利用stc12c5a60s2单片机的iic通信,驱动pca9685,因为采用了9个舵机,所以不需要短接驱动板上的焊点,驱动的scl,sda对应接单片机的就好,vcc接3.3v,然后v+和gnd要给5v,插上9个舵机,我任务需要控制舵机90度来回转即可,用的串口,蓝牙控制,很简单,给需要的朋友参考
pca9685驱动板驱动9个舵机单片机源程序如下:
#include
#include
#include
#include
typedef unsigned char uchar;
typedef unsigned int uint;
unsigned char buf;
sbit scl=P2^6;
sbit sda=P2^7;
#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
#define SERVOMIN 115 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 590 // this is the 'maximum' pulse length count (out of 4096)
#define SERVO000 130 //0度
#define SERVO180 520 //180度
#define SERVO80 284 //80度
#define SERVO110 340//110度
void delayms(uint z)
{
uint x,y;
for(x=z;x>0;x--)
for(y=148;y>0;y--);
}
void delayus() //大于4.7us
{
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
}
/*---------------------------------------------------------------
IIC初始化
----------------------------------------------------------------*/
void init()
{
sda=1; //sda scl使用前被拉高
delayus();
scl=1;
delayus();
}
/*---------------------------------------------------------------
IIC????????
----------------------------------------------------------------*/
void start()
{
sda=1;
delayus();
scl=1; //scl高 sda拉低 ????IIC启动
delayus();
sda=0;
delayus();
scl=0;
delayus();
}
/*---------------------------------------------------------------
IIC停止
----------------------------------------------------------------*/
void stop()
{
sda=0;
delayus();
scl=1; //scl??? sda??????? ????IIC??
delayus();
sda=1;
delayus();
}
/*---------------------------------------------------------------
IIC应答
----------------------------------------------------------------*/
void ACK()
{
uchar i;
scl=1;
delayus();
while((sda=1)&&(i<255))
i++;
scl=0;
delayus();
}
/*---------------------------------------------------------------
写字节
----------------------------------------------------------------*/
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();
}
/*---------------------------------------------------------------
肚子节
----------------------------------------------------------------*/
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();
}
/*---------------------------------------------------------------
从PCA9685读数据有返回值
----------------------------------------------------------------*/
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复位
----------------------------------------------------------------*/
void reset(void)
{
PCA9685_write(PCA9685_MODE1,0
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