        value = 4095;
    } else {
        value = pwm02;
    }

    if ((int)invert != 0) {
        value = 4095 - value;
    }
    return value;
}