forked from sunfounder/SunFounder_PCA9685
-
Notifications
You must be signed in to change notification settings - Fork 15
/
PCA9685.py
276 lines (251 loc) · 10.1 KB
/
PCA9685.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
#!/usr/bin/python
'''
**********************************************************************
* Filename : PCA9685.py
* Description : A driver module for PCA9685
* Author : Cavon
* Brand : SunFounder
* E-mail : [email protected]
* Website : www.sunfounder.com
* Version : v2.0.0
**********************************************************************
'''
import smbus
import time
import math
class PWM(object):
"""A PWM control class for PCA9685."""
_MODE1 = 0x00
_MODE2 = 0x01
_SUBADR1 = 0x02
_SUBADR2 = 0x03
_SUBADR3 = 0x04
_PRESCALE = 0xFE
_LED0_ON_L = 0x06
_LED0_ON_H = 0x07
_LED0_OFF_L = 0x08
_LED0_OFF_H = 0x09
_ALL_LED_ON_L = 0xFA
_ALL_LED_ON_H = 0xFB
_ALL_LED_OFF_L = 0xFC
_ALL_LED_OFF_H = 0xFD
_RESTART = 0x80
_SLEEP = 0x10
_ALLCALL = 0x01
_INVRT = 0x10
_OUTDRV = 0x04
RPI_REVISION_0 = ["900092"]
RPI_REVISION_1_MODULE_B = ["Beta", "0002", "0003", "0004", "0005", "0006", "000d", "000e", "000f"]
RPI_REVISION_1_MODULE_A = ["0007", "0008", "0009",]
RPI_REVISION_1_MODULE_BP = ["0010", "0013"]
RPI_REVISION_1_MODULE_AP = ["0012"]
RPI_REVISION_2_MODULE_B = ["a01041", "a21041"]
RPI_REVISION_3_MODULE_B = ["a02082", "a22082"]
RPI_REVISION_3_MODULE_BP = ["a020d3"]
_DEBUG = False
_DEBUG_INFO = 'DEBUG "PCA9685.py":'
def _get_bus_number(self):
pi_revision = self._get_pi_revision()
if pi_revision == '0':
return 0
elif pi_revision == '1 Module B':
return 0
elif pi_revision == '1 Module A':
return 0
elif pi_revision == '1 Module B+':
return 1
elif pi_revision == '1 Module A+':
return 0
elif pi_revision == '2 Module B':
return 1
elif pi_revision == '3 Module B':
return 1
elif pi_revision == '3 Module B+':
return 1
def _get_pi_revision(self):
"Gets the version number of the Raspberry Pi board"
# Courtesy quick2wire-python-api
# https://github.com/quick2wire/quick2wire-python-api
# Updated revision info from: http://elinux.org/RPi_HardwareHistory#Board_Revision_History
try:
f = open('/proc/cpuinfo','r')
for line in f:
if line.startswith('Revision'):
if line[11:-1] in self.RPI_REVISION_0:
return '0'
elif line[11:-1] in self.RPI_REVISION_1_MODULE_B:
return '1 Module B'
elif line[11:-1] in self.RPI_REVISION_1_MODULE_A:
return '1 Module A'
elif line[11:-1] in self.RPI_REVISION_1_MODULE_BP:
return '1 Module B+'
elif line[11:-1] in self.RPI_REVISION_1_MODULE_AP:
return '1 Module A+'
elif line[11:-1] in self.RPI_REVISION_2_MODULE_B:
return '2 Module B'
elif line[11:-1] in self.RPI_REVISION_3_MODULE_B:
return '3 Module B'
elif line[11:-1] in self.RPI_REVISION_3_MODULE_BP:
return '3 Module B+'
else:
print("Error. Pi revision didn't recognize, module number: %s" % line[11:-1])
print('Exiting...')
quit()
except Exception as e:
f.close()
print(e)
print('Exiting...')
