STM32--PCA9685驱动（16路舵机驱动模块）

25-03-08 00:41

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PCA9685接线：

PCA9685简介：

PCA9685地址位寄存器：

MODE1寄存器，地址0x00，可读、可写：

PCA9685接线：

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序号	1	2	3	4	5	6	7	8	9	10
指代	GND	OE（模块使能端口）	SCL	SDA	VCC	V+	电源输入端口	PCA9685	pwm通道编号	舵机接口

OE使能端口：低电平使能，内部已经拉低，可以不用接线。

SCL和SDA端口：IIC接口。

V+端口：如果使用少量舵机（两三个舵机），可以通过V+接入电源。（Max电压：6V）

电源输入端口：如果使用多个舵机（五六个舵机），或者大扭矩舵机，最好使用电源输入端口单独

供电不要使用V+端口供电。（Max电压：6V）

PCA9685简介：

PCA9685 是一种常用的 PWM（脉冲宽度调制）驱动器芯片，通常用于控制舵机、电机和其他需要精确控制的设备。该芯片可以通过 I2C 总线与微控制器或单片机通信，以实现对多路 PWM 信号的生成和控制。

16 路 PWM 输出：PCA9685 可以同时控制最多 16 路 PWM 输出，每路输出的占空比都可以独立设置，但是16路PWM频率一样。

12 位分辨率：PCA9685 提供了 12 位分辨率的 PWM 输出，可以实现精细的输出控制。

内部振荡器：芯片内部集成了振荡器，可以产生稳定25MHz的时钟信号，无需外部晶振。

可编程频率：可以通过配置寄存器来设置 PWM 输出的频率，范围从 24 Hz 到 1526 Hz。

I2C 接口：使用标准的 I2C 串行总线接口与主控设备通信，方便集成到各种微控制器系统中。

输出驱动能力：每路 PWM 输出都具有较强的驱动能力，可以直接驱动舵机或者其他负载。

PCA9685地址位寄存器：

地址位的寄存器一共8位，通过地址寄存器来设置芯片的I2C地址。

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位7	位6	位5	位4	位3	位2	位1	位0
1	A5	A4	A3	A2	A1	A0	R/W
固定值 “ 1 ”	可定义	可定义	可定义	可定义	可定义	可定义	读/写控制

往PCA9685写程序的时候，发送的地址位是0x80，bit[7~0]：1000 0000 位0置“ 0 ” 表示写入；

读程序的时候，发送的地址位是0x81，bit[7~0]：1000 0001 位0置“ 1 ” 表示读取；

MODE1寄存器，地址0x00，可读、可写：

寄存器地址：

照片引用地址：PCA9685--16路 PWM模块舵机驱动板--STM32 IIC接口模块 (baidu.com)

PCA9685代码注解：

1.PCA9685数据写入：

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1">

 class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_Write(u8 addr,u8 data)    //   addr 表示要写入数据的寄存器地址，data 表示要写入的数据

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">{

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Start();                         //   发送 I2C 起始信号，开始 I2C 通信。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(PCA_Addr);             //   发送 PCA_Addr = 0x80 ，告诉设备我们要写入数据

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();                          //   发送不应答信号，表示主控器不需要从设备接收更多数据。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(addr);                 //   发送要写入数据的寄存器地址。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();                          //   发送不应答信号。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(data);                 //   发送要写入的数据。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();                          //   发送不应答信号。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Stop();                          //   发送 I2C 停止信号，结束本次通信。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">}

