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feat: 完成互补pwm输出接口

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This commit is contained in:
CaoWangrenbo
2024-04-16 18:17:30 +08:00
parent 58af6f0c89
commit f0cbc9f1d3
16 changed files with 765 additions and 82 deletions
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33
app/by_motion.c Normal file
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#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);
}