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| #include <REGX52.H>
#include <intrins.h>
#include <math.h>
typedef unsigned char uchar;
typedef unsigned int uint;
sbit scl = P2 ^ 1; //时钟输入线
sbit sda = P2 ^ 0; //数据输入/输出端
//将A0-A5全部接地，地址为: 0x80
#define PCA9685\_adrr 0x80// 1+A5+A4+A3+A2+A1+A0+w/r
// 当IIC总线，联级多片PCA9685或相同地址时才需焊接
#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 //0度对应4096的脉宽计数值
#define SERVO180 520 //180度对应4096的脉宽计算值，四个值可根据不同舵机修改
/\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*函数的声明\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*/
/\*---------------------------------------------------------------
毫秒延时函数
----------------------------------------------------------------\*/
void delayms(uint z)
{
uint x, y;
for (x = z; x > 0; x--)
for (y = 123; y > 0; y--);
}
/\*---------------------------------------------------------------
IIC总线所需的通用函数
----------------------------------------------------------------\*/
/\*---------------------------------------------------------------
微妙级别延时函数 大于4.7us
----------------------------------------------------------------\*/
void delayus()
{
\_nop\_(); //在intrins.h文件里
\_nop\_();
\_nop\_();
\_nop\_();
\_nop\_();
}
/\*---------------------------------------------------------------
IIC总线初始化函数
----------------------------------------------------------------\*/
void init()
{
sda = 1; //sda scl使用前总是被拉高
delayus();
scl = 1;
delayus();
}
/\*---------------------------------------------------------------
IIC总线启动信号函数
----------------------------------------------------------------\*/
void start()
{
sda = 1;
delayus();
scl = 1; //scl拉高时 sda突然来个低电平 就启动了IIC总线
delayus();
sda = 0;
delayus();
scl = 0;
delayus();
}
/\*---------------------------------------------------------------
IIC总线停止信号函数
----------------------------------------------------------------\*/
void stop()
{
sda = 0;
delayus();
scl = 1; //scl拉高时 sda突然来个高电平 就停止了IIC总线
delayus();
sda = 1;
delayus();
}
/\*---------------------------------------------------------------
IIC总线应答信号函数
----------------------------------------------------------------\*/
void ACK()
{
uchar i;
scl = 1;
delayus();
while ((sda == 1) && (i < 255)) //等待从设备拉低总线
i++;
scl = 0;
delayus();
}
/\*---------------------------------------------------------------
写一个字节,无返回值，需输入一个字节值
----------------------------------------------------------------\*/
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();
}
/\*---------------------------------------------------------------
读一个字节函数，有返回值
----------------------------------------------------------------\*/
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;
}
/\*---------------------------------------------------------------
有关PCA9685模块的函数
----------------------------------------------------------------\*/
/\*---------------------------------------------------------------
向PCA9685里写地址，数据
----------------------------------------------------------------\*/
void PCA9685\_write(uchar address, uchar date)
{
start();
write\_byte(PCA9685_adrr); //PCA9685的片选地址
ACK();
write\_byte(address); //写地址控制字节
ACK();
write\_byte(date); //写数据
ACK();
stop();
}
/\*---------------------------------------------------------------
从PCA9685里的地址值中读数据(有返回值)
----------------------------------------------------------------\*/
uchar PCA9685\_read(uchar address)
{
uchar date;
start();
write\_byte(PCA9685_adrr); //PCA9685的片选地址
ACK();
write\_byte(address);
ACK();
start();
write\_byte(PCA9685_adrr | 0x01); //地址的第八位控制数据流方向，就是写或读
ACK();
date = read\_byte();
stop();
return date;
}
/\*---------------------------------------------------------------
PCA9685复位
----------------------------------------------------------------\*/
void PCA9685\_Init(void)
{
PCA9685\_write(PCA9685_MODE1, 0x0);
}
/\*---------------------------------------------------------------
PCA9685修改频率函数
----------------------------------------------------------------\*/
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);
}
/\*---------------------------------------------------------------
PCA9685修改角度函数
num:舵机PWM输出引脚0~15，on:PWM上升计数值0~4096,off:PWM下降计数值0~4096
一个PWM周期分成4096份，由0开始+1计数，计到on时跳变为高电平，继续计数到off时
跳变为低电平，直到计满4096重新开始。所以当on不等于0时可作延时,当on等于0时，
off/4096的值就是PWM的占空比。
----------------------------------------------------------------\*/
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);
}
/\*---------------------------------------------------------------
主函数
----------------------------------------------------------------\*/
void main()
{
uchar i;
PCA9685\_Init();
setPWMFreq(50);
//例如要求舵机转到60度，这么算，
//60度对应的脉宽=0.5ms+(60/180)\*(2.5ms-0.5ms)=1.1666ms
//利用占空比=1.1666ms/20ms=off/4096,off=239,50hz对应周期20ms
//setPWM(num,0,239);当然也可以利用SERVO000和SERVO180计算
while (1)
{
for(i=0;i<16;i++)
{
setPWM(i, 0, SERVOMIN);//第0路舵机转到最小角度
// setPWM(i, 0, SERVO000);//第i路舵机转到0角度,同上
}
delayms(1500);
for(i=0;i<16;i++)
{
setPWM(i, 0, SERVOMAX);
// setPWM(15, 0, SERVO180);//第i路舵机转到180角度,同上
}
delayms(1500);
}
}
|
