def __init__(self, address=0x60, debug=False):
self.i2c = Raspi_I2C(address)
self.address = address
self.debug = debug
if (self.debug):
print "Reseting PCA9685"
self.i2c.write8(self.__MODE1, 0x00)
def __init__(self, address=0x39, debug=0, pause=0.8):
self.i2c = Raspi_I2C(address)
self.address = address
self.pause = pause
self.debug = debug
self.gain = 0 # no gain preselected
self.i2c.write8(0x80, 0x03) # enable the device
def __init__(self, address=0x77, mode=1, debug=False):
self.i2c = Raspi_I2C(address)
self.address = address
self.debug = debug
# Make sure the specified mode is in the appropriate range
if ((mode < 0) | (mode > 3)):
if (self.debug):
print ("Invalid Mode: Using STANDARD by default")
self.mode = self.__BMP085_STANDARD
else:
self.mode = mode
# Read the calibration data
self.readCalibrationData()
def __init__(self, address=0x40, debug=False):
self.i2c = Raspi_I2C(address)
self.i2c.debug = debug
self.address = address
self.debug = debug
if (self.debug):
print ("Reseting PCA9685 MODE1 (without SLEEP) and MODE2")
self.setAllPWM(0, 0)
self.i2c.write8(self.__MODE2, self.__OUTDRV)
self.i2c.write8(self.__MODE1, self.__ALLCALL)
time.sleep(0.005) # wait for oscillator
mode1 = self.i2c.readU8(self.__MODE1)
mode1 = mode1 & ~self.__SLEEP # wake up (reset sleep)
self.i2c.write8(self.__MODE1, mode1)
time.sleep(0.005) # wait for oscillator
class PWM:
# Registers/etc.
__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
# Bits
__RESTART = 0x80
__SLEEP = 0x10
__ALLCALL = 0x01
__INVRT = 0x10
__OUTDRV = 0x04
general_call_i2c = Raspi_I2C(0x00)
@classmethod
def softwareReset(cls):
"Sends a software reset (SWRST) command to all the servo drivers on the bus"
cls.general_call_i2c.writeRaw8(0x06) # SWRST
def __init__(self, address=0x40, debug=False):
self.i2c = Raspi_I2C(address)
self.i2c.debug = debug
self.address = address
self.debug = debug
if (self.debug):
print("Reseting PCA9685 MODE1 (without SLEEP) and MODE2")
self.setAllPWM(0, 0)
self.i2c.write8(self.__MODE2, self.__OUTDRV)
self.i2c.write8(self.__MODE1, self.__ALLCALL)
# wait for oscillator
time.sleep(0.005)
mode1 = self.i2c.readU8(self.__MODE1)
mode1 = mode1 & ~self.__SLEEP # wake up (reset sleep)
self.i2c.write8(self.__MODE1, mode1)
time.sleep(0.005) # wait for oscillator
def setPWMFreq(self, freq):
"Sets the PWM frequency"
prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit
prescaleval /= float(freq)
prescaleval -= 1.0
if (self.debug):
print("Setting PWM frequency to %d Hz" % freq)
print("Estimated pre-scale: %d" % prescaleval)
prescale = math.floor(prescaleval + 0.5)
if (self.debug):
print("Final pre-scale: %d" % prescale)
oldmode = self.i2c.readU8(self.__MODE1)
newmode = (oldmode & 0x7F) | 0x10 # sleep
self.i2c.write8(self.__MODE1, newmode) # go to sleep
self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
self.i2c.write8(self.__MODE1, oldmode)
time.sleep(0.005)
self.i2c.write8(self.__MODE1, oldmode | 0x80)
def setPWM(self, channel, on, off):
"Sets a single PWM channel"
self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
def setAllPWM(self, on, off):
"Sets a all PWM channels"
self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)
self.i2c.write8(self.__ALL_LED_OFF_H, off >> 8)
def __init__(self, address=0x60, debug=False):
self.i2c = Raspi_I2C(address)
self.address = address
self.debug = debug
def __init__(self, address=0x60, debug=False):
self.i2c = Raspi_I2C(address)
self.address = address
self.debug = debug
self.i2c.write8(self.__MODE1, 0x00)