class="hide-preCode-box">

class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

2.PCA9685数据读取：

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">u8 PCA9685_Read(u8 addr)                //   addr 表示要读取数据的寄存器地址
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">	u8 data;                           //   声明一个无符号 8 位整数变量 data，用于存储读取到的数据。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Start();                       //   发送 I2C 起始信号，开始 I2C 通信。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(PCA_Addr);           //   发送 PCA_Addr = 0x80 ，告诉设备我们要写入数据
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();                        //   发送不应答信号，表示主控器不需要从设备接收更多数据。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">	 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(addr);                  //   发送要读取数据的寄存器地址。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();                           //   发送不应答信号。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Stop();                           //   发送 I2C 停止信号，结束本次通信。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(10);                         //   延时 10 微秒，等待芯片准备好数据。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Start();                          //   发送 I2C 起始信号，开始另一次 I2C 通信。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(PCA_Addr|0x01);         //   发送 PCA9685 的地址，并设置最低位为 1，
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">                                          //   PCA_Addr|0x01 = 0x81 表示要进行读取操作。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();                           //   发送不应答信号。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">	 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">	data = IIC_Read_Byte(0);              //   通过 I2C 从 PCA9685 读取一个字节的数据，并存储到变量 data 中。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Stop();                           //   发送 I2C 停止信号，结束本次通信。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line">	return data;                          //   返回读取到的数据。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">} class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

3.PCA9685的频率设置：

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_setFreq(float freq)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">	u8 prescale,oldmode,newmode;               //定义了三个无符号 8 位整型变量 用于存储预分频器值、旧的模式寄存器值和新的模式寄存器值
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">	   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">	double prescaleval;                        //定义了一个双精度浮点型变量 prescaleval，用于计算预分频器的值。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">	freq *= 0.98;                             //将传入的频率值乘以 0.98，这是为了微调频率值以适应 PCA9685 的实际需求
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval = 25000000;                   //这是 PCA9685 内部振荡器的频率
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval /= 4096;                      //每个周期从0计数到4095，除以 4096，得到每个计数器周期的时间，
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval /= freq;                      //除以所需的频率值，得到预分频器的值。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval -= 1;                         //减去 1，得到最终的预分频器值
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">	prescale = floor(prescaleval+0.5f);       //将计算得到的预分频器值四舍五入取整，并将其赋值给 prescale 变量。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">	oldmode = PCA9685_Read(PCA_Model);        //通过调用 PCA9685_Read 函数读取当前 PCA9685 寄存器中的模式值，并将其存储在 oldmode 变量中。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">	newmode = (oldmode&0x7F)|0x10;            //根据旧的模式值计算出新的模式值，将最高位清零（bit 7）并将第 5 位设为1（bit 4），表示将 PCA9685 设置为睡眠模式。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,newmode);         //将新的模式值写入 PCA9685 的模式寄存器。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Pre,prescale);          //将计算得到的预分频器值写入 PCA9685 的预分频器寄存器。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,oldmode);         //恢复旧的模式值。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">	delay_ms(5);                              // 延时 5 毫秒，等待 PCA9685 完全启动。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,oldmode|0xa1);    //将模式值的最高位和第 1 位设为1，表示将 PCA9685 设置为正常工作模式。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">} class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

理论计算（预分配值）：prescaleval = （ 25000000 / 4096 / 50 ）- 1 = 121 .0703125

实际计算（预分配值）：prescaleval = （ 25000000 / 4096 / 50 *0.98）- 1 = 118.62890625

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">double prescaleval;                    //定义了一个双精度浮点型变量 prescaleval，用于计算预分频器的值。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">	freq *= 0.98;                      //将传入的频率值乘以 0.98，这是为了微调频率值以适应 PCA9685 的实际需求
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval = 25000000;                   //这是 PCA9685 内部振荡器的频率
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval /= 4096;                      //每个周期从0计数到4095，除以 4096，得到每个计数器周期的时间，
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval /= freq;                      //除以所需的频率值，得到预分频器的值。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval -= 1;                         //减去 1，得到最终的预分频器值 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

内部振荡器的精度限制，设置预分频器值时无法完全达到所需的输出频率，将传入的频率值freq 乘以0.98，是为了微调频率值，以弥补 PCA9685 内部振荡器的偏差，使最终输出的频率更接近预期值。（0.98是经验值，实际使用中可自行调整）

freq *= 0.98;   //将传入的频率值乘以 0.98，这是为了微调频率值以适应 PCA9685 的实际需求 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

