51單片機+PCA9685實現16路舵機驅動程序

ID:598641 · 發表于 2021-9-24 16:26

51驅動16路舵機程序。
單片機源程序如下:

#include"reg51.h"
#include <intrins.h>
#include <stdio.h>
#include <math.h>
typedef unsigned char uchar;
typedef unsigned int uint;
sbit scl=P2^1;
sbit sda=P2^0;
#define PCA9685_adrr 0x80
#define PCA9685_SUBADR1 0x2
#define PCA9685_SUBADR2 0x3
#define PCA9685_SUBADR3 0x4
#define PCA9685_MODE1 0x0
#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 ALLLED_ON_L 0xFA
#define ALLLED_ON_H 0xFB
#define ALLLED_OFF_L 0xFC
#define ALLLED_OFF_H 0xFD
#define SERVOMIN 90 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 700 // this is the 'maximum' pulse length count (out of 4096)
#define SERVO000 130 //
#define SERVO180 520 //
void delayms(uint z)
{
uint x,y;
for(x=z;x>0;x--)
for(y=148;y>0;y--);
}
void delayus()
{
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
}
void init()
{
sda=1;
delayus();
scl=1;
delayus();
}
void start()
{
sda=1;
delayus();
scl=1;
delayus();
sda=0;
delayus();
scl=0;
delayus();
}
void stop()
{
sda=0;
delayus();
scl=1;
delayus();
sda=1;
delayus();
}
void ACK()
{
uchar i;
scl=1;
delayus();
while((sda==1)&&(i<255))
i++;
scl=0;
delayus();
}
void write_byte(uchar byte)
{
uchar i,temp;
temp=byte;
for(i=0;i<8;i++)
{
temp=temp<<1;
scl=0;
delayus();
sda=CY;
delayus();
scl=1;
delayus();
}
scl=0;
delayus();
sda=1;
delayus();
}
uchar read_byte()
{
uchar i,j,k;
scl=0;
delayus();
sda=1;
delayus();
for(i=0;i<8;i++)
{
delayus();
scl=1;
delayus();
if(sda==1)
{
j=1;
}
else j=0;
k=(k<< 1)|j;
scl=0;
}
delayus();
return k;
}
void PCA9685_write(uchar address,uchar date)
{
start();
write_byte(PCA9685_adrr);
ACK();
write_byte(address);
ACK();
write_byte(date);
ACK();
stop();
}
uchar PCA9685_read(uchar address)
{
uchar date;
start();
write_byte(PCA9685_adrr);
ACK();
write_byte(address);
ACK();
start();
write_byte(PCA9685_adrr|0x01);
ACK();
date=read_byte();
stop();
return date;
}
void reset(void)
{
PCA9685_write(PCA9685_MODE1,0x0);
}
void begin(void)
{
reset();
}
void setPWMFreq(float freq)
{
uint 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);
delayms(2);
PCA9685_write(PCA9685_MODE1, oldmode | 0xa1);
}
void setPWM(uint num, uint on, uint 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);
}
void main()
{
begin();
setPWMFreq(50);
setPWM(0, 0, 130);//?0?????????
setPWM(1, 0, 130);//?1?????0??
setPWM(2, 0, 130);
setPWM(3, 0,130);
delayms(2000);
setPWM(0, 0, 210);
setPWM(1, 0, 210);
setPWM(2, 0, 210);
setPWM(3, 0, 210);
delayms(2000);
while(1)
{
}
}

復制代碼

以上代碼的Keil工程包下載:

51舵機驅動.zip (52.82 KB, 下載次數: 66)

ID:1063432 · 發表于 2023-6-25 01:40

up主，程序下載進去舵機沒反應，不知道怎么回事

ID:147492 · 發表于 2024-3-15 16:02

謝謝挺好的，正想玩玩這個

ID:433219 · 發表于 2024-3-16 08:20

CA9685PW,118 封裝: TSSOP-28 通道數: 16
品牌: NXP(恩智浦) 輸入電壓: 2.3V~5.5V 開關頻率: 100kHz~1MHz 輸出電壓: 5.5V

這玩意的“類目”:是 LED驅動？？？？？

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51單片機+PCA9685實現16路舵機驅動程序

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