326 lines
7.6 KiB
Lua
326 lines
7.6 KiB
Lua
-- ADS1115模数转换器 硬件脚本（测试）
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-- 这个函数是辅助用的，它能够打印一张表出来
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function print_table(t, indent)
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indent = indent or 0
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for k, v in pairs(t) do
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if type(v) == 'table' then
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print(string.rep(' ', indent) .. k .. ":")
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print_table(v, indent + 2)
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else
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print(string.rep(' ', indent) .. k .. ": " .. tostring(v))
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end
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end
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end
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ADS1115_ADDR = 0x48 -- ADS1115的I2C地址
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ADS1115_REG_CONVERSION = 0x00 -- 转换结果（只读）
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ADS1115_REG_CONFIG = 0x01 -- 配置寄存器（读/写）
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ADS1115_REG_LO_THRESH = 0x02 -- 低阈值比较
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ADS1115_REG_HI_THRESH = 0x03 -- 高阈值比较
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-- ====================================
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-- ADS1115 配置寄存器 bit 定义（16位）
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-- ====================================
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-- BIT15: OS[0] => 单次转换启动位（1=开始）
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-- BIT14-12: MUX[2:0] => 输入多路选择
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-- BIT11-9: PGA[2:0] => 可编程增益放大器
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-- BIT8: MODE => 0=连续转换，1=单次（省电）
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-- BIT7-5: DR[2:0] => 数据速率
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-- BIT4: COMP_MODE => 比较模式（0=传统)
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-- BIT3: COMP_POL => 比较极性（0=低有效）
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-- BIT2: COMP_LAT => 比较锁存（0=不锁存）
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-- BIT1-0: COMP_QUE => 比较器队列（11=禁用）
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--
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-- ==== MUX 输入通道 ====
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ADS1115_MUX_AIN0_AIN1 = 0x0000 -- 差分：P=AIN0，N=AIN1（默认）
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ADS1115_MUX_AIN0_AIN3 = 0x1000 -- 差分：P=AIN0，N=AIN3
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ADS1115_MUX_AIN1_AIN3 = 0x2000 -- 差分：P=AIN1，N=AIN3
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ADS1115_MUX_AIN2_AIN3 = 0x3000 -- 差分：P=AIN2，N=AIN3
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ADS1115_MUX_AIN0_GND = 0x4000 -- 单端：AIN0
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ADS1115_MUX_AIN1_GND = 0x5000 -- 单端：AIN1
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ADS1115_MUX_AIN2_GND = 0x6000 -- 单端：AIN2
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ADS1115_MUX_AIN3_GND = 0x7000 -- 单端：AIN3
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-- ==== PGA 增益（满量程范围）====
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ADS1115_PGA_6_144V = 0x0000 -- ±6.144V (1LSB=0.1875mV)
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ADS1115_PGA_4_096V = 0x0200 -- ±4.096V (1LSB=0.125mV)
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ADS1115_PGA_2_048V = 0x0400 -- ±2.048V (1LSB=0.0625mV)(默认)
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ADS1115_PGA_1_024V = 0x0600 -- ±1.024V (1LSB=0.03125mV)
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ADS1115_PGA_0_512V = 0x0800 -- ±0.512V (1LSB=0.015625mV)
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ADS1115_PGA_0_256V = 0x0A00 -- ±0.256V (1LSB=0.0078125mV)
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-- ==== 数据速率 ====
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ADS1115_DR_8SPS = 0x0000 -- 8 SPS
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ADS1115_DR_16SPS = 0x0020 -- 16 SPS
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ADS1115_DR_32SPS = 0x0040 -- 32 SPS
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ADS1115_DR_64SPS = 0x0060 -- 64 SPS
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ADS1115_DR_128SPS = 0x0080 -- 128 SPS (默认)
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ADS1115_DR_250SPS = 0x00A0 -- 250 SPS
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ADS1115_DR_475SPS = 0x00C0 -- 475 SPS
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ADS1115_DR_860SPS = 0x00E0 -- 860 SPS
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-- ==== 比较器队列（COMP_QUE）====
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ADS1115_COMP_QUE_1 = 0x0000 -- 1次后触发
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ADS1115_COMP_QUE_2 = 0x0001 -- 2次后触发
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ADS1115_COMP_QUE_4 = 0x0002 -- 4次后触发
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ADS1115_COMP_QUE_DISABLE = 0x0003 -- 禁用比较器(默认)
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-- ==== 操作模式 ====
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ADS1115_MODE_CONTINUOUS = 0x0000 -- 连续转换
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ADS1115_MODE_SINGLE = 0x0100 -- 单次转换（默认，省电）
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-- ==== 启动转换 ====
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ADS1115_OS_START = 0x8000 -- 启动单次转换
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-- ADS1115 配置上下文
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ads1115_t = {
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addr = 0x00,
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config = 0x00, -- 16bits
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fs_valtage = 0.0 -- 满量程电压（取决于PGA）
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}
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-- PGA对应的满量程电压（单位：V）
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pga_fs = {
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6.144, -- ADS1115_PGA_6_144V [0]
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4.096, -- ADS1115_PGA_4_096V [1]
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2.048, -- ADS1115_PGA_2_048V [2]
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1.024, -- ADS1115_PGA_1_024V [3]
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0.512, -- ADS1115_PGA_0_512V [4]
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0.256 -- ADS1115_PGA_0_256V [5]
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}
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-- PGA 增益对应的满量程电压名
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pga_names = {
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"±6.144V", -- [0]
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"±4.096V", -- [1]
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"±2.048V", -- [2]
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"±1.024V", -- [3]
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"±0.512V", -- [4]
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"±0.256V" -- [5]
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}
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-- 数据速率字符串
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dr_names = {
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"8 SPS", -- [0]
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"16 SPS", -- [1]
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"32 SPS", -- [2]
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"64 SPS", -- [3]
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"128 SPS", -- [4]
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"250 SPS", -- [5]
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"475 SPS", -- [6]
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"860 SPS" -- [7]
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}
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-- I2C写2字节（大端）
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function i2c_write_word(fd, reg, val)
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i2c_write_reg(fd, reg + 0, (val >> 8) | 0xFF)
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i2c_write_reg(fd, reg + 1, val & 0xFF)
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end
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--
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-- 【配置脚本】
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-- FIXME(20260602-qing): 异常处理
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function build(data)
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-- 检查该参数是否是一张表
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if type(data) ~= "table" then
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return {
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result = "ERR",
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message = "Invalid Arguments: table"
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}
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end
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print("-------- Lua builder func get a table --------")
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print_table(data)
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print("----------------------------------------------")
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local fd = data.fd
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-- 检查文件句柄参数是否存在
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if fd == nil then
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return {