对预分频值prescaleval，进行四舍五入。

例如prescaleval=118.3，则 prescale = floor(prescaleval+0.5f); = floor（118.3+0.5）=118

prescaleval=118.8，则 prescale = floor(prescaleval+0.5f); = floor（118.8+0.5）=119

prescaleval+0.5f 是为了模拟四舍五入的效果

floor () 函数对浮点数进行向下取整操作，返回不大于该浮点数的最大整数部分。

prescale = floor(prescaleval+0.5f);       //将计算得到的预分频器值四舍五入取整，并将其赋值给 prescale 变量。 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">oldmode = PCA9685_Read(PCA_Model);        //通过调用 PCA9685_Read 函数读取当前 PCA9685 寄存器中的模式值，并将其存储在 oldmode 变量中。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">	newmode = (oldmode&0x7F)|0x10;            //根据旧的模式值计算出新的模式值，将最高位清零（bit 7）并将第 5 位设为1（bit 4），表示将 PCA9685 设置为睡眠模式。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,newmode);         //将新的模式值写入 PCA9685 的模式寄存器。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Pre,prescale);          //将计算得到的预分频器值写入 PCA9685 的预分频器寄存器。PCA_Pre = 0xFE
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,oldmode);         //恢复旧的模式值。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">	delay_ms(5);                              // 延时 5 毫秒，等待 PCA9685 完全启动。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,oldmode|0xa1);    //将模式值的最高位和第 1 位设为1，表示将 PCA9685 设置为正常工作模式。 class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

4.PCA9685的PWM设置：

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_setPWM(u8 num,u32 on,u32 off)   //num 表示 PWM 通道号，on 表示 PWM 的起始位置，off 表示 PWM 的结束位置（即从高电平切换到低电平的时刻）
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Start();                              //发送 I2C 起始信号，开始 I2C 通信。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(PCA_Addr);                  //发送 PCA9685 的地址，告诉设备我们要和 PCA9685 进行通信。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();                           //等待应答信号，确保设备准备好接收数据。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(LED0_ON_L+4*num);           //发送 LED 寄存器的地址，根据 PWM 通道号计算出相应的寄存器地址。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();                           //
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(on&0xFF);                   //发送 PWM 的起始位置低 8 位。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();                           //等待应答信号。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">	 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(on>>8);                     //发送 PWM 的起始位置高 8 位。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();                           //等待应答信号。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(off&0xFF);                  //发送 PWM 的结束位置低 8 位。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();                           //等待应答信号。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(off>>8);                    //发送 PWM 的结束位置高 8 位。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();                           //等待应答信号。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Stop();                              //发送 I2C 停止信号，结束本次通信。
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">} class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

void PCA9685_setPWM(u8 num,u32 on,u32 off)函数传入：通道编号“ num”、“ on ”的值，“ off ”的值

当PCA9685的12位计数ACK，与“ on ”值进行比较，等于“ on ”值输出高电平

与“ off ”值进行比较，等于“ off ”值输出低电平

每路 PWM 有 4 个 8 位控制寄存器， LEDX_ON_L、LEDX_ON_H、LEDX_OFF_L、LEDX_OFF_H 四个寄存器。

通道0的LED0_ON_L：0x06，LED0_ON_H：0x07，LED0_OFF_L：0x08，LED0_OFF：0x09

所以输出通道的起始地址为：0x06+4*X （X为通道号）

舵机转动角度置换：

可以先了解一下：舵机驱动原理

PCA9685，每个周期都是从0计数到4095；设置 “ on ” = 0 ， “ off ” = ？

class="table-box">

脉冲宽度	on	off
0.5ms	0	0.5/20*4096=102.4
1.5ms	0	1.5/20*4096=307.2
2.5ms	0	2.5/20*4096=512

