feat: 完成互补pwm输出接口

app/by_motion.c

@@ -0,0 +1,33 @@
+#include "by_motion.h"
+
+#include "dwt_delay.h"
+#include "by_utils.h"
+
+#define DRV_ENABLE()  gpio_bits_set(GPIOB, GPIO_PINS_15)
+#define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
+
+void by_motion_pwm_m1(int32_t pwm_duty)
+{
+  pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
+  pwm_duty += 499;
+
+  // 互补 pwm 输出，499 为中值
+  tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, pwm_duty);
+}
+
+void by_motion_pwm_m2(int32_t pwm_duty)
+{
+  pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
+  pwm_duty += 499;
+
+  // 互补 pwm 输出，499 为中值
+  tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
+}
+
+void by_motion_init(void)
+{
+  DRV_ENABLE();
+  by_motion_pwm_m1(125);
+  by_motion_pwm_m2(0);
+
+}

app/by_motion.h

@@ -0,0 +1,8 @@
+#ifndef _BY_MOTION_H__
+#define _BY_MOTION_H__
+
+#include "at32f413.h"
+
+void by_motion_init(void);
+
+#endif

app/by_utils.c

@@ -0,0 +1,7 @@
+#include "by_utils.h"
+
+inline int32_t clip_s32(int32_t x, int32_t low, int32_t up)
+{
+  return (x > up ? up : x < low ? low
+                                : x);
+}

app/by_utils.h

@@ -0,0 +1,8 @@
+#ifndef _BY_UTILS_H__
+#define _BY_UTILS_H__
+
+#include "at32f413.h"
+
+int32_t clip_s32(int32_t x, int32_t low, int32_t up);
+
+#endif