124 lines
4.1 KiB
C
124 lines
4.1 KiB
C
#include "PCA9685_driver.h"
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#include "delay.h"
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#if PCA9685_USE_SOFT_IIC == 1
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#include "iic_soft.h"
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static IIC_Soft_Config config;
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#else
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#include "iic.h"
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#endif
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static uint8 has_init = 0;
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#if (1==PCA9685_USE_SOFT_IIC)
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void pca9685_scl_set()
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{
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PCA9685_SCL_LEVEL(1);
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}
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void pca9685_sda_set()
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{
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PCA9685_SDA_LEVEL(1);
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}
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void pca9685_sda_clr()
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{
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PCA9685_SDA_LEVEL(0);
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}
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void pca9685_scl_clr()
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{
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PCA9685_SCL_LEVEL(0);
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}
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uint8 pca9685_sda_read()
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{
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return PCA9685_SDA_READ();
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}
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#endif
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void pca9685_init()
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{
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if(has_init) return; // 如果已经初始化过，则直接返回
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#if PCA9685_USE_SOFT_IIC == 1
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// config.scl_pin = PCA9685_SOFT_IIC_SCL_PIN;
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// config.sda_pin = PCA9685_SOFT_IIC_SDA_PIN;
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config.SCL_SET = pca9685_scl_set;
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config.SCL_CLR = pca9685_scl_clr;
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config.SDA_SET = pca9685_sda_set;
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config.SDA_CLR = pca9685_sda_clr;
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config.SDA_READ = pca9685_sda_read;
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config.wait_time = 10;
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soft_iic_init(&config); // 初始化软件IIC
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, 0x00); // 设置PCA9685模式寄存器为正常模式
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#else
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// 初始化I2C接口
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iic_init(IIC_1, 20);
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iic_write_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, 0x00); // 设置为正常模式
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#endif
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pca9685_set_frequency(PCA9685_DEF_FREQ); // 设置默认频率
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has_init = 1;
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}
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void pca9685_deinit()
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{
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if(!has_init) return; // 如果没有初始化过，则直接返回
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has_init = 0; // 标记为未初始化
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}
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void pca9685_set_frequency(uint16 frequency)
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{
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// 计算预分频器值
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uint8 prescale = 0;
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uint8 old_mode1 = 0;
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double prescale_value = 0.0;
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prescale_value = 6103.515625 / frequency;
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if (prescale_value < 3.0) {
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prescale = 3; // 最小预分频器值
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} else if (prescale_value > 255.0) {
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prescale = 255; // 最大预分频器值
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} else {
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prescale = (uint8)prescale_value; // 正常预分频器值
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if (prescale_value - prescale >= 0.5) {
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prescale += 1; // 四舍五入
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}
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}
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#if PCA9685_USE_SOFT_IIC == 1
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// soft_iic_read_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, &old_mode1); // 读取当前模式寄存器
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, (old_mode1 & 0x7F) | 0x10); // 进入睡眠模式
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_PRESCALE, prescale); // 设置预分频器
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, old_mode1); // 恢复正常模式
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, old_mode1 | 0x80); // 重启PCA9685
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#else
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// P05 = 0;
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// 设置预分频器
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// iic_read_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, &old_mode1);
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iic_write_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, (old_mode1 & 0x7F) | 0x10); // 进入睡眠模式
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iic_write_reg(PCA9685_I2C_ADDR, PCA9685_PRESCALE, prescale);
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// 恢复模式寄存器
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iic_write_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, old_mode1); // 恢复正常模式
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delay_ms(5); // 等待模式寄存器更新
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iic_write_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, old_mode1 | 0x80); // 重启PCA9685
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// P05 = 1;
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#endif
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}
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void pca9685_set_pwm(uint8 channel, uint16 on, uint16 off)
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{
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// P05 = 0; // 开始I2C通信
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// 设置指定通道的PWM值
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#if PCA9685_USE_SOFT_IIC == 1
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, (PCA9685_LED0_ON_L + 4 * channel) & 0xFF, on & 0xFF);
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, (PCA9685_LED0_ON_H + 4 * channel) & 0xFF, (on >> 8) & 0xFF);
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, (PCA9685_LED0_OFF_L + 4 * channel) & 0xFF, off & 0xFF);
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soft_iic_write_reg(&config, PCA9685_I2C_ADDR, (PCA9685_LED0_OFF_H + 4 * channel) & 0xFF, (off >> 8) & 0xFF);
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#else
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iic_write_reg(PCA9685_I2C_ADDR, (PCA9685_LED0_ON_L + 4 * channel) & 0xFF, on & 0xFF);
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iic_write_reg(PCA9685_I2C_ADDR, (PCA9685_LED0_ON_H + 4 * channel) & 0xFF, (on >> 8) & 0xFF);
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iic_write_reg(PCA9685_I2C_ADDR, (PCA9685_LED0_OFF_L + 4 * channel) & 0xFF, off & 0xFF);
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iic_write_reg(PCA9685_I2C_ADDR, (PCA9685_LED0_OFF_H + 4 * channel) & 0xFF, (off >> 8) & 0xFF);
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// P05 = 1; // 结束I2C通信
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#endif
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} |