取0.5ms时，off=102 ； 2.5ms时，off=512

class="table-box">

舵机类型	每转动“ 1 ”度，计数个数
90	410/90 = 4.56
180	410/180 = 2.28
270	410/270 = 1.52
360	410/270 = 1.14

个人觉得转化为角度，驱动舵机转动偏差较大，所以直接输入“ off ”值控制舵机转动就好；

因为PCA9685精准度有限，所以理论计算出的的数值与实际存在一定偏差。

所以void setAngle(u8 num,u16 angle)函数和void PCA9685_Init(float hz,u16 angle)函数

根据个人意愿修改参数。

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">void setAngle(u8 num,u16 angle)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">	u32 off = 0;                
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">	off = (u32)(103+angle*1.13);  //360度舵机，每转动一度=1.14   0.5ms -180度起始位置：103
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(num,0,angle);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_Init(float hz,u16 angle)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">	u32 off = 0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Init();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,0x00);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setFreq(hz);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">    off = (u32)(103+angle*1.14);  //360度舵机，每转动一度=1.14    0.5ms -180度起始位置：103
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(0,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(1,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(2,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(3,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(4,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(5,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(6,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(7,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(8,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(9,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(10,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(11,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(12,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(13,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(14,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(15,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line">	delay_ms(100);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line">} class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

PCA9685驱动代码：

main.c程序：

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#include "sys.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">#include "delay.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">#include "myiic.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">#include "PCA9685.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">int main(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">{ 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">    delay_init(168);  //初始化延时函数
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Init(50,360);	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">	while(1)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">	{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">	      setAngle(4,210);  // 输入pwm通道号、舵机转动角度
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">		  delay_ms(500);   //添加延时，确定舵机运动到指定位置
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">		  setAngle(4,120);  // 输入pwm通道号、舵机转动角度
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">		  delay_ms(500);   //添加延时，确定舵机运动到指定位置
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">	} class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

