STM32F103VET6 PCA9685舵机驱动程序含源码原理图 -

#include "stm32f10x_lib.h"
#include "userconfig.h"
#include "appdefine.h"
#include "appfuns.h"
#include "appvar.h"
#include "appfiles.h"
u8 mysendbuff[100];
u8 HandShakeToMaster[7] = {0xAA, 0xBB, 0x00, 0x00, 0x00, 0x00, 0x65};//握手
u8 WaterLowLine[7] = {0xAA, 0xEE, 0x00, 0x00, 0x00, 0x00, 0x98}; //请加水
u8 TurnOffComputer[7] = {0xAA, 0xFF, 0x00, 0x00,0x00,0x00,0xA9};//停电关机
void ProcessUSART(void){
USARTRecBuff *u;
SystermTask *s;
u16 u16tempreceve;
MuxData temp;
u16 Motordata,Motorline;
u = GetUSARTRecAddress();
s = GetTaskAddress();
if(u->COMState == COMBUSY){//如有完整帧接收
/*通讯协议*/
if(u->RxBuff[0] == 0xAA){
u16tempreceve = GenCheck(&u->RxBuff[0],6);
if(u->RxBuff[6] != u16tempreceve){
Send2USART2("err",3);
}
else{
Send2USART2((u8*)HandShakeToMaster,7);
DelayX10us(50);
switch(u->RxBuff[1]){
case 0x03:
StopAllMotor();
temp. u8_data[0]= u->RxBuff[3] ;
temp. u8_data[1]= u->RxBuff[2] ;
Motordata = temp.u16_data[0];
temp. u8_data[2]= u->RxBuff[5] ;
temp. u8_data[3]= u->RxBuff[4];
Motorline = temp.u16_data[1];
MotorControl(0x01,Motordata,Motorline);//开
// MotorControl(0x01,u->RxBuff[3],u->RxBuff[5]);//开
// TurnOnELS();
s->MotorBit = 1;
s->Medecinestate = Medecine_Out_Testing;
break;
case 0x04:
MotorControl(0x00,u->RxBuff[3],u->RxBuff[5]);//关
break;
case 0x05:
StopAllMotor();
break;
case 0x06:
break;
case 0x07:
TurnOnELS();
CheckElsOn();
break;
case 0x08:
TurnOffELS();
CheckElsOff();
break;
case 0x09:
CheckEls();
break;
case 0x0E:
ControlOut1_On();
break;
case 0x0F:
ControlOut1_Off();
break;
default:
break;
}
}
}
else if(u->RxBuff[0] == 0xFF){
// ShowString (&(u->RxBuff[3]) ,u->RxBuff[2] ,202 ,80);
u->length = u->RxBuff[2];
u16tempreceve = GenCheck(&u->RxBuff[0],(u->RxBuff[2]+3));
if(u->RxBuff[u->length+3] != u16tempreceve){
Send2USART2("err",3);
}
else if(u->RxBuff[1] == 0x01){
// ClearDisplay();
Choicepage(1);
ShowString (&(u->RxBuff[3]) ,u->RxBuff[2] ,202 ,100);
}
}
else if(u->RxBuff[0] == 0xEE){
u->length = u->RxBuff[2];
u16tempreceve = GenCheck(&u->RxBuff[0],(u->RxBuff[2]+3));
if(u->RxBuff[u->length+3] != u16tempreceve){
Send2USART2("err",3);
}
else if(u->RxBuff[1] == 0x12){
ShowString (&(u->RxBuff[3]) ,u->RxBuff[2] ,202 ,80);
}
}
u->RxCount = 0;
u->COMState = COMIDLE;
}
}
void ProcessTask(void){
Motor_Set_Ang(15,120);
delay_ms(250);
Motor_Set_Ang(15, 0);
delay_ms(250);
Motor_Set_OFF(15);
Motor_Set_Ang(14,120);
delay_ms(250);
Motor_Set_Ang(14, 0);
delay_ms(250);
Motor_Set_OFF(14);
Motor_Set_Ang(13,120);
delay_ms(250);
Motor_Set_Ang(13, 0);
delay_ms(250);
Motor_Set_OFF(13);
Motor_Set_Ang(12,120);
delay_ms(250);
Motor_Set_Ang(12, 0);
delay_ms(250);
Motor_Set_OFF(12);
Motor_Set_Ang(11,120);
delay_ms(250);
Motor_Set_Ang(11, 0);
delay_ms(250);
Motor_Set_OFF(11);
Motor_Set_Ang(10,120);
delay_ms(250);
Motor_Set_Ang(10, 0);
delay_ms(250);
Motor_Set_OFF(10);
Motor_Set_Ang(9,120);
delay_ms(250);
Motor_Set_Ang(9, 0);
delay_ms(250);
Motor_Set_OFF(9);
Motor_Set_Ang(8,120);
delay_ms(250);
Motor_Set_Ang(8, 0);
delay_ms(250);
Motor_Set_OFF(8);
Motor_Set_Ang(7,120);
delay_ms(250);
Motor_Set_Ang(7, 0);
delay_ms(250);
Motor_Set_OFF(7);
Motor_Set_Ang(6,120);
delay_ms(250);
Motor_Set_Ang(6, 0);
delay_ms(250);
Motor_Set_OFF(6);
Motor_Set_Ang(5,120);
delay_ms(250);
Motor_Set_Ang(5, 0);
delay_ms(250);
Motor_Set_OFF(5);
Motor_Set_Ang(4,120);
delay_ms(250);
Motor_Set_Ang(4, 0);
delay_ms(250);
Motor_Set_OFF(4);
Motor_Set_Ang(3,120);
delay_ms(250);
Motor_Set_Ang(3, 0);
delay_ms(250);
Motor_Set_OFF(3);
Motor_Set_Ang(2,120);
delay_ms(250);
Motor_Set_Ang(2, 0);
delay_ms(250);
Motor_Set_OFF(2);
Motor_Set_Ang(1,120);
delay_ms(250);
Motor_Set_Ang(1, 0);
delay_ms(250);
Motor_Set_OFF(1);
Motor_Set_Ang(0,120);
delay_ms(250);
Motor_Set_Ang(0, 0);
delay_ms(250);
}
void ProcessCtrl(void){
}
int main(void){
SystermInit();
…………限于本文篇幅余下代码请从51黑下载附件…………

复制代码