50 lines
1.1 KiB
C
50 lines
1.1 KiB
C
#include "by_motion.h"
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#include "dwt_delay.h"
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#include "by_utils.h"
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#define DRV_ENABLE() gpio_bits_set(GPIOB, GPIO_PINS_15)
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#define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
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int16_t speed_m1;
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int16_t speed_m2;
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void by_motion_pwm_m1(int32_t pwm_duty)
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{
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pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
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pwm_duty += 499;
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// 互补 pwm 输出，499 为中值
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tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, pwm_duty);
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}
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void by_motion_pwm_m2(int32_t pwm_duty)
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{
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pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
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pwm_duty += 499;
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// 互补 pwm 输出，499 为中值
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tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
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}
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int16_t by_motion_get_speed_m1(void)
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{
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speed_m1 = (int16_t)tmr_counter_value_get(TMR2);
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tmr_counter_value_set(TMR2, 0);
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return speed_m1;
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}
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int16_t by_motion_get_speed_m2(void)
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{
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speed_m2 = (int16_t)tmr_counter_value_get(TMR3);
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tmr_counter_value_set(TMR3, 0);
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return speed_m2;
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}
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void by_motion_init(void)
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{
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DRV_ENABLE();
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by_motion_pwm_m1(-125);
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by_motion_pwm_m2(0);
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}
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