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#include<reg52.h>
#include <intrins.h>
#include <stdio.h>
#include <math.h>
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啟動
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應答
----------------------------------------------------------------*/
void ACK()
{
uchar i;
scl=1;
delayus();
while((sda=1)&&(i<255))
i++;
scl=0;
delayus();
}
/*---------------------------------------------------------------
寫字節
----------------------------------------------------------------*/
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();
}
/*---------------------------------------------------------------
肚子節
----------------------------------------------------------------*/
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();
}
/*---------------------------------------------------------------
從PCA9685讀數據有返回值
----------------------------------------------------------------*/
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復位
----------------------------------------------------------------*/
void reset(void)
{
PCA9685_write(PCA9685_MODE1,0x0);
}
void begin(void)
{
reset();
}
/*---------------------------------------------------------------
PCA9685修改頻率
----------------------------------------------------------------*/
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()
{
init();
begin();
setPWMFreq(50); //設置50hz
SCON=0x50; //設定串口工作方式
PCON=0x00; //波特率不倍增
TMOD=0x20; //定時器1工作于8位自動重載模式, 用于產生波特率
EA=1;
ES = 1; //允許串口中斷
TL1=0xfd;
TH1=0xfd; //波特率9600
TR1=1;
// delayms(1000);
//60度=0.5ms+(60/180)*(2.5ms-0.5ms)=1.1666ms
//利用占空比=1.1666ms/20ms=off/4096,off=239,50hz對應周期20ms
setPWM(0, 0, SERVOMAX);
setPWM(1, 0, SERVOMAX);
setPWM(2, 0, SERVOMAX);
setPWM(3, 0, SERVOMAX);
setPWM(4, 0, SERVOMAX);
setPWM(5, 0, SERVOMAX);
setPWM(6, 0, SERVOMAX);
setPWM(7, 0, SERVOMAX);
setPWM(8, 0, SERVOMAX);
while(1)
{
switch(buf)
{
case 0x11: setPWM(0, 0, SERVO110); break;
case 0x12: setPWM(0, 0, SERVOMAX); break;
case 0x13: setPWM(1, 0, SERVO110); break;
case 0x14: setPWM(1, 0, SERVOMAX); break;
case 0x15: setPWM(2, 0, SERVO110); break;
case 0x16: setPWM(2, 0, SERVOMAX); break;
case 0x17: setPWM(3, 0, SERVO110); break;
case 0x18: setPWM(3, 0, SERVOMAX); break;
case 0x19: setPWM(4, 0, SERVO110); break;
case 0x20: setPWM(4, 0, SERVOMAX); break;
case 0x21: setPWM(5, 0, SERVO110); break;
case 0x22: setPWM(5, 0, SERVOMAX); break;
case 0x23: setPWM(6, 0, SERVO110); break;
case 0x24: setPWM(6, 0, SERVOMAX); break;
case 0x25: setPWM(7, 0, SERVO110); break;
case 0x26: setPWM(7, 0, SERVOMAX); break;
case 0x27: setPWM(8, 0, SERVO110); break;
case 0x28: setPWM(8, 0, SERVOMAX); break;
default:break; //接受到其它數據，蜂鳴器響
}
}
}
void serial() interrupt 4
{
ES = 0; //關閉串行中斷
RI = 0; //清除串行接受標志位
buf = SBUF; //從串口緩沖區取得數據
ES = 1; //允許串口中斷
}

復制代碼

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