stm32f103驱动pca9685 舵机不动求帮助

ID:593646 · 发表于 2019-8-19 14:51

为什么我的这个程序无法让舵机动起来，请大佬指教
#include "./EEPROM/EEPROMH.H"
#include "./I2C/I2CH.H"
#include <stdio.h>
#include <math.h>

void delayms(u32 z)
{
  u32 x,y;
  for(x=z;x>0;x--)
   for(y=148;y>0;y--);
}

void PCA9685_write(u8 address,u8 date)
{
I2C_START();
I2C_WRITE_BYTE(PCA9685_adrr);       //PCA9685的片选地址
I2C_ACK();
I2C_WRITE_BYTE(address);  //写地址控制字节
I2C_ACK();
I2C_WRITE_BYTE(date);       //写数据
I2C_ACK();
I2C_STOP();
}

u8 PCA9685_read(u8 address)
{
u8 date;
I2C_START();
I2C_WRITE_BYTE(PCA9685_adrr); //PCA9685的片选地址
I2C_ACK();
I2C_WRITE_BYTE(address);
I2C_ACK();
I2C_START();
I2C_WRITE_BYTE(PCA9685_adrr|0x01); //地址的第八位控制数据流方向，就是写或读
I2C_ACK();
date=I2C_READ_BYTE();
I2C_STOP();
return date;
}

void reset(void)
{
PCA9685_write(PCA9685_MODE1,0x0);
}

void begin(void)
{
  reset();
}

void setPWMFreq(float freq)
{
u16 prescale,oldmode,newmode;
float prescaleval;
freq *= 0.92;
prescaleval = 25000000;
prescaleval /= 4096;
prescaleval /= freq;
prescaleval -= 1;
prescale = floor(prescaleval + 0.5f);

oldmode = PCA9685_read(PCA9685_MODE1);
newmode = (oldmode&0x7F) | 0x10;
PCA9685_write(PCA9685_MODE1, newmode);
PCA9685_write(PCA9685_PRESCALE, prescale);
PCA9685_write(PCA9685_MODE1, oldmode);
delayms(2);
PCA9685_write(PCA9685_MODE1, oldmode | 0xa1);
}

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);
}

int main(void)
{
begin();
setPWMFreq(50);

while(1)
{
   setPWM(12, 0, SERVO000);//第12路舵机转到0角度
   delayms(1500);
}
}

ID:593646 · 发表于 2019-11-14 10:11

大哥解决了吗？我也碰到了同样的问题，有时程序烧进去可以动有时又不能动

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stm32f103驱动pca9685 舵机不动 求帮助

stm32f103驱动pca9685 舵机不动求帮助