本帖最后由 顺子 于 2015-11-6 21:33 编辑
各位高手你们好。我买了块pca9685这块板子。本来是在Arduino上使用的，但是我买的时候没有看，我现在正在使用stm32，我一直在写I2c通讯，希望能够使用pca9685这块板子，但是一直出错，下面我把代码贴上来，希望高手来帮助我一下
这个是Arduino原程序main.c函数
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
// Depending on your servo make, the pulse width min and max may vary, you
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 600 // this is the 'maximum' pulse length count (out of 4096)
// our servo # counter
//uint8_t servonum = 0;
void setup() {
Serial.begin(9600);
Serial.println("16 channel Servo test!");
pwm.begin();
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
}
// you can use this function if you'd like to set the pulse length in seconds
// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. its not precise!
void setServoPulse(uint8_t n, double pulse) {
double pulselength;
pulselength = 1000000; // 1,000,000 us per second
pulselength /= 60; // 60 Hz
Serial.print(pulselength); Serial.println(" us per period");
pulselength /= 4096; // 12 bits of resolution
Serial.print(pulselength); Serial.println(" us per bit");
pulse *= 1000;
pulse /= pulselength;
Serial.println(pulse);
pwm.setPWM(n, 0, pulse);
}
void loop() {
// Drive each servo one at a time
//Serial.println(servonum);
for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) {
pwm.setPWM(0, 0, pulselen);
pwm.setPWM(1, 0, pulselen);
pwm.setPWM(2, 0, pulselen);
pwm.setPWM(3, 0, pulselen);
pwm.setPWM(4, 0, pulselen);
pwm.setPWM(5, 0, pulselen);
pwm.setPWM(6, 0, pulselen);
pwm.setPWM(7, 0, pulselen);
pwm.setPWM(8, 0, pulselen);
pwm.setPWM(9, 0, pulselen);
pwm.setPWM(10, 0, pulselen);
pwm.setPWM(11, 0, pulselen);
pwm.setPWM(12, 0, pulselen);
pwm.setPWM(13, 0, pulselen);
pwm.setPWM(14, 0, pulselen);
}
delay(500);
for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--) {
pwm.setPWM(0, 0, pulselen);
pwm.setPWM(0, 0, pulselen);
pwm.setPWM(1, 0, pulselen);
pwm.setPWM(2, 0, pulselen);
pwm.setPWM(3, 0, pulselen);
pwm.setPWM(4, 0, pulselen);
pwm.setPWM(5, 0, pulselen);
pwm.setPWM(6, 0, pulselen);
pwm.setPWM(7, 0, pulselen);
pwm.setPWM(8, 0, pulselen);
pwm.setPWM(9, 0, pulselen);
pwm.setPWM(10, 0, pulselen);
pwm.setPWM(11, 0, pulselen);
pwm.setPWM(12, 0, pulselen);
pwm.setPWM(13, 0, pulselen);
pwm.setPWM(14, 0, pulselen);
}
delay(500);
}
这个是Arduino原程序Adafruit_PWMServoDriver.h函数
/***************************************************
This is a library for our Adafruit 16-channel PWM & Servo driver
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/products/815
These displays use I2C to communicate, 2 pins are required to
interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, all text above must be included in any redistribution
****************************************************/
#ifndef _ADAFRUIT_PWMServoDriver_H
#define _ADAFRUIT_PWMServoDriver_H
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#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
class Adafruit_PWMServoDriver {
public:
Adafruit_PWMServoDriver(uint8_t addr = 0x40);//我没有用过Arduino，但是根据我的判断pca9685地址应该是0x40.
void begin(void);
void reset(void);
void setPWMFreq(float freq);
void setPWM(uint8_t num, uint16_t on, uint16_t off);
void setPin(uint8_t num, uint16_t val, bool invert=false);
private:
uint8_t _i2caddr;
uint8_t read8(uint8_t addr);
void write8(uint8_t addr, uint8_t d);
};
#endif
这个是Arduino原程序Adafruit_PWMServoDriver.cpp函数
/***************************************************
This is a library for our Adafruit 16-channel PWM & Servo driver
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/products/815
These displays use I2C to communicate, 2 pins are required to
interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, all text above must be included in any redistribution
****************************************************/
#include <Adafruit_PWMServoDriver.h>
#include <Wire.h>
#if defined(__AVR__)
#define WIRE Wire
#elif defined(CORE_TEENSY) // Teensy boards
#define WIRE Wire
#else // Arduino Due
#define WIRE Wire1
#endif
// Set to true to print some debug messages, or false to disable them.
