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#include "pca9685.h"
/*---------------------------------------------------------------
有关PCA9685模块的函数
----------------------------------------------------------------*/
/*---------------------------------------------------------------
向PCA9685里写地址，数据
----------------------------------------------------------------*/
void PCA9685_write(u8 address,u8 date)
{
IIC_Start();
IIC_Send_Byte(PCA9685_adrr); //PCA9685的片选地址
IIC_Ack();
IIC_Send_Byte(address); //写地址控制字节
IIC_Ack();
IIC_Send_Byte(date); //写数据
IIC_Ack();
IIC_Stop();
}
/*---------------------------------------------------------------
从PCA9685里的地址值中读数据(有返回值)
----------------------------------------------------------------*/
u8 PCA9685_read(u8 address)
{
u8 date;
IIC_Start();
IIC_Send_Byte(PCA9685_adrr); //PCA9685的片选地址
IIC_Ack();
IIC_Send_Byte(address);
IIC_Ack();
IIC_Start();
IIC_Send_Byte(PCA9685_adrr|0x01); //地址的第八位控制数据流方向，就是写或读
IIC_Ack();
date=IIC_Read_Byte(0);
IIC_Stop();
return date;
}
/*---------------------------------------------------------------
PCA9685复位
----------------------------------------------------------------*/
void reset(void)
{
PCA9685_write(PCA9685_MODE1,0x0);
}
void begin(void)
{
reset();
}
/*---------------------------------------------------------------
PCA9685修改频率函数
----------------------------------------------------------------*/
void setPWMFreq(float freq)
{
u16 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);
delay_ms(2);
PCA9685_write(PCA9685_MODE1, oldmode | 0xa1);
}
/*---------------------------------------------------------------
PCA9685修改角度函数
num:舵机PWM输出引脚0~15，on:PWM上升计数值0~4096,off:PWM下降计数值0~4096
一个PWM周期分成4096份，由0开始+1计数，计到on时跳变为高电平，继续计数到off时
跳变为低电平，直到计满4096重新开始。所以当on不等于0时可作延时,当on等于0时，
off/4096的值就是PWM的占空比。
----------------------------------------------------------------*/
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);
}
/*********************************************************************************
***************************************************************************************/
#ifndef __PCA9685_H
#define __PCA9685_H
#include "sys.h"
#include "delay.h"
#include <math.h>
#include "myiic.h"
#define PCA9685_adrr 0x80// 1+A5+A4+A3+A2+A1+A0+w/r
//片选地址，将焊接点置1可改变地址，
// 当IIC总 多片PCA9685或相同地址时才需焊接
// #define PCA9685_SUBADR1 0x2
// #define PCA9685_SUBADR2 0x3
// #define PCA9685_SUBADR3 0x4
#define PCA9685_MODE1 0x00
#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 SERVO000 103 //0度对应4096的脉宽计数值 103÷204.8-0.5÷2×180=角度
#define SERVO180 512 //180度对应4096的脉宽计算值，四个值可根据不同舵机修改
void reset(void) ;
void begin(void) ;
void setPWMFreq(float freq) ;
void setPWM(u16 num, u16 on, u16 off)
#endif
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