IIC驱动：（正点原子IIC实验代码）

IIC.c文件

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#include "myiic.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">#include "delay.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">//初始化IIC
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Init(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">{			
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">  GPIO_InitTypeDef  GPIO_InitStructure;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能GPIOB时钟
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">  //GPIOB8,B9初始化设置
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">  GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SDA=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">//产生IIC起始信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Start(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">	SDA_OUT();     //sda线输出
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SDA=1;	  	  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(4);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line"> 	IIC_SDA=0;//START:when CLK is high,DATA change form high to low 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(4);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=0;//钳住I2C总线，准备发送或接收数据 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line">}	  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">//产生IIC停止信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Stop(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">	SDA_OUT();//sda线输出
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="37"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SDA=0;//STOP:when CLK is high DATA change form low to high
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="38"> class="hljs-ln-code"> class="hljs-ln-line"> 	delay_us(4);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="39"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=1; 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="40"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SDA=1;//发送I2C总线结束信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="41"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(4);							   	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="42"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="43"> class="hljs-ln-code"> class="hljs-ln-line">//等待应答信号到来
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="44"> class="hljs-ln-code"> class="hljs-ln-line">//返回值：1，接收应答失败
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="45"> class="hljs-ln-code"> class="hljs-ln-line">//        0，接收应答成功
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="46"> class="hljs-ln-code"> class="hljs-ln-line">u8 IIC_Wait_Ack(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="47"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="48"> class="hljs-ln-code"> class="hljs-ln-line">	u8 ucErrTime=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="49"> class="hljs-ln-code"> class="hljs-ln-line">	SDA_IN();      //SDA设置为输入  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="50"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SDA=1;delay_us(1);	   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="51"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=1;delay_us(1);	 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="52"> class="hljs-ln-code"> class="hljs-ln-line">	while(READ_SDA)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="53"> class="hljs-ln-code"> class="hljs-ln-line">	{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="54"> class="hljs-ln-code"> class="hljs-ln-line">		ucErrTime++;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="55"> class="hljs-ln-code"> class="hljs-ln-line">		if(ucErrTime>250)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="56"> class="hljs-ln-code"> class="hljs-ln-line">		{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="57"> class="hljs-ln-code"> class="hljs-ln-line">			IIC_Stop();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="58"> class="hljs-ln-code"> class="hljs-ln-line">			return 1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="59"> class="hljs-ln-code"> class="hljs-ln-line">		}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="60"> class="hljs-ln-code"> class="hljs-ln-line">	}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="61"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=0;//时钟输出0 	   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="62"> class="hljs-ln-code"> class="hljs-ln-line">	return 0;  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="63"> class="hljs-ln-code"> class="hljs-ln-line">} 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="64"> class="hljs-ln-code"> class="hljs-ln-line">//产生ACK应答
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="65"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Ack(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="66"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="67"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="68"> class="hljs-ln-code"> class="hljs-ln-line">	SDA_OUT();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="69"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SDA=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="70"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(2);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="71"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="72"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(2);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="73"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="74"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="75"> class="hljs-ln-code"> class="hljs-ln-line">//不产生ACK应答		    
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="76"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_NAck(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="77"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="78"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="79"> class="hljs-ln-code"> class="hljs-ln-line">	SDA_OUT();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="80"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SDA=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="81"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(2);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="82"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="83"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(2);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="84"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_SCL=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="85"> class="hljs-ln-code"> class="hljs-ln-line">}					 				     
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="86"> class="hljs-ln-code"> class="hljs-ln-line">//IIC发送一个字节
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="87"> class="hljs-ln-code"> class="hljs-ln-line">//返回从机有无应答
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="88"> class="hljs-ln-code"> class="hljs-ln-line">//1，有应答
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="89"> class="hljs-ln-code"> class="hljs-ln-line">//0，无应答			  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="90"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Send_Byte(u8 txd)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="91"> class="hljs-ln-code"> class="hljs-ln-line">{                        
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="92"> class="hljs-ln-code"> class="hljs-ln-line">    u8 t;   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="93"> class="hljs-ln-code"> class="hljs-ln-line">	SDA_OUT(); 	    
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="94"> class="hljs-ln-code"> class="hljs-ln-line">    IIC_SCL=0;//拉低时钟开始数据传输
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="95"> class="hljs-ln-code"> class="hljs-ln-line">    for(t=0;t<8;t++)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="96"> class="hljs-ln-code"> class="hljs-ln-line">    {              
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="97"> class="hljs-ln-code"> class="hljs-ln-line">        IIC_SDA=(txd&0x80)>>7;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="98"> class="hljs-ln-code"> class="hljs-ln-line">        txd<<=1; 	  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="99"> class="hljs-ln-code"> class="hljs-ln-line">		delay_us(2);   //对TEA5767这三个延时都是必须的
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="100"> class="hljs-ln-code"> class="hljs-ln-line">		IIC_SCL=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="101"> class="hljs-ln-code"> class="hljs-ln-line">		delay_us(2); 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="102"> class="hljs-ln-code"> class="hljs-ln-line">		IIC_SCL=0;	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="103"> class="hljs-ln-code"> class="hljs-ln-line">		delay_us(2);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="104"> class="hljs-ln-code"> class="hljs-ln-line">    }	 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="105"> class="hljs-ln-code"> class="hljs-ln-line">} 	    
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="106"> class="hljs-ln-code"> class="hljs-ln-line">//读1个字节，ack=1时，发送ACK，ack=0，发送nACK   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="107"> class="hljs-ln-code"> class="hljs-ln-line">u8 IIC_Read_Byte(unsigned char ack)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="108"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="109"> class="hljs-ln-code"> class="hljs-ln-line">	unsigned char i,receive=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="110"> class="hljs-ln-code"> class="hljs-ln-line">	SDA_IN();//SDA设置为输入
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="111"> class="hljs-ln-code"> class="hljs-ln-line">    for(i=0;i<8;i++ )
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="112"> class="hljs-ln-code"> class="hljs-ln-line">	{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="113"> class="hljs-ln-code"> class="hljs-ln-line">        IIC_SCL=0; 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="114"> class="hljs-ln-code"> class="hljs-ln-line">        delay_us(2);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="115"> class="hljs-ln-code"> class="hljs-ln-line">		IIC_SCL=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="116"> class="hljs-ln-code"> class="hljs-ln-line">        receive<<=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="117"> class="hljs-ln-code"> class="hljs-ln-line">        if(READ_SDA)receive++;   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="118"> class="hljs-ln-code"> class="hljs-ln-line">		delay_us(1); 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="119"> class="hljs-ln-code"> class="hljs-ln-line">    }					 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="120"> class="hljs-ln-code"> class="hljs-ln-line">    if (!ack)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="121"> class="hljs-ln-code"> class="hljs-ln-line">        IIC_NAck();//发送nACK
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="122"> class="hljs-ln-code"> class="hljs-ln-line">    else
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="123"> class="hljs-ln-code"> class="hljs-ln-line">        IIC_Ack(); //发送ACK   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="124"> class="hljs-ln-code"> class="hljs-ln-line">    return receive;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="125"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="126"> class="hljs-ln-code"> class="hljs-ln-line">  class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

