Revision 0:f82efb692e3b, committed 2018-06-14

Comitter:

MoussOudj

Date:

Thu Jun 14 07:04:14 2018 +0000

Commit message:

Recevoir une seule donn?e

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PCA9685.cpp	Thu Jun 14 07:04:14 2018 +0000
@@ -0,0 +1,167 @@
+#ifndef PCA9685_LIBRARY_CPP
+#define PCA9685_LIBRARY_CPP
+
+
+#include "mbed.h"
+#include "PCA9685.h"
+#include "definitions.h"
+
+
+PCA9685::PCA9685(uint8_t i2c_address, I2C i2c_object, float frequency) :
+
+    i2c_addr(i2c_address),
+    freq(frequency),
+    i2c(i2c_object)
+
+{
+
+}
+
+void PCA9685::init(void)
+{
+
+    reset();
+
+    uint8_t prescale = (uint8_t) (OSC_CLOCK / (4096 * PWM_SCALER * freq)) - 1;
+
+    write_8(MODE1, 0x21); //0010 0001 : AI ENABLED
+    write_8(MODE2, 0x07); //0000 0111 : NOT INVRT, CHANGE ON STOP, TOTEM POLE, \OE = 1, LEDn = HIGH IMP
+
+    set_prescale(prescale);
+
+}
+
+void PCA9685::reset(void)
+{
+
+    write_8(MODE1,0x00);
+
+}
+
+void PCA9685::set_prescale(uint8_t prescale)
+{
+
+    uint8_t oldmode = read_8(MODE1);
+    uint8_t newmode = (oldmode&0x7F) | 0x10; // set the sleep bit
+
+    write_8(MODE1, newmode); // send the device to sleep
+    wait_ms(5);
+    write_8(PRESCALE, prescale); // set the prescaler
+    write_8(MODE1, oldmode);
+    wait_ms(5);
+    write_8(MODE1, oldmode | 0xa1); // wake up the device
+
+}
+
+
+//NB REQUIRES AUTO-INCREMENT MODE ENABLED
+//0 <= pwm_output <= 15
+//0 <= (count_on || count_off) <= 4095
+void PCA9685::set_pwm_output(int pwm_output, uint16_t count_on, uint16_t count_off)
+{
+
+    char msg[5];
+
+    msg[0] = LED0_ON_L + (4 * pwm_output);
+    msg[1] = count_on;
+    msg[2] = count_on >> 8;
+    msg[3] = count_off;
+    msg[4] = count_off >> 8;
+
+    i2c.write(i2c_addr, msg, 5);
+
+}
+
+void PCA9685::set_pwm_output_on_0(int pwm_output, uint16_t count_off)
+{
+
+    char msg[3];
+
+    msg[0] = LED0_ON_L + 2 + (4 * pwm_output);
+    msg[1] = count_off;
+    msg[2] = count_off >> 8;
+
+    i2c.write(i2c_addr,msg,3);
+
+}
+
+
+//NB REQUIRES AUTO-INCREMENT MODE ENABLED
+//0 <= pwm_output <= 15
+void PCA9685::set_pwm_duty(int pwm_output, float duty_cycle)
+{
+
+    if (duty_cycle > 1.0) {
+        duty_cycle = 1.0;
+    }
+    if (duty_cycle < 0.0) {
+        duty_cycle = 0.0;
+    }
+
+    uint16_t count_off = (uint16_t) (duty_cycle * 4095);
+    uint16_t count_on = 0x0000;
+
+    set_pwm_output(pwm_output, count_on, count_off);
+
+}
+
+
+//NB REQUIRES AUTO-INCREMENT MODE ENABLED
+//0 <= pwm_output <= 15
+void PCA9685::set_pwm_pw(int pwm_output, float pulse_width_us)
+{
+
+    float period_us = (1e6/freq);
+
+    float duty = pulse_width_us/period_us;
+
+    set_pwm_duty(pwm_output, duty);
+
+}
+
+
+void PCA9685::update(void)
+{
+
+    i2c.stop();
+
+}
+
+
+
+void PCA9685::write_8(uint8_t reg, uint8_t msg)
+{
+
+    char send[2]; //Store the address and data in an array
+    send[0] = reg;
+    send[1] = msg;
+    i2c.write(i2c_addr, send, 2);
+
+}
+
+uint8_t PCA9685::read_8(uint8_t reg)
+{
+
+    char send[1] ;
+    send[0] = reg;
+    i2c.write(i2c_addr, send, 1);
+    char recieve[1];
+    i2c.read(i2c_addr, recieve, 1);
+    return recieve[0];
+
+}
+
+int PCA9685::convert_pwm_value(float pulse_width_us, float period_us)
+{
+
+    int result;
+    float interim;
+
+    interim = ((pulse_width_us / period_us) * 4095); //scale the pulse width to a 12-bit scale
+    result = (int) interim; //round the value to the nearest integer
+
+    return result;
+
+}
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PCA9685.h	Thu Jun 14 07:04:14 2018 +0000
@@ -0,0 +1,32 @@
+#ifndef PCA9685_LIBRARY_H
+#define PCA9685_LIBRARY_H
+
+#include "mbed.h"
+#include "definitions.h"
+
+
+class PCA9685 {
+    
+    public:
+        PCA9685(uint8_t i2c_addr, I2C i2c_object, float frequency);
+        void init(void);
+        void set_pwm_output(int pwm_output, uint16_t count_on, uint16_t count_off);
+        void set_pwm_output_on_0(int pwm_output, uint16_t count_off);
+        void set_pwm_duty(int pwm_output, float duty_cycle);
+        void set_pwm_pw(int pwm_output, float pulse_width_us);
+        void update(void);
+        
+    private: 
+        void reset(void);
+        void write_8(uint8_t reg, uint8_t msg);
+        uint8_t read_8(uint8_t reg);
+        void set_prescale(uint8_t prescale);
