PCA9685驱动STM32F103

/*** Copyright (c) 2016 All rights reserved. File name :pca9685.c file identification : Subject :Say something about the file Current Version :V1.0.0 Author :Hacker Date : Instead Version : Author :Hacker Date : ***/ #include "PCA9685.h" #include "math.h" #include "delay.h" #include "Arduino.h" #include "usart.h" #define HARDWARE_IIC #define TEMP37 1365 #define TEMP60 4095 #ifndef HAC_STM32F103C8T6 #define I2C_Channel I2C1 #else #define I2C_Channel I2C2 #endif /* STM32 I2C 快速模式 */ #define I2C_Speed 100000 /* 这个地址只要与STM32外挂的I2C器件地址不一样即可 */ #define I2C1_OWN_ADDRESS7 0x0A /* PCA9685写地址 */ #define I2C_Write_ADDRESS 0x80 /* PCA9685读地址 */ #define I2C_Read_ADDRESS 0x81 #define TurnOn() GPIO_ResetBits(GPIOA,GPIO_Pin_5) #define TurnOff() GPIO_SetBits(GPIOA, GPIO_Pin_5) static void DELAY_US(u32 n) { delay_us(n); } /** * [map description] * @param x [description] * @param in_min [description] * @param in_max [description] * @param out_min [description] * @param out_max [description] * @return [description] */ long map(long x, long in_min, long in_max, long out_min, long out_max) { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } /******************************************************************************* * * 功能 ：I2C I/O配置 * 参数 ：无 * ****************************************************************************** */ void I2C_GPIO_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE); #ifndef HAC_STM32F103C8T6 RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1,ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; #else RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2,ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11; #endif GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; // 开漏输出 GPIO_Init(GPIOB, &GPIO_InitStructure); } /******************************************************************************* * * 功能 ：I2C 工作模式配置 * 参数 ：无 * ****************************************************************************** */ void I2C_Mode_Configu(void) { I2C_InitTypeDef I2C_InitStructure; I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; I2C_InitStructure.I2C_OwnAddress1 =I2C1_OWN_ADDRESS7; I2C_InitStructure.I2C_Ack = I2C_Ack_Enable; I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; I2C_InitStructure.I2C_ClockSpeed = I2C_Speed; I2C_Init(I2C_Channel, &I2C_InitStructure); I2C_Cmd(I2C_Channel, ENABLE); } /******************************************************************************* * * 功能 ：PCA9685_I2C初始化 * 参数 ：无 * ****************************************************************************** */ u8 I2C_PCA9685_Init(void) { u8 data = 0; #ifdef HARDWARE_IIC I2C_GPIO_Config(); I2C_Mode_Configu(); #else IIC_Init(); #endif data = RESTART_BIT | SLEEP_BIT | ALLCALL_BIT; if(I2C_ByteWrite(I2C_Write_ADDRESS,PCA9685_MODE1,data))return 1;//0x91 B10010001 DELAY_US(600); if(I2C_ByteWrite(I2C_Write_ADDRESS,PCA9685_PRESCALE,108))return 1;//108 频率 = 108/2 初始化频率 if(I2C_ByteWrite(I2C_Write_ADDRESS,PCA9685_MODE1,99))return 1; return 0; } /********************************************************* * *功能：I2C_ByteWrite *参数：SlaveAddress：地址；REG_Address：通道；REG_data：数据 * **********************************************************/ u8 I2C_ByteWrite(u8 SlaveAddress,u8 REG_Address,u16 REG_data) { #ifdef HARDWARE_IIC #define val_time 200 u8 val = val_time; while(I2C_GetFlagStatus(I2C_Channel, I2C_FLAG_BUSY) && val--)DELAY_US(1); if(val == 0) return 1; val = val_time; I2C_GenerateSTART(I2C_Channel,ENABLE); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_MODE_SELECT) && val--)DELAY_US(1); if(val == 0) return 1; val = val_time; I2C_Send7bitAddress(I2C_Channel,SlaveAddress,I2C_Direction_Transmitter); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) && val--)DELAY_US(1); if(val == 0) return 1; val = val_time; I2C_SendData(I2C_Channel,REG_Address); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_BYTE_TRANSMITTED) && val--)DELAY_US(1); if(val == 0) return 1; val = val_time; I2C_SendData(I2C_Channel,REG_data); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_BYTE_TRANSMITTED) && val--)DELAY_US(1); if(val == 0) return 1; I2C_GenerateSTOP(I2C_Channel,ENABLE); return 0; #else IIC_Start(); IIC_Send_Byte(SlaveAddress); IIC_Wait_Ack(); IIC_Send_Byte(REG_Address); IIC_Wait_Ack(); IIC_Send_Byte(REG_data); IIC_Wait_Ack(); IIC_Stop(); #endif } u8 read8(u8 addr) { u8 ReceiveData = 0; #ifdef HARDWARE_IIC I2C_AcknowledgeConfig(I2C_Channel,ENABLE); //许应答模式 I2C_GenerateSTART(I2C_Channel,ENABLE); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_MODE_SELECT)); // I2C_Send7bitAddress(I2C_Channel,I2C_Read_ADDRESS,I2C_Direction_Transmitter); // DELAY_US(60); // while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)); // I2C_SendData(I2C_Channel,addr); // while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_BYTE_TRANSMITTED)); // I2C_GenerateSTOP(I2C_Channel,ENABLE); I2C_Send7bitAddress(I2C_Channel,I2C_Read_ADDRESS,I2C_Direction_Receiver); DELAY_US(60); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)); I2C_SendData(I2C_Channel,addr); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_BYTE_RECEIVED)); I2C_GenerateSTOP(I2C_Channel,ENABLE); ReceiveData = I2C_ReceiveData(I2C_Channel); return ReceiveData; #else IIC_Start(); IIC_Send_Byte(I2C_Write_ADDRESS);//I2C_Write_ADDRESS//I2C_Read_ADDRESS IIC_Wait_Ack(); // DELAY_US(100); IIC_Wait_Ack(); IIC_Send_Byte(addr); IIC_Wait_Ack(); ReceiveData = IIC_Read_Byte(1);//data read error IIC_Stop(); return ReceiveData; #endif } void write8(u8 addr, u8 d) { #ifdef HARDWARE_IIC I2C_AcknowledgeConfig(I2C_Channel,ENABLE); // I2C_GenerateSTART(I2C_Channel,ENABLE); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_MODE_SELECT)); I2C_Send7bitAddress(I2C_Channel,I2C_Write_ADDRESS,I2C_Direction_Transmitter); DELAY_US(60); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)); I2C_SendData(I2C_Channel,addr); I2C_SendData(I2C_Channel,d); while(!I2C_CheckEvent(I2C_Channel,I2C_EVENT_MASTER_BYTE_TRANSMITTED)); I2C_GenerateSTOP(I2C_Channel,ENABLE); #else // IIC_Start(); // IIC_Send_Byte(I2C_Write_ADDRESS); // IIC_Wait_Ack(); // // // DELAY_US(60); // IIC_Send_Byte(addr); // IIC_Wait_Ack(); // // IIC_Send_Byte(d); // IIC_Wait_Ack(); // IIC_Stop(); I2C_ByteWrite(I2C_Write_ADDRESS, addr, d); #endif } void setPWMFreq(float freq) //设置频率 { int prescale; int oldmode; int newmode; freq *= 0.9; // Correct for overshoot in the frequency setting (see issue #11). prescale = (int)((25000000/(4096*freq))- 1);//-6 oldmode = read8(PCA9685_MODE1); newmode = (oldmode&0x7F) | SLEEP_BIT; // sleep write8(PCA9685_MODE1, newmode); // go to sleep PCA9685_MODE1 0x00 write8(PCA9685_PRESCALE, prescale); // set the prescaler PCA9685_PRESCALE 0x