pca9685 stm32 hal iic

最新推荐文章于 2025-05-07 16:55:44 发布

xiaguangbo

最新推荐文章于 2025-05-07 16:55:44 发布

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分类专栏： MCU 文章标签：舵机 stm32 iic

本文链接：https://blog.csdn.net/qq_41544116/article/details/114603845

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本文详细介绍了PCA9685驱动的实现方法，包括初始化配置、设置PWM频率及占空比等关键操作，并通过具体实例展示了如何利用PCA9685控制伺服电机。

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pca9685：

资料：https://blog.csdn.net/c1063891514/article/details/84401045。

#ifndef pca9685
#define pca9685

#include "main.h"

typedef struct
{
I2C_HandleTypeDef i2cConfig;     //不需要配置
I2C_TypeDef *i2cHardwareAddress; //I2C1
uint32_t i2cSpeed;               //100000
uint8_t pca9685Address;          //pca9865的地址，从0x40~0x7f
} pca9685ConfigStruct;

void pca9685Init(pca9685ConfigStruct *pca9685ConfigStructAddress);
void pca9685ConfigPwmFreq(pca9685ConfigStruct *pca9685ConfigStructAddress, float freq);
void pca9685ConfigPwmDutyCycle(pca9685ConfigStruct *pca9685ConfigStructAddress, uint8_t number, float dutyCycle); //占空比从0~1

#endif

#include "pca9685.h"

static const uint8_t pca9685Mode1RegisterAddress = 0,
pca9685PrescaleRegisterAddress = 0xfe,
pca9685UpLRegisterAddress = 0x06,
pca9685UpMRegisterAddress = 0x07,
pca9685DownLRegisterAddress = 0x08,
pca9685DownMRegisterAddress = 0x09;


static void pca9685MspInit(pca9685ConfigStruct *pca9685ConfigStructAddress);
static void pca9685Reset(pca9685ConfigStruct *pca9685ConfigStructAddress);

void pca9685Init(pca9685ConfigStruct *pca9685ConfigStructAddress)
{
pca9685MspInit(pca9685ConfigStructAddress);
pca9685Reset(pca9685ConfigStructAddress);
}

static void pca9685MspInit(pca9685ConfigStruct *pca9685ConfigStructAddress)
{
__HAL_RCC_I2C2_CLK_ENABLE();
pca9685ConfigStructAddress->i2cConfig.Instance = pca9685ConfigStructAddress->i2cHardwareAddress;
pca9685ConfigStructAddress->i2cConfig.Init.ClockSpeed = pca9685ConfigStructAddress->i2cSpeed;
pca9685ConfigStructAddress->i2cConfig.Init.DutyCycle = I2C_DUTYCYCLE_2;
pca9685ConfigStructAddress->i2cConfig.Init.OwnAddress1 = 0;
pca9685ConfigStructAddress->i2cConfig.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
pca9685ConfigStructAddress->i2cConfig.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
pca9685ConfigStructAddress->i2cConfig.Init.OwnAddress2 = 0;
pca9685ConfigStructAddress->i2cConfig.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
pca9685ConfigStructAddress->i2cConfig.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&pca9685ConfigStructAddress->i2cConfig) != HAL_OK)
Error_Handler();

GPIO_InitTypeDef GPIO_InitStruct = {0};
switch ((uint32_t)pca9685ConfigStructAddress->i2cConfig.Instance)
    {
case (uint32_t)I2C1:
break;

case (uint32_t)I2C2:
__HAL_RCC_GPIOB_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
break;

default:
break;
    }
}

static void pca9685Write(pca9685ConfigStruct *pca9685ConfigStructAddress, uint8_t address, uint8_t data)
{
//需要将地址手动左移一位
//发送从高位开始，开始信号后首字节为7bit addr + 1bit w/r w:0 r:1
HAL_I2C_Mem_Write(&pca9685ConfigStructAddress->i2cConfig, pca9685ConfigStructAddress->pca9685Address << 1, address, I2C_MEMADD_SIZE_8BIT, &data, 1, HAL_MAX_DELAY);
}