IIC.h文件

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#ifndef __MYIIC_H
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">#define __MYIIC_H
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">#include "sys.h" 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">   	   		   
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">//IO方向设置
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">#define SDA_IN()  {GPIOB->MODER&=~(3<<(9*2));GPIOB->MODER|=0<<9*2;}	//PB9输入模式
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">#define SDA_OUT() {GPIOB->MODER&=~(3<<(9*2));GPIOB->MODER|=1<<9*2;} //PB9输出模式
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">//IO操作函数	 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">#define IIC_SCL    PBout(8) //SCL
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">#define IIC_SDA    PBout(9) //SDA	 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">#define READ_SDA   PBin(9)  //输入SDA 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">//IIC所有操作函数
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Init(void);                //初始化IIC的IO口				 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Start(void);				//发送IIC开始信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Stop(void);	  			//发送IIC停止信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Send_Byte(u8 txd);			//IIC发送一个字节
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">u8 IIC_Read_Byte(unsigned char ack);//IIC读取一个字节
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">u8 IIC_Wait_Ack(void); 				//IIC等待ACK信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Ack(void);					//IIC发送ACK信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_NAck(void);				//IIC不发送ACK信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">void IIC_Write_One_Byte(u8 daddr,u8 addr,u8 data);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">u8 IIC_Read_One_Byte(u8 daddr,u8 addr);	  
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">#endif class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

PCA9685.c配置：

（代码引用于GItcode开源社区）

PCA9685模块使用（Arduino和STM32）_stm32_阿中廋不了-GitCode 开源社区 (csdn.net)

