新手小白求问
刚买了pca9685模块，看数据手册没有中文的只好找了些别人stm32的代码改过来用在51上面，但是一直都驱动不了舵机，不是知道代码出了什么问题，求解
以下就是我用的所有源码。
#ifndef __IIC_H
#define __IIC_H
sbit IIC_SDA = P3^6;
sbit IIC_SCL = P3^7;
#define u8 unsigned char
#define u16 char
//IIC所有操作函数
void delay_us(u8 i);
void IIC_Start(void); //发送IIC开始信号
void IIC_Stop(void); //发送IIC停止信号
void IIC_Send_Byte(u8 txd); //IIC发送一个字节
u8 IIC_Read_Byte(unsigned char ack);//IIC读取一个字节
u8 IIC_Wait_Ack(void); //IIC等待ACK信号
void IIC_Ack(void); //IIC发送ACK信号
void IIC_NAck(void); //IIC不发送ACK信号
//void IIC_Write_One_Byte(u8 daddr,u8 addr,u8 dat);
//u8 IIC_Read_One_Byte(u8 daddr,u8 addr);
#endif
#include <stc12c5a60s2.h>
#include <IIC.h>
#include <intrins.h>
void delay_us(u8 i)
{
u8 j;
for(j=i;j>0;j--)
{_nop_();}
}
//产生IIC起始信号
void IIC_Start(void)
{
// SDA_OUT(); //sda线输出
IIC_SDA=1;
IIC_SCL=1;
delay_us(4);
IIC_SDA=0;//START:when CLK is high,DATA change form high to low
delay_us(4);
IIC_SCL=0;//钳住I2C总线，准备发送或接收数据
}
//产生IIC停止信号
void IIC_Stop(void)
{
// SDA_OUT();//sda线输出
IIC_SCL=0;
IIC_SDA=0;//STOP:when CLK is high DATA change form low to high
delay_us(4);
IIC_SCL=1;
IIC_SDA=1;//发送I2C总线结束信号
delay_us(4);
}
//等待应答信号到来
//返回值：1，接收应答失败
// 0，接收应答成功
u8 IIC_Wait_Ack(void)
{
u8 ucErrTime=0;
// SDA_IN(); //SDA设置为输入
IIC_SDA=1;delay_us(1);
IIC_SCL=1;delay_us(1);
while(IIC_SDA)
{
ucErrTime++;
if(ucErrTime>250)
{
IIC_Stop();
return 1;
}
}
IIC_SCL=0;//时钟输出0
return 0;
}
//产生ACK应答
void IIC_Ack(void)
{
IIC_SCL=0;
// SDA_OUT();
IIC_SDA=0;
delay_us(2);
IIC_SCL=1;
delay_us(2);
IIC_SCL=0;
}
//不产生ACK应答
void IIC_NAck(void)
{
IIC_SCL=0;
// SDA_OUT();
IIC_SDA=1;
delay_us(2);
IIC_SCL=1;
delay_us(2);
IIC_SCL=0;
}
//IIC发送一个字节
//返回从机有无应答
//1，有应答
//0，无应答
void IIC_Send_Byte(u8 txd)
{
u8 t;
// SDA_OUT();
IIC_SCL=0;//拉低时钟开始数据传输
for(t=0;t<8;t++)
{
IIC_SDA=(txd&0x80)>>7;
txd<<=1;
delay_us(2); //对TEA5767这三个延时都是必须的
IIC_SCL=1;
delay_us(2);
IIC_SCL=0;
delay_us(2);
}
}
//读1个字节，ack=1时，发送ACK，ack=0，发送nACK
u8 IIC_Read_Byte(unsigned char ack)
{
unsigned char i,receive=0;
// SDA_IN();//SDA设置为输入
for(i=0;i<8;i++ )
{
IIC_SCL=0;
delay_us(2);
IIC_SCL=1;
receive<<=1;
if(IIC_SDA)receive++;
delay_us(1);
}
if (!ack)
IIC_NAck();//发送nACK
else
IIC_Ack(); //发送ACK
return receive;
}
#include <stc12c5a60s2.h>
#include <IIC.h>
#include <intrins.h>
#include <pca8574.h>
#define uchar unsigned char
#define uint unsigned int
sbit scl=P3^6; //时钟输入线
sbit sda=P3^7; //数据输入/输出端
void PCA9685_write(unsigned char reg,unsigned char dat);
u8 PCA9685_read(unsigned char reg);
void setPWMFreq(u8 freq);
void setPWM(u8 num, u16 on, u16 off);
void down();
void up();
void delay_ms(u8 xms)
{
u8 i,j;
for(i=xms;i>0;i--)
for (j=200;j>0;j--);
}
void PCA9685_write(unsigned char reg,unsigned char dat)
{
IIC_Start();
IIC_Send_Byte(PCA9685_adrr);
IIC_Wait_Ack();
IIC_Send_Byte(reg);
IIC_Wait_Ack();
IIC_Send_Byte(dat);
IIC_Wait_Ack();
IIC_Stop();
}
u8 PCA9685_read(unsigned char reg)
{
u8 res;
IIC_Start();
IIC_Send_Byte(PCA9685_adrr);
IIC_Wait_Ack();
IIC_Send_Byte(reg);
IIC_Wait_Ack();
IIC_Start();
IIC_Send_Byte(PCA9685_adrr|0X01);
IIC_Wait_Ack();
res=IIC_Read_Byte(0);
IIC_Stop();
return res;
}
void setPWMFreq(u8 freq)
{
u8 prescale,oldmode,newmode;
double prescaleval;
prescaleval = 25000000.0/(4096*freq*0.915);
prescale = (u8)(prescaleval+0.5)-1;
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);
delay_ms(5);
PCA9685_write(PCA9685_MODE1, oldmode | 0xa1);
}
void setPWM(u8 num, u16 on, u16 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);
}
u16 calculate_PWM(u8 angle)
{
return (int)(204.8*(0.5+angle*1.0/90));
}
void down()
{
u16 pwm = calculate_PWM(0);
setPWM(0x0,0,pwm);
delay_ms(1);
setPWM(0x1,0,pwm);
delay_ms(1);
setPWM(0x2,0,pwm);
delay_ms(1);
setPWM(0x3,0,pwm);
delay_ms(1);
setPWM(0x4,0,pwm);
delay_ms(1);
setPWM(0x5,0,pwm);
delay_ms(1);
setPWM(0x6,0,pwm);
delay_ms(1);
setPWM(0x7,0,pwm);
}
void up()
{
u16 pwm = calculate_PWM(90);
setPWM(0x0,0,pwm);
delay_ms(1);
setPWM(0x1,0,pwm);
delay_ms(1);
setPWM(0x2,0,pwm);
delay_ms(1);
setPWM(0x3,0,pwm);
delay_ms(1);
setPWM(0x4,0,pwm);
delay_ms(1);
setPWM(0x5,0,pwm);
delay_ms(1);
setPWM(0x6,0,pwm);
delay_ms(1);
setPWM(0x7,0,pwm);
}
void main()
{
PCA9685_write(PCA9685_MODE1,0x0);//PCA9685复位
setPWMFreq(50);
while(1)
{
down();
up();
}
}
#ifndef __PCF8574_H
#define __PCF8574_H
#include <stc12c5a60s2.h>
#define PCA9685_adrr 0x40
#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 u8 unsigned char
#define u16 char