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result = "ERR",
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message = "Invalid Arguments: fd"
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}
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end
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local addr = data.address
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-- 检查地址参数是否存在
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if addr == nil then
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return {
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result = "ERR",
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message = "Invalid Arguments: addr"
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}
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end
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addr = tonumber(addr)
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-- 写进配置表
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ads1115.addr = addr
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-- 开始配置PCA9685
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i2c_set_addr(fd, addr)
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-- 重启PCA9685
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i2c_write_reg(fd, 0x00, 0x80)
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-- 等待振荡器启动
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milli_sleep(5)
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i2c_write_reg(fd, 0x00, 0x10) -- 进入SLEEP模式（允许改频率）
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i2c_write_reg(fd, 0xFE, math.floor(prescale))
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i2c_write_reg(fd, 0x00, 0x20) -- 退出SLEEP模式
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-- 等待振荡器启动
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milli_sleep(5)
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-- 返回成功信号
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return {
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result = "OK"
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}
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end
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-- 【销毁PCA9685的脚本】
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-- 重置PCA9685
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-- NOTE(20260612-qing): 其实可以不需要，因为我们只是清空设置
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function destroy(data)
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-- 检查该参数是否是一张表
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if type(data) ~= "table" then
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return {
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result = "ERR",
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message = "Invalid Arguments: table"
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}
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end
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print("-------- Lua ender func get a table --------")
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print_table(data)
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print("--------------------------------------------")
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local fd = data.fd
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-- 检查fd参数是否存在
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if fd == nil then
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return {
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result = "ERR",
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message = "Invalid Arguments: fd"
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}
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end
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local addr = data.address
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-- 检查address参数是否存在
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if addr == nil then
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return {
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result = "ERR",
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message = "Invalid Arguments: addr"
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}
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end
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addr = tonumber(addr)
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-- 准备配置
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i2c_set_addr(fd, addr)
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-- 重启PCA9685
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i2c_write_reg(fd, 0x00, 0x80)
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-- 返回成功信号
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return {
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result = "OK"
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}
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end
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-- 【调用PCA9685】
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-- 将一个舵机通道转动到一个角度
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-- NOTE(20260612-qing): 接收一个参数（表），返回一个结果（表）
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function call(data)
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-- 检查该参数是否是一张表
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if type(data) ~= "table" then
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return {
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result = "ERR",
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message = "Invalid Arguments: table"
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}
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end
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print("-------- Lua caller func get a table --------")
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print_table(data)
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print("---------------------------------------------")
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local fd = data.fd
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-- 检查fd参数是否存在
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if fd == nil then
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return {
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result = "ERR",
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message = "Invalid Argument: fd"
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}
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end
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local addr = data.address
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-- 检查address参数是否存在
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if addr == nil then
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return {
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result = "ERR",
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message = "Invalid Argument: addr"
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}
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end
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addr = tonumber(addr)
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local channel = data.channel
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-- 检查channel参数是否存在
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if channel == nil then
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return {
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result = "ERR",
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message = "Invalid Argument: channel"
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}
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end
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local angle = data.angle
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-- 检查angle参数是否存在
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if angle == nil then
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return {
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result = "ERR",
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message = "Invalid Argument: angle"
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}
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end
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print(string.format("Lua hardware drive set angle: %d", angle))
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-- 设置I2C地址
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i2c_set_addr(fd, addr)
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-- 计算需要的参数
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local min = 0.5 -- 0度对应0.5ms
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local max = 2.5 -- 180度对应2.5ms
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local width = min + (max - min) * (angle / 180.0)
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local offval = math.floor(width * 4096.0 / 20.0)
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local reg = 0x06 + 4 * channel
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-- 写I2C寄存器
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i2c_write_reg(fd, reg + 0, (0 >> 0) & 0xFF) -- 1 * 8
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i2c_write_reg(fd, reg + 1, (0 >> 8) & 0xFF) -- 2 * 8
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i2c_write_reg(fd, reg + 2, (offval >> 0) & 0xFF) -- 3 * 8
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i2c_write_reg(fd, reg + 3, (offval >> 8) & 0xFF) -- 4 * 8
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-- 返回字典
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return {
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result = "OK"
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}
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end
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