qing
bba7ee3eb4
- parser: FSM 解析器与仓颉版逐语义对齐，修 S01/S02/S04/Q05 - robot/hardvars: 六类硬件变量工厂，修 r.cj:911 重名 FIXME、Q07 倒序释放 - plugin: Python 插件替代 Lua 桥接，修 S07 三级路径查找 - hd: i2c(每fd锁 Q03/S06)/spi/servo/kalman/mpu6050(S05/Q06)/speaker(S03 实声) - modules: PCA9685 与 Lua 版逐字节对齐；ADS1115 重写(experimental)；ADS1256 空桩 - tests: 42 项 pytest 全绿（Mock 总线 journal 断言） - CLI: --dry-run / --test roundtrip / --verbose；运行时零第三方依赖
73 lines
2.5 KiB
Python
73 lines
2.5 KiB
Python
"""PCA9685 16 路 PWM 舵机控制器插件 —— 与 bot4cj/modules/PCA9685.lua 逐语义对齐
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pybot 插件协议：build(ctx) / call(ctx) / destroy(ctx)
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ctx 元数据来自 @PCA9685 块：
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name / fd（I2C 引用展开）/ address（原始字符串如 "0x40"）
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call 实时参数：channel（int）/ angle（int，0~180）
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"""
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import logging
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import time
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from pybot.hd import i2c
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log = logging.getLogger("pybot.modules.PCA9685")
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# MODE1 寄存器（0x00）控制位
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MODE1 = 0x00
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MODE1_RESTART = 0x80
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MODE1_SLEEP = 0x10
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MODE1_AUTOINC = 0x20
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PRE_SCALE = 0xFE
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LED0_ON_L = 0x06 # 通道 0 PWM 寄存器组起点，每通道 4 个寄存器
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# 50Hz 预分频：25MHz / (4096 * 50Hz) - 1，四舍五入 = 121（与 Lua 版一致）
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PRESCALE_50HZ = int(25000000.0 / (4096.0 * 50.0) - 1.0 + 0.5)
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def _fd_addr(ctx):
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return int(ctx["fd"]), int(str(ctx["address"]), 0)
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def build(ctx):
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"""初始化：重启 → SLEEP → 设 prescale(50Hz) → 唤醒（寄存器序列与 Lua 版一致）"""
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fd, addr = _fd_addr(ctx)
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log.info("PCA9685 build: fd=%d addr=0x%02X prescale=%d",
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fd, addr, PRESCALE_50HZ)
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with i2c.transaction(fd):
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i2c.set_addr(fd, addr)
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i2c.write_reg(fd, MODE1, MODE1_RESTART) # 复位
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time.sleep(0.005)
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i2c.write_reg(fd, MODE1, MODE1_SLEEP) # 休眠（改 prescale 前提）
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i2c.write_reg(fd, PRE_SCALE, PRESCALE_50HZ) # 50Hz
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i2c.write_reg(fd, MODE1, MODE1_AUTOINC) # 唤醒 + 自动递增
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time.sleep(0.005)
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return {"result": "OK"}
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def call(ctx):
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"""写通道 PWM：0.5ms(0°) ~ 2.5ms(180°) 脉宽 @ 50Hz(20ms 周期)"""
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fd, addr = _fd_addr(ctx)
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channel = int(ctx["channel"])
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angle = float(ctx["angle"])
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width = 0.5 + 2.0 * angle / 180.0 # 脉宽 ms
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offval = int(width * 4096.0 / 20.0) # 20ms 周期内的计数（floor）
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reg = LED0_ON_L + 4 * channel
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with i2c.transaction(fd):
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i2c.set_addr(fd, addr)
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i2c.write_reg(fd, reg + 0, 0x00) # ON_L
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i2c.write_reg(fd, reg + 1, 0x00) # ON_H
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i2c.write_reg(fd, reg + 2, offval & 0xFF) # OFF_L
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i2c.write_reg(fd, reg + 3, (offval >> 8) & 0xFF) # OFF_H
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return {"result": "OK"}
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def destroy(ctx):
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"""复位 PCA9685"""
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fd, addr = _fd_addr(ctx)
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log.info("PCA9685 destroy: fd=%d addr=0x%02X", fd, addr)
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with i2c.transaction(fd):
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i2c.set_addr(fd, addr)
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i2c.write_reg(fd, MODE1, MODE1_RESTART)
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return {"result": "OK"}
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