16路舵机控制板pca9685的stm32驱动程序源码 -

#include "pca9685.h"
#include "myiic.h"
#include "delay.h"
#include "math.h"
void pca_write1(u8 adr,u8 data)
{
IIC_Start();
IIC_Send_Byte(pca_adr1);
IIC_Wait_Ack();
IIC_Send_Byte(adr);
IIC_Wait_Ack();
IIC_Send_Byte(data);
IIC_Wait_Ack();
IIC_Stop();
}
u8 pca_read1(u8 adr)
{
u8 data;
IIC_Start();
IIC_Send_Byte(pca_adr1);
IIC_Wait_Ack();
IIC_Send_Byte(adr);
IIC_Wait_Ack();
IIC_Start();
IIC_Send_Byte(pca_adr1|0x01);
IIC_Wait_Ack();
data=IIC_Read_Byte(0);
IIC_Stop();
return data;
}
void pca_reset1(void)
{
IIC_Init();
pca_write1(pca_mode1,0x0);
}
void pca_setfreq1(float freq)
{
u8 prescale,oldmode,newmode;
double prescaleval;
freq *= 0.92;
prescaleval = 25000000;
prescaleval /= 4096;
prescaleval /= freq;
prescaleval -= 1;
prescale =floor(prescaleval + 0.5f);
oldmode = pca_read1(pca_mode1);
newmode = (oldmode&0x7F) | 0x10; // sleep
pca_write1(pca_mode1, newmode); // go to sleep
pca_write1(pca_pre, prescale); // set the prescaler
pca_write1(pca_mode1, oldmode);
delay_ms(2);
pca_write1(pca_mode1, oldmode | 0xa1);
}
void pca_setpwm1(u8 num, u32 on, u32 off)
{
pca_write1(LED0_ON_L+4*num,on);
pca_write1(LED0_ON_H+4*num,on>>8);
pca_write1(LED0_OFF_L+4*num,off);
pca_write1(LED0_OFF_H+4*num,off>>8);
}
void pca_write2(u8 adr,u8 data)
{
IIC_Start();
IIC_Send_Byte(pca_adr2);
IIC_Wait_Ack();
IIC_Send_Byte(adr);
IIC_Wait_Ack();
IIC_Send_Byte(data);
IIC_Wait_Ack();
IIC_Stop();
}
u8 pca_read2(u8 adr)
{
u8 data;
IIC_Start();
IIC_Send_Byte(pca_adr2);
IIC_Wait_Ack();
IIC_Send_Byte(adr);
IIC_Wait_Ack();
IIC_Start();
IIC_Send_Byte(pca_adr2|0x01);
IIC_Wait_Ack();
data=IIC_Read_Byte(0);
IIC_Stop();
return data;
}
void pca_reset2(void)
{
IIC_Init();
pca_write2(pca_mode1,0x0);
}
void pca_setfreq2(float freq)
{
u8 prescale,oldmode,newmode;
double prescaleval;
freq *= 0.92;
prescaleval = 25000000;
prescaleval /= 4096;
prescaleval /= freq;
prescaleval -= 1;
prescale =floor(prescaleval + 0.5f);
oldmode = pca_read2(pca_mode1);
newmode = (oldmode&0x7F) | 0x10; // sleep
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