quit()
finally:
f.close()
def __init__(self, bus_number=None, address=0x40):
self.address = address
if bus_number == None:
self.bus_number = self._get_bus_number()
else:
self.bus_number = bus_number
self.bus = smbus.SMBus(self.bus_number)
def setup(self):
'''Init the class with bus_number and address'''
if self._DEBUG:
print(self._DEBUG_INFO, 'Reseting PCA9685 MODE1 (without SLEEP) and MODE2')
self.write_all_value(0, 0)
self._write_byte_data(self._MODE2, self._OUTDRV)
self._write_byte_data(self._MODE1, self._ALLCALL)
time.sleep(0.005)
mode1 = self._read_byte_data(self._MODE1)
mode1 = mode1 & ~self._SLEEP
self._write_byte_data(self._MODE1, mode1)
time.sleep(0.005)
self._frequency = 60
def _write_byte_data(self, reg, value):
'''Write data to I2C with self.address'''
if self._DEBUG:
print(self._DEBUG_INFO, 'Writing value %2X to %2X' % (value, reg))
try:
self.bus.write_byte_data(self.address, reg, value)
except Exception as i:
print(i)
self._check_i2c()
def _read_byte_data(self, reg):
'''Read data from I2C with self.address'''
if self._DEBUG:
print(self._DEBUG_INFO, 'Reading value from %2X' % reg)
try:
results = self.bus.read_byte_data(self.address, reg)
return results
except Exception as i:
print(i)
self._check_i2c()
def _check_i2c(self):
import subprocess
bus_number = self._get_bus_number()
print("\nYour Pi Rivision is: %s" % self._get_pi_revision())
print("I2C bus number is: %s" % bus_number)
print("Checking I2C device:")
cmd = "ls /dev/i2c-%d" % bus_number
output = subprocess.getoutput(cmd)
print('Commands "%s" output:' % cmd)
print(output)
if '/dev/i2c-%d' % bus_number in output.split(' '):
print("I2C device setup OK")
else:
print("Seems like I2C have not been set, Use 'sudo raspi-config' to set I2C")
cmd = "i2cdetect -y %s" % self.bus_number
output = subprocess.getoutput(cmd)
print("Your PCA9685 address is set to 0x%02X" % self.address)
print("i2cdetect output:")
print(output)
outputs = output.split('\n')[1:]
addresses = []
for tmp_addresses in outputs:
tmp_addresses = tmp_addresses.split(':')[1]
tmp_addresses = tmp_addresses.strip().split(' ')
for address in tmp_addresses:
if address != '--':
addresses.append(address)
print("Conneceted i2c device:")
if addresses == []:
print("None")
else:
for address in addresses:
print(" 0x%s" % address)
if "%02X" % self.address in addresses:
print("Wierd, I2C device is connected, Try to run the program again, If problem stills, email this information to [email protected]")
else:
print("Device is missing.")
print("Check the address or wiring of PCA9685 Server driver, or email this information to [email protected]")
raise IOError('IO error')
@property
def frequency(self):
return _frequency
@frequency.setter
def frequency(self, freq):
'''Set PWM frequency'''
if self._DEBUG:
print(self._DEBUG_INFO, 'Set frequency to %d' % freq)
self._frequency = freq
prescale_value = 25000000.0
prescale_value /= 4096.0
prescale_value /= float(freq)
prescale_value -= 1.0
if self._DEBUG:
print(self._DEBUG_INFO, 'Setting PWM frequency to %d Hz' % freq)
print(self._DEBUG_INFO, 'Estimated pre-scale: %d' % prescale_value)
prescale = math.floor(prescale_value + 0.5)
if self._DEBUG:
print(self._DEBUG_INFO, 'Final pre-scale: %d' % prescale)
old_mode = self._read_byte_data(self._MODE1);
new_mode = (old_mode & 0x7F) | 0x10
self._write_byte_data(self._MODE1, new_mode)
self._write_byte_data(self._PRESCALE, int(math.floor(prescale)))
self._write_byte_data(self._MODE1, old_mode)
time.sleep(0.005)
self._write_byte_data(self._MODE1, old_mode | 0x80)
def write(self, channel, on, off):
'''Set on and off value on specific channel'''
if self._DEBUG:
print(self._DEBUG_INFO, 'Set channel "%d" to value "%d"' % (channel, off))
self._write_byte_data(self._LED0_ON_L+4*channel, on & 0xFF)
self._write_byte_data(self._LED0_ON_H+4*channel, on >> 8)
self._write_byte_data(self._LED0_OFF_L+4*channel, off & 0xFF)
self._write_byte_data(self._LED0_OFF_H+4*channel, off >> 8)
def write_all_value(self, on, off):
'''Set on and off value on all channel'''
if self._DEBUG:
print(self._DEBUG_INFO, 'Set all channel to value "%d"' % (off))
self._write_byte_data(self._ALL_LED_ON_L, on & 0xFF)
self._write_byte_data(self._ALL_LED_ON_H, on >> 8)
self._write_byte_data(self._ALL_LED_OFF_L, off & 0xFF)
self._write_byte_data(self._ALL_LED_OFF_H, off >> 8)
def map(self, x, in_min, in_max, out_min, out_max):
'''To map the value from arange to another'''
# dctian: need to cast to int, since python3 will return float for integer division
# whereas python2 return int for integer division
return int((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)
@property
def debug(self):
return self._DEBUG
@debug.setter
def debug(self, debug):
'''Set if debug information shows'''
if debug in (True, False):
self._DEBUG = debug
else:
raise ValueError('debug must be "True" (Set debug on) or "False" (Set debug off), not "{0}"'.format(debug))
if self._DEBUG:
print(self._DEBUG_INFO, "Set debug on")
else:
print(self._DEBUG_INFO, "Set debug off")
if __name__ == '__main__':
import time
pwm = PWM()
pwm.frequency = 60
for i in range(16):
time.sleep(0.5)
print('\nChannel %d\n' % i)
time.sleep(0.5)
for j in range(4096):
pwm.write(i, 0, j)
print('PWM value: %d' % j)
time.sleep(0.0003)