#define ENABLE_DEBUG_OUTPUT true
Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(uint8_t addr) {
_i2caddr = addr;
}
void Adafruit_PWMServoDriver::begin(void) {
WIRE.begin();
reset();
}
void Adafruit_PWMServoDriver::reset(void) {
write8(PCA9685_MODE1, 0x0);
}
void Adafruit_PWMServoDriver::setPWMFreq(float freq) {
//Serial.print("Attempting to set freq ");
//Serial.println(freq);
freq *= 0.9; // Correct for overshoot in the frequency setting (see issue #11).
float prescaleval = 25000000;
prescaleval /= 4096;
prescaleval /= freq;
prescaleval -= 1;
if (ENABLE_DEBUG_OUTPUT) {
Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
}
uint8_t prescale = floor(prescaleval + 0.5);
if (ENABLE_DEBUG_OUTPUT) {
Serial.print("Final pre-scale: "); Serial.println(prescale);
}
uint8_t oldmode = read8(PCA9685_MODE1);
uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep
write8(PCA9685_MODE1, newmode); // go to sleep
write8(PCA9685_PRESCALE, prescale); // set the prescaler
write8(PCA9685_MODE1, oldmode);
delay(5);
write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment.
// This is why the beginTransmission below was not working.
// Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
}
void Adafruit_PWMServoDriver::setPWM(uint8_t num, uint16_t on, uint16_t off) {
//Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
WIRE.beginTransmission(_i2caddr);
WIRE.write(LED0_ON_L+4*num);
WIRE.write(on);
WIRE.write(on>>8);
WIRE.write(off);
WIRE.write(off>>8);
WIRE.endTransmission();
}
// Sets pin without having to deal with on/off tick placement and properly handles
// a zero value as completely off. Optional invert parameter supports inverting
// the pulse for sinking to ground. Val should be a value from 0 to 4095 inclusive.
void Adafruit_PWMServoDriver::setPin(uint8_t num, uint16_t val, bool invert)
{
// Clamp value between 0 and 4095 inclusive.
val = min(val, 4095);
if (invert) {
if (val == 0) {
// Special value for signal fully on.
setPWM(num, 4096, 0);
}
else if (val == 4095) {
// Special value for signal fully off.
setPWM(num, 0, 4096);
}
else {
setPWM(num, 0, 4095-val);
}
}
else {
if (val == 4095) {
// Special value for signal fully on.
setPWM(num, 4096, 0);
}
else if (val == 0) {
// Special value for signal fully off.
