STC89C52RC单片机+串口+红外控制16路舵机程序 -

#include "PCA9685_TJ.h"
#include <stdio.h>
#include <math.h>
/*使用说明:
在main主程序
PCA9685_init();
在main主程序的while加入
PCA9685_main(); //注: 必需放在UART1_main();的前面
*/
#define PCA9685_adrr 0x80// 1+A5+A4+A3+A2+A1+A0+w/r
#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
uchar mm,nn;
uint SERV0; //存储值
/*---------------------------------------------------------------
IIC初始化
----------------------------------------------------------------*/
void init()
{
sda=1; //sda scl使用前被拉高
delay100us(1);
scl=1;
delay100us(1);
}
/*---------------------------------------------------------------
IIC启动
----------------------------------------------------------------*/
void start()
{
sda=1;
delay100us(1);
scl=1; //scl高 sda拉低 IIC启动
delay100us(1);
sda=0;
delay100us(1);
scl=0;
delay100us(1);
}
/*---------------------------------------------------------------
IIC停止
----------------------------------------------------------------*/
void stop()
{
sda=0;
delay100us(1);
scl=1;
delay100us(1);
sda=1;
delay100us(1);
}
/*---------------------------------------------------------------
IIC应答
----------------------------------------------------------------*/
void ACK()
{
uchar i;
scl=1;
delay100us(1);
while((sda=1)&&(i<255)) {
i++;
}
scl=0;
delay100us(1);
}
/*---------------------------------------------------------------
写字节
----------------------------------------------------------------*/
void write_byte(uchar byte)
{
uchar i,temp;
temp=byte;
for(i=0;i<8;i++)
{
temp=temp<<1;
scl=0;
delay100us(1);
sda=CY;
delay100us(1);
scl=1;
delay100us(1);
}
scl=0;
delay100us(1);
sda=1;
delay100us(1);
}
/*---------------------------------------------------------------
读字节
----------------------------------------------------------------*/
uchar read_byte()
{
uchar i,j,k;
scl=0;
delay100us(1);
sda=1;
delay100us(1);
for(i=0;i<8;i++)
{
delay100us(1);
scl=1;
delay100us(1);
if(sda==1)
{
j=1;
}
else j=0;
k=(k<< 1)|j;
scl=0;
}
delay100us(1);
return k;
}
/*---------------------------------------------------------------
PCA9685
----------------------------------------------------------------*/
/*---------------------------------------------------------------
写数据到PCA9685
----------------------------------------------------------------*/
void PCA9685_write(uchar address,uchar date)
{
start();
write_byte(PCA9685_adrr);
ACK();
write_byte(address);
ACK();
write_byte(date);
ACK();
stop();
}
/*---------------------------------------------------------------
从PCA9685读数据有返回值
----------------------------------------------------------------*/
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;
}
/*---------------------------------------------------------------
PCA9685复位
----------------------------------------------------------------*/
void reset(void)
{
PCA9685_write(PCA9685_MODE1,0x0);
}
void begin(void)
{
reset();
}
/*---------------------------------------------------------------
PCA9685修改频率
----------------------------------------------------------------*/
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);
delay1ms(10);
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 PCA9685_init() {
init(); //初始化
begin(); //初始化
setPWMFreq(50); //设置50hz
for(nn=0;nn<16;nn++) { //初始化
setPWM(nn, 0, SERVOMAX);
}
}
void PCA9685_main() {
if(buf1[0]!=0x00 && cmd1==1){
switch(buf1[0])
{
case 0x31: //串口输入1~
mm=0;break;
case 0x32: //串口输入2~
mm=1;break;
case 0x33: //串口输入3~
mm=2;break;
case 0x34: //串口输入4~
mm=3;break;
case 0x35: //串口输入5~
mm=4;break;
case 0x36: //串口输入6~
mm=5;break;
case 0x37: //串口输入7~
mm=6;break;
case 0x38: //串口输入8~
mm=7;break;
case 0x39: //串口输入9~
mm=8;break;
case 0x41: //串口输入A~
mm=9;break;
case 0x42: //串口输入B~
mm=10;break;
case 0x43: //串口输入C~
mm=11;break;
case 0x44: //串口输入D~
mm=12;break;
case 0x45: //串口输入E~
mm=13;break;
case 0x46: //串口输入F~
mm=14;break;
case 0x47: //串口输入G~
mm=15;break;
default:break; //接受到其它数据，蜂鸣器响
}
if(SERV0==SERVO110){ SERV0=SERVOMAX; } else { SERV0=SERVO110; }
setPWM(mm, 0, SERV0);
mm=999;
}
}

复制代码