stm32f407 iic 9685驱动16通道PWM的代码
时间: 2023-09-08 08:10:22 浏览: 102
以下是使用STM32F407和I2C驱动PCA9685的16通道PWM的基本代码:
```c
#include "stm32f4xx.h"
#include "i2c.h"
#define PCA9685_ADDRESS 0x40
#define MODE1 0x00
#define MODE2 0x01
#define PRESCALE 0xFE
#define LED0_ON_L 0x06
#define ENABLE_AUTO_INC 0x20
#define SLEEP 0x10
#define ALLCALL 0x01
#define PWM_FREQ 50
#define MIN_PULSE_WIDTH 64
#define MAX_PULSE_WIDTH 4096
void PCA9685_init(void);
void PCA9685_setPWM(uint8_t num, uint16_t on, uint16_t off);
void PCA9685_setServoPulse(uint8_t num, double pulse);
int main(void)
{
SystemInit();
I2C_init();
PCA9685_init();
while(1)
{
// set servo position to 0 degrees
PCA9685_setServoPulse(0, 500);
// wait for 1 second
for(uint32_t i = 0; i < 10000000; i++);
// set servo position to 90 degrees
PCA9685_setServoPulse(0, 1500);
// wait for 1 second
for(uint32_t i = 0; i < 10000000; i++);
// set servo position to 180 degrees
PCA9685_setServoPulse(0, 2500);
// wait for 1 second
for(uint32_t i = 0; i < 10000000; i++);
}
}
void PCA9685_init(void)
{
I2C_start();
I2C_write(PCA9685_ADDRESS << 1);
I2C_write(MODE1);
I2C_write(ENABLE_AUTO_INC | ALLCALL);
I2C_stop();
I2C_start();
I2C_write(PCA9685_ADDRESS << 1);
I2C_write(MODE2);
I2C_write(SLEEP);
I2C_stop();
uint8_t prescale = (uint8_t)((25000000 / (4096 * PWM_FREQ)) - 1);
I2C_start();
I2C_write(PCA9685_ADDRESS << 1);
I2C_write(PRESCALE);
I2C_write(prescale);
I2C_stop();
I2C_start();
I2C_write(PCA9685_ADDRESS << 1);
I2C_write(MODE1);
I2C_write(ALLCALL);
I2C_stop();
for(uint8_t i = 0; i < 16; i++)
{
PCA9685_setPWM(i, 0, 0);
}
}
void PCA9685_setPWM(uint8_t num, uint16_t on, uint16_t off)
{
I2C_start();
I2C_write(PCA9685_ADDRESS << 1);
I2C_write(LED0_ON_L + (4 * num));
I2C_write(on & 0xFF);
I2C_write(on >> 8);
I2C_write(off & 0xFF);
I2C_write(off >> 8);
I2C_stop();
}
void PCA9685_setServoPulse(uint8_t num, double pulse)
{
pulse = (pulse < MIN_PULSE_WIDTH) ? MIN_PULSE_WIDTH : pulse;
pulse = (pulse > MAX_PULSE_WIDTH) ? MAX_PULSE_WIDTH : pulse;
uint16_t value = (uint16_t)(pulse * 4096 / 20000);
PCA9685_setPWM(num, 0, value);
}
```
需要注意的是,上述代码中的`I2C_init()`和`I2C_start()`等函数都需要根据具体的硬件平台和I2C驱动程序进行修改。此外,代码中使用的PWM频率为50Hz,可根据需要进行修改。另外,`PCA9685_setServoPulse()`函数用于设置舵机的位置,可根据具体的舵机型号进行修改。
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