stm32F103zet6 pcf9685 16路舵機(jī)驅(qū)動(dòng)板

ID:398254 · 發(fā)表于 2019-7-27 11:07

#include "pca9685.h"

/*---------------------------------------------------------------
            有關(guān)PCA9685模塊的函數(shù)
----------------------------------------------------------------*/
/*---------------------------------------------------------------
            向PCA9685里寫地址，數(shù)據(jù)
----------------------------------------------------------------*/
void PCA9685_write(u8 address,u8 date)
{
IIC_Start();
IIC_Send_Byte(PCA9685_adrr);       //PCA9685的片選地址

IIC_Ack();
IIC_Send_Byte(address);  //寫地址控制字節(jié)
IIC_Ack();
IIC_Send_Byte(date);       //寫數(shù)據(jù)
IIC_Ack();
IIC_Stop();
}
/*---------------------------------------------------------------
         從PCA9685里的地址值中讀數(shù)據(jù)(有返回值)
----------------------------------------------------------------*/
u8 PCA9685_read(u8 address)
{
u8 date;
IIC_Start();
IIC_Send_Byte(PCA9685_adrr); //PCA9685的片選地址
IIC_Ack();
IIC_Send_Byte(address);
IIC_Ack();
IIC_Start();
IIC_Send_Byte(PCA9685_adrr|0x01);       //地址的第八位控制數(shù)據(jù)流方向，就是寫或讀
IIC_Ack();
date=IIC_Read_Byte(0);
IIC_Stop();
return date;
}
/*---------------------------------------------------------------
                     PCA9685復(fù)位
----------------------------------------------------------------*/
void reset(void)
{
  PCA9685_write(PCA9685_MODE1,0x0);
}

void begin(void)
{
  reset();
}
/*---------------------------------------------------------------
                                    PCA9685修改頻率函數(shù)
----------------------------------------------------------------*/
void setPWMFreq(float freq)
{
u16 prescale,oldmode,newmode;
float prescaleval;
freq *= 0.92;  // Correct for overshoot in the frequency setting
prescaleval = 25000000;
prescaleval /= 4096;
prescaleval /= freq;
prescaleval -= 1;
prescale = floor(prescaleval + 0.5);

oldmode = PCA9685_read(PCA9685_MODE1);
newmode = (oldmode&0x7F) | 0x10; // sleep
PCA9685_write(PCA9685_MODE1, newmode); // go to sleep
PCA9685_write(PCA9685_PRESCALE, prescale); // set the prescaler
PCA9685_write(PCA9685_MODE1, oldmode);
delay_ms(2);
PCA9685_write(PCA9685_MODE1, oldmode | 0xa1);
}
/*---------------------------------------------------------------
                              PCA9685修改角度函數(shù)
num:舵機(jī)PWM輸出引腳0~15，on:PWM上升計(jì)數(shù)值0~4096,off:PWM下降計(jì)數(shù)值0~4096
一個(gè)PWM周期分成4096份，由0開始+1計(jì)數(shù)，計(jì)到on時(shí)跳變?yōu)楦唠娖剑^續(xù)計(jì)數(shù)到off時(shí)
跳變?yōu)榈碗娖剑钡接?jì)滿4096重新開始。所以當(dāng)on不等于0時(shí)可作延時(shí),當(dāng)on等于0時(shí)，
off/4096的值就是PWM的占空比。
----------------------------------------------------------------*/
void setPWM(u16 num, u16 on, u16 off)
{
PCA9685_write(LED0_ON_L+4*num,on);
PCA9685_write(LED0_ON_H+4*num,on>>8);
PCA9685_write(LED0_OFF_L+4*num,off);
PCA9685_write(LED0_OFF_H+4*num,off>>8);
}
/*********************************************************************************

***************************************************************************************/

#ifndef __PCA9685_H
#define __PCA9685_H
#include "sys.h"
#include "delay.h"
#include <math.h>
#include "myiic.h"

#define PCA9685_adrr 0x80//  1+A5+A4+A3+A2+A1+A0+w/r
                     //片選地址，將焊接點(diǎn)置1可改變地址，
                     // 當(dāng)IIC總  多片PCA9685或相同地址時(shí)才需焊接
// #define PCA9685_SUBADR1 0x2
// #define PCA9685_SUBADR2 0x3
// #define PCA9685_SUBADR3 0x4

#define PCA9685_MODE1 0x00
#define PCA9685_PRESCALE 0xFE

#define LED0_ON_L 0x6
#define LED0_ON_H 0x7
#define LED0_OFF_L 0x8
#define LED0_OFF_H 0x9

#define SERVO000  103 //0度對(duì)應(yīng)4096的脈寬計(jì)數(shù)值  103÷204.8-0.5÷2×180=角度
#define SERVO180  512 //180度對(duì)應(yīng)4096的脈寬計(jì)算值，四個(gè)值可根據(jù)不同舵機(jī)修改

void reset(void) ;
void begin(void) ;
void setPWMFreq(float freq) ;
void setPWM(u16 num, u16 on, u16 off)

#endif

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stm32F103zet6 pcf9685 16路舵機(jī)驅(qū)動(dòng)板