setPWM(num, 0, 4096);
}
else {
setPWM(num, 0, val);
}
}
}
uint8_t Adafruit_PWMServoDriver::read8(uint8_t addr) {
WIRE.beginTransmission(_i2caddr);
WIRE.write(addr);
WIRE.endTransmission();
WIRE.requestFrom((uint8_t)_i2caddr, (uint8_t)1);
return WIRE.read();
}
void Adafruit_PWMServoDriver::write8(uint8_t addr, uint8_t d) {
WIRE.beginTransmission(_i2caddr);
WIRE.write(addr);
WIRE.write(d);
WIRE.endTransmission();
}
下面是我stm32的修改代码
void I2C_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef HS_I2C;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7;//I2C1 í¨μàSCL-PB6oíSDA-PB7
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
HS_I2C.I2C_Mode=I2C_Mode_I2C;
HS_I2C.I2C_DutyCycle=I2C_DutyCycle_2;
HS_I2C.I2C_OwnAddress1=0x40;//stm32×÷ÎaÖ÷»ú걿éòÔ2»óÃ1ØDÄÕa¸öμØÖ·
HS_I2C.I2C_Ack=I2C_Ack_Enable;
HS_I2C.I2C_AcknowledgedAddress=I2C_AcknowledgedAddress_7bit;
HS_I2C.I2C_ClockSpeed=400000;
I2C_Cmd(I2C1,ENABLE);
I2C_Init(I2C1,&HS_I2C);
// write8(PCA9685_MODE1, 0x0);
}
u8 read8(u8 addr)
{
I2C_AcknowledgeConfig(I2C1,ENABLE); //
I2C_GenerateSTART(I2C1,ENABLE);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT));
I2C_Send7bitAddress(I2C1,0x40,I2C_Direction_Transmitter);//这里地址应该的对的，但是到下面一句就出不来循环了
time_ms(10);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));//到这里就停住了，返回值应该的错误，
I2C_SendData(I2C1,addr);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED));，当我把0x40改为0x00时候上面循环可以通过，这个循环就通不过
I2C_GenerateSTOP(I2C1,ENABLE);
return I2C_ReceiveData(I2C1);
}
void write8(u8 addr, u8 d)
{
I2C_AcknowledgeConfig(I2C1,ENABLE); //
I2C_GenerateSTART(I2C1,ENABLE);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT));
I2C_Send7bitAddress(I2C1,0x40,I2C_Direction_Transmitter);
time_ms(10);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
I2C_SendData(I2C1,addr);
I2C_SendData(I2C1,d);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED));
I2C_GenerateSTOP(I2C1,ENABLE);
}
void setPWMFreq(u8 freq)
{
u8 prescale;
u8 prescaleval;
u8 oldmode;
u8 newmode;
freq *= 0.9; // Correct for overshoot in the frequency setting (see issue #11).
prescaleval = (u8)25000000/4096;
prescaleval /= freq;
prescaleval -= 1;
if (ENABLE_DEBUG_OUTPUT) {
// printf("Estimated pre-scale: "); printf(prescaleval);
}
prescale = (u8)floor(prescaleval + 0.5);
oldmode = read8(PCA9685_MODE1);
newmode = (oldmode&0x7F) | 0x10; // sleep
write8(PCA9685_MODE1, newmode); // go to sleep
write8(PCA9685_PRESCALE, prescale); // set the prescaler
write8(PCA9685_MODE1, oldmode);
time_ms(5);
write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment.
// This is why the beginTransmission below was not working.
// Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
}
void setPWM(u8 num, u16 on, u16 off)
{
//Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
I2C_GenerateSTART(I2C1,ENABLE);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_MODE_SELECT));
I2C_Send7bitAddress(I2C1,_I2CADDR,I2C_Direction_Transmitter);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
I2C_SendData(I2C1,LED0_ON_L+4*num);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED));
I2C_SendData(I2C1,on);
I2C_SendData(I2C1,on>>8);
I2C_SendData(I2C1,off);
I2C_SendData(I2C1,off>>8);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_BYTE_TRANSMITTED));
I2C_GenerateSTOP(I2C1,ENABLE);
}
// Sets pin without having to deal with on/off tick placement and properly handles
// a zero value as completely off. Optional invert parameter supports inverting
// the pulse for sinking to ground. Val should be a value from 0 to 4095 inclusive.
void setPin(u8 num, u16 val, u8 invert)
{
if(val>4095)val=4095;
if (invert) {
if (val == 0) {
// Special value for signal fully on.
setPWM(num, 4096, 0);
}
else if (val == 4095) {
// Special value for signal fully off.
setPWM(num, 0, 4096);
}
else {
setPWM(num, 0, 4095-val);
}
}
else {
if (val == 4095) {
// Special value for signal fully on.
setPWM(num, 4096, 0);
}
else if (val == 0) {
// Special value for signal fully off.
setPWM(num, 0, 4096);
}
else {
setPWM(num, 0, val);
}
}
}
希望高人指点 |
发表于 2015-10-27 22:00:33
楼主