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#include "PCA9685.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">#include "myiic.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">#include "delay.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">#include 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">#include "led.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">#include "usart.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_Init(float hz,u16 angle)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">	u32 off = 0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Init();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,0x00);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setFreq(hz);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">    off = (u32)(103+angle*1.14);  //360度舵机，每转动一度=1.14   0度起始位置：103
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(0,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(1,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(2,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(3,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(4,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(5,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(6,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(7,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(8,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(9,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(10,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(11,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(12,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(13,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(14,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(15,0,off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line">	delay_ms(100);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_Write(u8 addr,u8 data)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="37"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Start();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="38"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="39"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(PCA_Addr);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="40"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="41"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="42"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(addr);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="43"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="44"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="45"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(data);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="46"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="47"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="48"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Stop();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="49"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="50"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="51"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="52"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="53"> class="hljs-ln-code"> class="hljs-ln-line">u8 PCA9685_Read(u8 addr)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="54"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="55"> class="hljs-ln-code"> class="hljs-ln-line">	u8 data;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="56"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="57"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Start();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="58"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="59"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(PCA_Addr);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="60"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="61"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="62"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(addr);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="63"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="64"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="65"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Stop();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="66"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="67"> class="hljs-ln-code"> class="hljs-ln-line">	delay_us(10);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="68"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="69"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="70"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Start();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="71"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="72"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(PCA_Addr|0x01);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="73"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_NAck();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="74"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="75"> class="hljs-ln-code"> class="hljs-ln-line">	data = IIC_Read_Byte(0);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="76"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="77"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Stop();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="78"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="79"> class="hljs-ln-code"> class="hljs-ln-line">	return data;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="80"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="81"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="82"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="83"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_setPWM(u8 num,u32 on,u32 off)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="84"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="85"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Start();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="86"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="87"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(PCA_Addr);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="88"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="89"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="90"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(LED0_ON_L+4*num);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="91"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="92"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="93"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(on&0xFF);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="94"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="95"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="96"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(on>>8);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="97"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="98"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="99"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(off&0xFF);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="100"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="101"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="102"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Send_Byte(off>>8);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="103"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Wait_Ack();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="104"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="105"> class="hljs-ln-code"> class="hljs-ln-line">	IIC_Stop();
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="106"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="107"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="108"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="109"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_setFreq(float freq)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="110"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="111"> class="hljs-ln-code"> class="hljs-ln-line">	u8 prescale,oldmode,newmode;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="112"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="113"> class="hljs-ln-code"> class="hljs-ln-line">	double prescaleval;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="114"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="115"> class="hljs-ln-code"> class="hljs-ln-line">	freq *= 0.98;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="116"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval = 25000000;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="117"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval /= 4096;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="118"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval /= freq;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="119"> class="hljs-ln-code"> class="hljs-ln-line">	prescaleval -= 1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="120"> class="hljs-ln-code"> class="hljs-ln-line">	prescale = floor(prescaleval+0.5f);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="121"> class="hljs-ln-code"> class="hljs-ln-line">	oldmode = PCA9685_Read(PCA_Model);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="122"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="123"> class="hljs-ln-code"> class="hljs-ln-line">	newmode = (oldmode&0x7F)|0x10;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="124"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,newmode);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="125"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Pre,prescale);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="126"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,oldmode);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="127"> class="hljs-ln-code"> class="hljs-ln-line">	delay_ms(5);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="128"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_Write(PCA_Model,oldmode|0xa1);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="129"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="130"> class="hljs-ln-code"> class="hljs-ln-line">	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="131"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="132"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="133"> class="hljs-ln-code"> class="hljs-ln-line">void setAngle(u8 num,u16 angle)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="134"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="135"> class="hljs-ln-code"> class="hljs-ln-line">	u32 off = 0;                
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="136"> class="hljs-ln-code"> class="hljs-ln-line">	off = (u32)(103+angle*1.13);  //360度舵机，每转动一度=1.14   0度起始位置：103
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="137"> class="hljs-ln-code"> class="hljs-ln-line">	PCA9685_setPWM(num,0,angle);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="138"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="139"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="140"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="141"> class="hljs-ln-code"> class="hljs-ln-line">  class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

PCA9685.h配置：

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#ifndef __PCA9685_H
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">#define __PCA9685_H
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">#include "sys.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">#define PCA_Addr 0x80
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">#define PCA_Model 0x00
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">#define LED0_ON_L 0x06
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">#define LED0_ON_H 0x07
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">#define LED0_OFF_L 0x08
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">#define LED0_OFF_H 0x09
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">#define PCA_Pre 0xFE
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_Init(float hz,u16 angle);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_Write(u8 addr,u8 data);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">u8 PCA9685_Read(u8 addr);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_setPWM(u8 num,u32 on,u32 off);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">void PCA9685_setFreq(float freq);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">void setAngle(u8 num,u16 angle);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">#endif class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

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注：本文转载自blog.csdn.net的peinCK的文章"https://blog.csdn.net/dengn191020/article/details/136762429"。版权归原作者所有，此博客不拥有其著作权，亦不承担相应法律责任。如有侵权，请联系我们删除。

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