static uint8_t pca9685Read(pca9685ConfigStruct *pca9685ConfigStructAddress, uint8_t address)
{
uint8_t data;
//需要将地址手动左移一位
HAL_I2C_Mem_Read(&pca9685ConfigStructAddress->i2cConfig, pca9685ConfigStructAddress->pca9685Address << 1, address, I2C_MEMADD_SIZE_8BIT, &data, 1, HAL_MAX_DELAY);
//从机发数据ack是不应答的，只有接收才会应答
return data;
}

static void pca9685Reset(pca9685ConfigStruct *pca9685ConfigStructAddress)
{
pca9685Write(pca9685ConfigStructAddress, pca9685Mode1RegisterAddress, 0x00); //清空
pca9685Write(pca9685ConfigStructAddress, pca9685Mode1RegisterAddress, 0xa1); //复位 + 基本配置
}

void pca9685ConfigPwmFreq(pca9685ConfigStruct *pca9685ConfigStructAddress, float freq)
{
freq = 25000000 / 4096 / freq - 3; //-3为补偿

uint8_t oldMode = pca9685Read(pca9685ConfigStructAddress, pca9685Mode1RegisterAddress);
pca9685Write(pca9685ConfigStructAddress, pca9685Mode1RegisterAddress, (oldMode & 0x7F) | 0x10); //清除bit7防止复位 + 进入睡眠
pca9685Write(pca9685ConfigStructAddress, pca9685PrescaleRegisterAddress, (uint8_t)freq); //修改频率
pca9685Write(pca9685ConfigStructAddress, pca9685Mode1RegisterAddress, oldMode & 0xef); //解除睡眠
}

void pca9685ConfigPwmDutyCycle(pca9685ConfigStruct *pca9685ConfigStructAddress, uint8_t number, float dutyCycle)
{
uint16_t dutyCycleBackup = dutyCycle * 4096 + 0.5;
pca9685Write(pca9685ConfigStructAddress, pca9685UpLRegisterAddress + 4 * number, 0);
pca9685Write(pca9685ConfigStructAddress, pca9685UpMRegisterAddress + 4 * number, 0);
pca9685Write(pca9685ConfigStructAddress, pca9685DownLRegisterAddress + 4 * number, dutyCycleBackup);
pca9685Write(pca9685ConfigStructAddress, pca9685DownMRegisterAddress + 4 * number, dutyCycleBackup >> 8);
}

#include "main.h"
#include "stdbool.h"

#include "pca9685.h"

bool msFlag; //每过1毫秒就置true

static void systeamInit();
static void timerServe();

static void servo();

void loop()
{
systeamInit();
HAL_Delay(1000);

while (true)
    {
timerServe();
    }
}

static void timerServe()
{
if (!msFlag)
return;
msFlag = false;

servo();
}

static void servo()
{
static pca9685ConfigStruct pca9685Addr0x40 = {
        .i2cHardwareAddress = I2C2,
        .i2cSpeed = 100000,
        .pca9685Address = 0x40};

static uint8_t switchStep;
static uint16_t timer1;
switch (switchStep)
    {
case 0:
pca9685Init(&pca9685Addr0x40);
pca9685ConfigPwmFreq(&pca9685Addr0x40, 50);
switchStep++;
break;

case 1:
pca9685ConfigPwmDutyCycle(&pca9685Addr0x40, 0, 0.025); //角度0
switchStep++;
break;

case 2:
if (timer1++ >= 1000)
timer1 = 0, switchStep++;
break;

case 3:
pca9685ConfigPwmDutyCycle(&pca9685Addr0x40, 0, 0.075); //角度90
switchStep++;
break;

case 4:
if (timer1++ >= 1000)
timer1 = 0, switchStep++;
break;

case 5:
pca9685ConfigPwmDutyCycle(&pca9685Addr0x40, 0, 0.125); //角度180
switchStep++;
break;

case 6:
if (timer1++ >= 1000)
timer1 = 0, switchStep++;
break;

default:
switchStep = 1;
break;
    }
}

void SysTick_Handler()
{
HAL_IncTick();
msFlag = true;
}

static void SystemClock_Config()
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Error_Handler();

RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
Error_Handler();
}

static void MX_GPIO_Init()
{
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
}

static void systeamInit()
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
}