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219 | package com.gclue.restfullarm;
import android.app.Activity;
import android.os.Handler;
import android.os.Bundle;
import android.util.Log;
import com.google.android.things.pio.Gpio;
import com.google.android.things.pio.I2cDevice;
import com.google.android.things.pio.PeripheralManager;
import java.io.IOException;
import static java.lang.Math.*;
public class MainActivity extends Activity {
private final static String TAG = "THINGS";
private Gpio[] mLedGpio = new Gpio[5];
private String[] PIN_NAME = {"BCM4", "BCM5", "BCM6", "BCM12","BCM21"};
private Handler mHandler = new Handler();
private static final int INTERVAL_BETWEEN_BLINKS_MS = 1000;
private Boolean trigger = false;
private I2cDevice mDevice;
// I2C Device Name
private static final String I2C_DEVICE_NAME = "I2C1";
// I2C Slave Address
private static final double OSC_CLOCK = 25000000.0;
private static final int I2C_ADDRESS = 0x40;
private static final int MODE1 = 0x00; // Mode register 1
private static final int MODE2 = 0x01; // Mode register 2
private static final int ALL_LED_ON_L = 0xFA; // load all the LEDn_ON registers, byte 0
private static final int ALL_LED_ON_H = 0xFB; // load all the LEDn_ON registers, byte 1
private static final int ALL_LED_OFF_L = 0xFC; // load all the LEDn_OFF registers, byte 0
private static final int ALL_LED_OFF_H = 0xFD; // load all the LEDn_OFF registers, byte 1
private static final int ALLCALL = 0x01;
private static final int OUTDRV = 0x04; // 2bit
private static final int SLEEP = 0x10;
private static final int PRE_SCALE = 0xFE; // prescaler for PWM output frequency
private static final int RESTART = 0x80;
private static final int LED0_ON_L = 0x06;
private static final int LED0_ON_H = 0x07;
private static final int LED0_OFF_L = 0x08;
private static final int LED0_OFF_H = 0x09;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
try {
for(int i = 0; i < mLedGpio.length; i++) {
mLedGpio[i] = PeripheralManager.getInstance().openGpio(PIN_NAME[i]);
mLedGpio[i].setDirection(Gpio.DIRECTION_OUT_INITIALLY_LOW);
}
mDevice = PeripheralManager.getInstance().openI2cDevice(I2C_DEVICE_NAME, I2C_ADDRESS);
init();
mHandler.post(mBlinkRunnable);
} catch (IOException e) {
Log.e(TAG, "Error on PeripheralIO API", e);
}
}
private void init() {
// 通電時、PCA9685の全channleの値は、サーボ稼働範囲外の4096になっているのでこれを適切な範囲に設定しておく
int default_value = 300;
try {
set_all_pwm(0,0);
/*mDevice.writeRegByte(ALL_LED_ON_L,(byte)0x00);
mDevice.writeRegByte(ALL_LED_ON_H,(byte)0x00);
mDevice.writeRegByte(ALL_LED_OFF_L,(byte)(default_value & (byte)0xFF));
mDevice.writeRegByte(ALL_LED_OFF_H,(byte)(default_value >> 8));*/
mDevice.writeRegByte(MODE2,(byte)(OUTDRV));
mDevice.writeRegByte(MODE1,(byte)(ALLCALL));
try {
Thread.sleep((long) 50);
} catch (InterruptedException e) {
e.printStackTrace();
}
// スリープ状態なら解除する
byte mode = mDevice.readRegByte(MODE1);
mode = (byte) (mode & ~SLEEP); // SLEEPビットを除去する
mDevice.writeRegByte(MODE1, mode);
try {
Thread.sleep((long) 50);
} catch (InterruptedException e) {
e.printStackTrace();
}
} catch (IOException e) {
e.printStackTrace();
}
}
private void set_hz(int hz){
//int prescale = calc_prescale(hz);
double prescaleval = 25000000.0; // # 25MHz
prescaleval /= 4096.0; // # 12-bit
prescaleval /= (float)hz;
prescaleval -= 1.0;
int prescale = (int)(Math.floor(prescaleval + 0.5));
byte oldmode = 0;
try {
oldmode = mDevice.readRegByte(MODE1);
Log.i(TAG, "oldmode:" + oldmode);
byte newmode = (byte) (oldmode | SLEEP); // sleep
Log.i(TAG, "newmode:" + newmode);
mDevice.writeRegByte(MODE1,(byte)newmode);
Log.i(TAG, "prescale:" + prescale);
mDevice.writeRegByte(PRE_SCALE, (byte) prescale);
mDevice.writeRegByte(MODE1,(byte)oldmode);
Log.i(TAG, "oldmode:" + oldmode);
try {
Thread.sleep((long) 50);
} catch (InterruptedException e) {
e.printStackTrace();
}
mDevice.writeRegByte(MODE1, (byte) (oldmode | RESTART));
Log.i(TAG, "restart:" + (oldmode | RESTART));
} catch (IOException e) {
e.printStackTrace();
}
}
/*private int calc_prescale(int hz){
return (int) (Math.round(OSC_CLOCK/4096/(float)hz)-1);
}*/
private void set_all_pwm(int on, int off){
try {
mDevice.writeRegByte(ALL_LED_ON_L, (byte) (on & 0xFF));
mDevice.writeRegByte(ALL_LED_ON_H, (byte) (on >> 8));
mDevice.writeRegByte(ALL_LED_OFF_L, (byte) (off & 0xFF));
mDevice.writeRegByte(ALL_LED_OFF_H, (byte) (off >> 8));
} catch (IOException e) {
e.printStackTrace();
}
}
private void set_channel_value(int channel, int on, int off) {
try {
mDevice.writeRegByte(LED0_ON_L+channel*4, (byte) (on & 0xFF));
mDevice.writeRegByte(LED0_ON_H+channel*4, (byte) (on >> 8));
mDevice.writeRegByte(LED0_OFF_L+channel*4, (byte) (off & 0xFF));
mDevice.writeRegByte(LED0_OFF_H+channel*4, (byte) (off >> 8));
} catch (IOException e) {
e.printStackTrace();
}
}
private Runnable mBlinkRunnable = new Runnable() {
@Override
public void run() {
setValue(0, true, 5,100, 2000);
setValue(1, true, 5,30, 2000);
setValue(2, true, 10,100, 2000);
setValue(3, true, 10,300, 2000);
setValue(4, true, 10,100, 2000);
setValue(0, false, 5,100, 2000);
setValue(1, false, 5,30, 2000);
setValue(2, false, 10,100, 2000);
setValue(3, false, 10,300, 2000);
setValue(4, false, 10,100, 2000);
}
};
private void setValue(int channel, boolean turn, int hz, int value, int time) {
try {
mLedGpio[channel].setValue(turn);
try {
Thread.sleep((long) 50);
} catch (InterruptedException e) {
e.printStackTrace();
}
//set_channel_value(4, 0, 0);
set_hz(hz);
set_channel_value(channel, 0, value);
try {
Thread.sleep((long) time);
} catch (InterruptedException e) {
e.printStackTrace();
}
set_channel_value(channel, 0, 0);
} catch (IOException e) {
Log.e(TAG, "Error on PeripheralIO API", e);
}
}
@Override
protected void onDestroy() {
super.onDestroy();
for(int i = 0; i < mLedGpio.length; i++) {
if (mLedGpio[i] != null) {
try {
mLedGpio[i].close();
} catch (IOException e) {
Log.e(TAG, "Error on PeripheralIO API", e);
}
}
}
}
}
|