stm32F103zet6 pcf9685 16路舵機驅動板

ID:398254 · 發表于 2019-7-27 11:07

#include "pca9685.h"

/*---------------------------------------------------------------
            有關PCA9685模塊的函數
----------------------------------------------------------------*/
/*---------------------------------------------------------------
            向PCA9685里寫地址，數據
----------------------------------------------------------------*/
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
IIC_Ack();
IIC_Send_Byte(date);       //寫數據
IIC_Ack();
IIC_Stop();
}
/*---------------------------------------------------------------
         從PCA9685里的地址值中讀數據(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據流方向，就是寫或讀
IIC_Ack();
date=IIC_Read_Byte(0);
IIC_Stop();
return date;
}
/*---------------------------------------------------------------
                     PCA9685復位
----------------------------------------------------------------*/
void reset(void)
{
  PCA9685_write(PCA9685_MODE1,0x0);
}

void begin(void)
{
  reset();
}
/*---------------------------------------------------------------
                                    PCA9685修改頻率函數
----------------------------------------------------------------*/
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
num:舵機PWM輸出引腳0~15，on:PWM上升計數值0~4096,off:PWM下降計數值0~4096
一個PWM周期分成4096份，由0開始+1計數，計到on時跳變為高電平，繼續計數到off時
跳變為低電平，直到計滿4096重新開始。所以當on不等于0時可作延時,當on等于0時，
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，將焊接點置1可改變地址，
                     // 當IIC總  多片PCA9685或相同地址時才需焊接
// #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度對應4096的脈寬計數值  103÷204.8-0.5÷2×180=角度
#define SERVO180  512 //180度對應4096的脈寬計算值，四個值可根據不同舵機修改

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路舵機驅動板