STM32F429驅(qū)動PCA9685舵機(jī)驅(qū)動板源程序

ID:313571 · 發(fā)表于 2019-7-20 19:39

STM32F429阿波羅驅(qū)動PCA9685舵機(jī)驅(qū)動板根據(jù)這個修改https://blog.csdn.net/MarkSoviet/article/details/79841366

單片機(jī)源程序如下:

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "timer.h"
#include "pca9685.h"
#include "myiic.h"
#include "key.h"
int main(void)
{
u8 dir=1,key;
u16 led0pwmval=0,pwm,pwm1;
HAL_Init(); //初始化HAL庫
IIC_Init();
KEY_Init();
Stm32_Clock_Init(360,25,2,8); //設(shè)置時鐘,180Mhz
delay_init(180); //初始化延時函數(shù)
uart_init(115200); //初始化USART
LED_Init(); //初始化LED
TIM3_PWM_Init(20000-1,90-1); //90M/90=1M的計數(shù)頻率，自動重裝載為500，那么PWM頻率為1M/500=2kHZ
PCA9685_write(PCA9685_MODE1,0x0);//PCA9685復(fù)位
setPWMFreq(52);//實測頻率為輸入值-2
while(1)
{
key=KEY_Scan(0);
// if(dir)led0pwmval++; //dir==1 led0pwmval遞增
// else led0pwmval--; //dir==0 led0pwmval遞減
// if(led0pwmval>300)dir=0; //led0pwmval到達(dá)300后，方向為遞減
// if(led0pwmval==0)dir=1; //led0pwmval遞減到0后，方向改為遞增
TIM_SetTIM3Compare4(18000); //修改比較值，修改占空比
switch(key)
{
case WKUP_PRES:
setPWM(0, 0, calculate_PWM(0));
break;
case KEY2_PRES:
setPWM(0, 0, calculate_PWM(90));
break;
case KEY1_PRES:
setPWM(0, 0, calculate_PWM(45));
break;
case KEY0_PRES:
setPWM(0, 0, calculate_PWM(30));
break;
}
}
}