I’m using the board, motordriver IIC, to control motor through I2C bus.
The chip on the board is PCA9685.
The board is originally a extension for arduino UNO, and I’m using STM32F446RE which also support arduino UNO expansion connector.
The official give the arduino code, here is github link
github.com/YFROBOT-TM/Yfrobot-Motor-Driver-Library
and I translate it into stm32 code.
Now I want to drive a motor connent to M1 on the board with PWM 100%.
The following is the my stm32 code in main function:
[I2C]
standard mode with 100kHz
PB8 for SCL and PB9 for SDA, both pin set as open drain and pull-up.
[RCC]
set HSE to Crystal/Ceramic Resonator
[SYS]
set Debug to Serial Wire
I use the logic analyzer, and the SDA line shows what I trasmit is correct
***Worth mentionong, I found that at the SCL line, some duty cycle are 50%, and some are40%, don’t know if it make the i2c not working…
100kHz = 10us, refer to the form, the duty cycle should be between 40%~53% (?)
@Bob S Thanks for answering the question.
I shift the register address left one bit is beacause I thought it will show the right address in the logic analyzer.
I'm curious about how to read the logic analyzer data.
I read SDA 0 or 1 when SCL in evert HIGH pulse. so the result as below, 1~7bit is the data, the 8th bit (red one) for write/read, and the 9th bit (green one) for ACK/NACK.
Because during the 9th high pulse of SCL, SDA is LOW, so it's ACK.
And, 0x06 = 6 in decimal = 110 in binary
Is that right?
I try the example code with arduino, and it works.
@Bob S you're right. I don't need to shift one bit left for control register.
another mistake for me is that the write value for 4096, sould be 4096 fiirst, and then 4096>>8u.
I fix the two mistakes, and comapre the logic analyzer result with STM32 and arduino. Here is the different.
use HAL_I2C_Master_Transmit() in STM32 v.s. arduino
SDA line got some other HIGH signal between every byte
use HAL_I2C_Mem_Write() (recommend from @AScha.3 ) in STM32 v.s. arduino
SDA line data looks ok
but the problem is SCL line, there is no gap between every 9bit
/*main.c*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdbool.h"
#include "math.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define PCA9685_I2C_ADDRESS (0x40<<1)
#define PCA9685_MODE1_REG 0x00
#define PCA9685_PRESCALE_REG 0xFE
#define PCA9685_LED0_ON_L_REG 0x06
#define M1IN1 (PCA9685_LED0_ON_L_REG + 4 * 0)
#define M1IN2 (PCA9685_LED0_ON_L_REG + 4 * 1)
#define M1PWM (PCA9685_LED0_ON_L_REG + 4 * 2)
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
HAL_StatusTypeDef state1, state2, state3, device_exist;
uint8_t TX_Buffer_1[4] = {0x00, 0x10, 0x00, 0x00};
uint8_t TX_Buffer_2[4] = {0x00, 0x00, 0x00, 0x10};
uint8_t TX_Buffer_3[4] = {0x00, 0x00, 0x00, 0x10};
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void PCA9685_Init(void)
{
// write restart bit
uint8_t buffer_[1];
buffer_[0] = 0x80;
HAL_I2C_Mem_Write(&hi2c1, PCA9685_I2C_ADDRESS, 0x00, I2C_MEMADD_SIZE_8BIT, buffer_, 1, 1000);
HAL_Delay(10);
// write mode1 sleep bit
buffer_[0] = 0x10;
HAL_I2C_Mem_Write(&hi2c1, PCA9685_I2C_ADDRESS, 0x00, I2C_MEMADD_SIZE_8BIT, buffer_, 1, 1000);
double prescale = (25000000 / (1000 * 4096 * 0.9)) - 1;
// write prescale value
buffer_[0] = (uint8_t)prescale;
HAL_I2C_Mem_Write(&hi2c1, PCA9685_I2C_ADDRESS, 0xFE, I2C_MEMADD_SIZE_8BIT, buffer_, 1, 1000);
//write mode1 wake
buffer_[0] = 0x00;
HAL_I2C_Mem_Write(&hi2c1, PCA9685_I2C_ADDRESS, 0x00, I2C_MEMADD_SIZE_8BIT, buffer_, 1, 1000);
HAL_Delay(6);
//write mode1 auto-increment
buffer_[0] = 0xA0;
HAL_I2C_Mem_Write(&hi2c1, PCA9685_I2C_ADDRESS, 0x00, I2C_MEMADD_SIZE_8BIT, buffer_, 1, 1000);
//write M1IN1, M1IN2 0x00 0x00 0x00 0x10
uint8_t buffer[4] = {0x00, 0x00, 0x00, 0x10};
HAL_I2C_Mem_Write(&hi2c1, PCA9685_I2C_ADDRESS, 0x06, I2C_MEMADD_SIZE_8BIT, buffer, 4, 1000);
HAL_I2C_Mem_Write(&hi2c1, PCA9685_I2C_ADDRESS, 0x0A, I2C_MEMADD_SIZE_8BIT, buffer, 4, 1000);
HAL_Delay(1000);
// buffer_[0] = 0b00001001;
// HAL_I2C_Mem_Write(&hi2c1, PCA9685_I2C_ADDRESS, 0x01, I2C_MEMADD_SIZE_8BIT, buffer_, 1, 1000);
// HAL_Delay(6);
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
HAL_I2C_MspInit(&hi2c1);
HAL_Delay(500);
PCA9685_Init();
device_exist = HAL_I2C_IsDeviceReady(&hi2c1, PCA9685_I2C_ADDRESS, 10, HAL_MAX_DELAY);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
state1 = HAL_I2C_Master_Transmit(&hi2c1, PCA9685_I2C_ADDRESS, TX_Buffer_1, 5, 1000);
state2 = HAL_I2C_Master_Transmit(&hi2c1, PCA9685_I2C_ADDRESS, TX_Buffer_2, 5, 1000);
state3 = HAL_I2C_Master_Transmit(&hi2c1, PCA9685_I2C_ADDRESS, TX_Buffer_3, 5, 1000);
// HAL_Delay(500);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 180;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Activate the Over-Drive mode
*/
if (HAL_PWREx_EnableOverDrive() != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLRCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
void MX_GPIO_Init(void)
{
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
}void MX_I2C1_Init(void)
{
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C1_Init 0 */
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 100000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}Here is my latest code. I want to drive a motor rotate in one direction continuously, and the motor connect to M1 on the board.
In the live expression of STM32CubeIDE, I can see the I2C1 is set, and the pBuffPtr in keep showing the value I transmit, and the transmit state that the function is all HAL_OK, also check the device exist or not by "IsDeviceReady" function, and it exists. but the motor doesn't do anything...
Here is the part of live expression