+        int convert_pwm_value(float pulse_width_us, float period_us);
+    
+    private:
+        int i2c_addr;
+        float freq;
+        I2C i2c;
+};        
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/definitions.h	Thu Jun 14 07:04:14 2018 +0000
@@ -0,0 +1,24 @@
+#ifndef PCA9685_LIBRARY_DEFINITIONS_H
+#define PCA9685_LIBRARY_DEFINITIONS_H
+
+#define ADDR 0x80
+
+#define MODE1 0x0
+#define MODE2 0x1
+#define 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
+
+#define OSC_CLOCK 25e6
+
+#define PWM_SCALER 0.90425 //set by manual calibration - ratio of FREQUENCY_SET:ACTUAL_OUTPUT
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 14 07:04:14 2018 +0000
@@ -0,0 +1,148 @@
+#include "mbed.h"
+#include "PCA9685.h"
+
+
+Serial xbee(PA_9, PA_10);
+DigitalOut myled(LED1);
+Serial pc(USBTX,USBRX);
+I2C i2c_PCA(PB_9, PB_8); // Utilisation et déclaration d'un port I2C pour communiquer avec la carte PWM Adafruit
+PCA9685 PCA_SERVO(ADDR, i2c_PCA, 50); 
+
+uint8_t text_xbee[21];
+uint8_t idx_carac_xbee_in = 0;
+uint8_t send_measure = 0;
+
+
+/*
+void irq_xbee(void){ // Fonction d'interruption qui agit dès qu'une mesure est arrivée
+    text_xbee[idx_carac_xbee_in] = xbee.getc();
+    send_measure = 1; // Une mesure est reçu, on met donc le flag à 1
+    idx_carac_xbee_in =  (idx_carac_xbee_in+1) % 5;
+    
+}*/
+
+
+//Phalanges doigt 0 // Définitions de chaque servomoteur sur chaque doigt. Le doigt 0 correspond à l'index, et les servos se suivent de haut en bas. M0 est donc le servo de la base du doigt, et M3 le servomoteur le plus haut
+#define D0M1 0x00 // On attribue à chaque servomoteur une adresse sur laquelle on enverra l'ordre d'angle
+#define D0M2 0x01 // Ces adresses correspondent à des ports de la carte PWM Adafruit
+#define D0M3 0x02
+#define D0M0 0x03
+
+//Phalanges doigt 1 // Définitions de chaque servomoteur du doigt majeur
+#define D1M1 0x04
+#define D1M2 0x05
+#define D1M3 0x06
+#define D1M0 0x07
+
+//Phalanges doigt 2 // Définitions de chaque servcomoteur de l'annulaire
+#define D2M1 0x08
+#define D2M2 0x09
+#define D2M3 0x0A
+#define D2M0 0x0B
+
+//Phalanges doigt 3 // Définitions de chaque servomoteur de l'auriculaire
+#define D3M1 0x0C
+#define D3M2 0x0D
+#define D3M3 0x0E
+#define D3M0 0x0F
+
+int i = 0;
+
+
+
+void angle(int moteur, int valeur){ // Fonction qui envoie les données au servomoteur correspondant
+        
+    valeur = valeur * 10;// Mise en forme correspondant
+    valeur = valeur + 1100;//  Ajout de l'offset
+    
+    if(valeur >= 2400) // On borne les données reçues
+    {
+        valeur = 2400;
+    }
+    if(valeur <= 1100)
+    {
+        valeur = 1100;
+    }
+    
+    PCA_SERVO.set_pwm_pw(moteur, valeur); // Puis on envoie au moteur
+}
+
+
+
+
+
+
+
+
+
+
+int main() {
+    
+    int i = 0;
+    
+    pc.baud(115200);
+    xbee.baud(9600);
+     //xbee.attach(&irq_xbee);
+     
+     
+     
+     
+     PCA_SERVO.init(); //Initialisation des servomoteurs
+    for(i=0;i<=15;i++){ // On met tous les servomoteurs dans une position qui équivaut à la position de repos
+        PCA_SERVO.set_pwm_output_on_0(i, 0);
+    }
+    
+    
+    
+    /*angle(D1M1, ); // Les valeurs sont différentes les unes des autres car les servomoteurs ne sont pas tous identiques et ils prennent de la place, ils se décalent donc un peu
+    angle(D1M2, 35);
+    angle(D1M3, 35);*/
+     
+    /* for(i;i<10;i++){
+     
+     angle(4,80);
+     
+     wait(2);
+     
+      angle(4,20);
+      }*/
+  
+    int test;
+    
+    /*
+         for(i = 0 ;i<10;i++){
+     
+     angle(4,120);
+     
+     wait_ms(100);
+     
+      angle(4,30);
+      }*/
+    
+    while(1) {
+        
+      
+      
+      
+            
+        
+        test = xbee.getc();
+        //pc.printf("%d \r\n",test);
+        
+    
+       
+       /*angle(D1M1, text_xbee[1]); 
+       angle(D1M2, text_xbee[1]); 
+       angle(D1M3, text_xbee[1]);*/
+       
+       angle(4, test);
+       /*angle(D1M2, test);
+       angle(D1M3, test);*/
+       
+       /*PCA_SERVO.set_pwm_duty(4, 0.5);
+       
+        wait_ms(20);
+        
+       PCA_SERVO.set_pwm_duty(4, 0.1);*/
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jun 14 07:04:14 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee
\ No newline at end of file