/**************************************************************************
PCA9685??????
??:89C52,??:11.0592
***************************************************************************/
#include<reg52.h>
#include <intrins.h>
#include <stdio.h>
#include <math.h>
typedef unsigned char uchar;
typedef unsigned int uint;
sbit scl=P3^6; //?????
sbit sda=P3^7; //????/???
#define PCA9685_adrr 0x80// 1+A5+A4+A3+A2+A1+A0+w/r
//????,?????1?????,
// ?IIC? ?? ??PCA9685??????????
#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
#define SERVOMIN 90 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 700 // this is the 'maximum' pulse length count (out of 4096)
#define SERVO000 130 //0???4096??????
#define SERVO180 520 //180???4096??????,????????????
/**********************?????*********************************/
/*---------------------------------------------------------------
??????
----------------------------------------------------------------*/
void delayms(uint z)
{
uint x,y;
for(x=z;x>0;x--)
for(y=148;y>0;y--);
}
/*---------------------------------------------------------------
IIC?????????
----------------------------------------------------------------*/
/*---------------------------------------------------------------
???????? ??4.7us
----------------------------------------------------------------*/
void delayus()
{
_nop_(); //?intrins.h???
_nop_();
_nop_();
_nop_();
_nop_();
}
/*---------------------------------------------------------------
IIC???????
----------------------------------------------------------------*/
void init()
{
sda=1; //sda scl????????
delayus();
scl=1;
delayus();
}
/*---------------------------------------------------------------
IIC????????
----------------------------------------------------------------*/
void start()
{
sda=1;
delayus();
scl=1; //scl??? sda??????? ????IIC??
delayus();
sda=0;
delayus();
scl=0;
delayus();
}
/*---------------------------------------------------------------
IIC????????
----------------------------------------------------------------*/
void stop()
{
sda=0;
delayus();
scl=1; //scl??? sda??????? ????IIC??
delayus();
sda=1;
delayus();
}
/*---------------------------------------------------------------
IIC????????
----------------------------------------------------------------*/
void ACK()
{
uchar i;
scl=1;
delayus();
while((sda==1)&&(i<255)) //?????sda=1?????????????
i++;
scl=0;
delayus();
}
/*---------------------------------------------------------------
?????,????,????????
----------------------------------------------------------------*/
void write_byte(uchar byte)
{
uchar i,temp;
temp=byte;
for(i=0;i<8;i++)
{
temp=temp<<1;
scl=0;
delayus();
sda=CY;
delayus();
scl=1;
delayus();
}
scl=0;
delayus();
sda=1;
delayus();
}
/*---------------------------------------------------------------
???????,????
----------------------------------------------------------------*/
uchar read_byte()
{
uchar i,j,k;
scl=0;
delayus();
sda=1;
delayus();
for(i=0;i<8;i++)
{
delayus();
scl=1;
delayus();
if(sda==1)
{
j=1;
}
else j=0;
k=(k<< 1)|j;
scl=0;
}
delayus();
return k;
}
/*---------------------------------------------------------------
??PCA9685?????
----------------------------------------------------------------*/
/*---------------------------------------------------------------
?PCA9685????,??
----------------------------------------------------------------*/
void PCA9685_write(uchar address,uchar date)
{
start();
write_byte(PCA9685_adrr); //PCA9685?????
ACK();
write_byte(address); //???????
ACK();
write_byte(date); //???
ACK();
stop();
}
/*---------------------------------------------------------------
?PCA9685?????????(????)
----------------------------------------------------------------*/
uchar PCA9685_read(uchar address)
{
uchar date;
start();
write_byte(PCA9685_adrr); //PCA9685?????
ACK();
write_byte(address);
ACK();
start();
write_byte(PCA9685_adrr|0x01); //?????????????,?????
ACK();
date=read_byte();
stop();
return date;
}
/*---------------------------------------------------------------
PCA9685??
----------------------------------------------------------------*/
void reset(void)
{
PCA9685_write(PCA9685_MODE1,0x0);
}
void begin(void)
{
reset();
}
/*---------------------------------------------------------------
PCA9685??????
----------------------------------------------------------------*/
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);
delayms(2);
PCA9685_write(PCA9685_MODE1, oldmode | 0xa1);
}
/*---------------------------------------------------------------
PCA9685??????
num:??PWM????0~15,on:PWM?????0~4096,off:PWM?????0~4096
??PWM????4096?,?0??+1??,??on???????,?????off?
??????,????4096????????on???0?????,?on??0?,
off/4096????PWM?????
----------------------------------------------------------------*/
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 main()
{
uint a=1;
uint b=0;
begin();
setPWMFreq(50);
//????????60?,???,
//60??????=0.5ms+(60/180)*(2.5ms-0.5ms)=1.1666ms
//?????=1.1666ms/20ms=off/4096,off=239,50hz????20ms
//setPWM(num,0,239);;;;???????SERVO000?SERVO180??
while(1)
{
if(a>400)
{
b=1;
}
if(a<200)
{
b=0;
}
if(b==0){
a=a+1;
}
if(b==1){
a=a-1;
}
//a=a%700
setPWM(0, 1, a);//?0?????????
//setPWM(1, 0, SERVO000);//?1?????0??
//setPWM(15, 0, 3000);
delayms(1);
//setPWM(0, 0, SERVO180);
// setPWM(1, 0, SERVO180);
//delayms(15);
}
}
|
