From f9a87063d8a40b15c1f8dd72934c375f860e00c0 Mon Sep 17 00:00:00 2001 From: bmy <2583236812@qq.com> Date: Sun, 19 May 2024 16:04:33 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9A=82=E5=AD=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/by_servo.c | 142 ++++++++++++ app/by_servo.h | 13 ++ project/src/at32f415_int.c | 137 +++++------ project/src/at32f415_wk_config.c | 374 +++++++++++++++---------------- project/src/main.c | 61 ++--- 5 files changed, 440 insertions(+), 287 deletions(-) create mode 100644 app/by_servo.c create mode 100644 app/by_servo.h diff --git a/app/by_servo.c b/app/by_servo.c new file mode 100644 index 0000000..b109520 --- /dev/null +++ b/app/by_servo.c @@ -0,0 +1,142 @@ +#include "by_servo.h" + +#include "at32f415.h" +#include "lwprintf.h" + +/** + * @brief 设置云台摇臂 + * + * @param angle 角度 (0-180) + */ +void by_servo_set_claw_arm(int16_t angle) +{ +#define PULSE_WIDTH_MIN 0.5f +#define PULSE_WIDTH_MAX 2.5f + + uint32_t ch_val = 0; + + if (angle < 0) { + angle = 0; + } else if (angle > 180) { + angle = 180; + } + + ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f); + + tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, ch_val); + +#undef PULSE_WIDTH_MIN +#undef PULSE_WIDTH_MAX +} + +/** + * @brief 设置云台摇臂 + * + * @param angle 角度 (0-180) + */ +void by_servo_set_claw(int16_t angle) +{ +#define PULSE_WIDTH_MIN 1.5f +#define PULSE_WIDTH_MAX 2.5f + + uint32_t ch_val = 0; + + if (angle < 0) { + angle = 0; + } else if (angle > 180) { + angle = 180; + } + + ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f); + + tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, ch_val); + +#undef PULSE_WIDTH_MIN +#undef PULSE_WIDTH_MAX +} + +/** + * @brief 设置云台摇臂 + * + * @param angle 角度 (0-180) + */ +void by_servo_set_camera(int16_t angle) +{ +#define PULSE_WIDTH_MIN 1.5f +#define PULSE_WIDTH_MAX 2.5f + + uint32_t ch_val = 0; + + if (angle < 0) { + angle = 0; + } else if (angle > 180) { + angle = 180; + } + + ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f); + + tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_4, ch_val); + +#undef PULSE_WIDTH_MIN +#undef PULSE_WIDTH_MAX +} + +/** + * @brief 设置云台摇臂 + * + * @param angle 角度 (0-180) + */ +void by_servo_set_scoop(int16_t angle) +{ +#define PULSE_WIDTH_MIN 1.5f +#define PULSE_WIDTH_MAX 2.5f + + uint32_t ch_val = 0; + + if (angle < 0) { + angle = 0; + } else if (angle > 180) { + angle = 180; + } + + ch_val = (uint32_t)(((float)angle / 180.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f); + + tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_3, ch_val); + +#undef PULSE_WIDTH_MIN +#undef PULSE_WIDTH_MAX +} + +void by_servo_init(void) +{ + // 后续要不全初始化为空值，由主控按顺序初始化 + by_servo_set_claw_arm(0); + by_servo_set_claw(0); + by_servo_set_camera(0); + by_servo_set_scoop(0); +} + +void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len) +{ + + int16_t angle = 0; + + angle = (int16_t)(data[0] | (data[1] << 8)); + + switch (stdd_id) { + case 0x009: + by_servo_set_claw_arm(angle); + break; + case 0x00A: + by_servo_set_claw(angle); + break; + case 0x00B: + by_servo_set_camera(angle); + break; + case 0x00C: + by_servo_set_scoop(angle); + break; + default: + break; + } +} \ No newline at end of file diff --git a/app/by_servo.h b/app/by_servo.h new file mode 100644 index 0000000..e80500e --- /dev/null +++ b/app/by_servo.h @@ -0,0 +1,13 @@ +#ifndef _BY_SERVO_H__ +#define _BY_SERVO_H__ + +#include "at32f415.h" + +extern void by_servo_set_claw_arm(int16_t angle); +extern void by_servo_set_claw(int16_t angle); +extern void by_servo_set_camera(int16_t angle); +extern void by_servo_set_scoop(int16_t angle); +extern void by_servo_init(void); +extern void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len); + +#endif diff --git a/project/src/at32f415_int.c b/project/src/at32f415_int.c index 2b003ff..de52d06 100644 --- a/project/src/at32f415_int.c +++ b/project/src/at32f415_int.c @@ -1,27 +1,27 @@ /* add user code begin Header */ /** - ************************************************************************** - * @file at32f415_int.c - * @brief main interrupt service routines. - ************************************************************************** - * Copyright notice & Disclaimer - * - * The software Board Support Package (BSP) that is made available to - * download from Artery official website is the copyrighted work of Artery. - * Artery authorizes customers to use, copy, and distribute the BSP - * software and its related documentation for the purpose of design and - * development in conjunction with Artery microcontrollers. Use of the - * software is governed by this copyright notice and the following disclaimer. - * - * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, - * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS, - * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR - * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS, - * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT. - * - ************************************************************************** - */ + ************************************************************************** + * @file at32f415_int.c + * @brief main interrupt service routines. + ************************************************************************** + * Copyright notice & Disclaimer + * + * The software Board Support Package (BSP) that is made available to + * download from Artery official website is the copyrighted work of Artery. + * Artery authorizes customers to use, copy, and distribute the BSP + * software and its related documentation for the purpose of design and + * development in conjunction with Artery microcontrollers. Use of the + * software is governed by this copyright notice and the following disclaimer. + * + * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, + * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS, + * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR + * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS, + * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT. + * + ************************************************************************** + */ /* add user code end Header */ /* includes ------------------------------------------------------------------*/ @@ -29,7 +29,7 @@ /* private includes ----------------------------------------------------------*/ /* add user code begin private includes */ - +#include "by_servo.h" /* add user code end private includes */ /* private typedef -----------------------------------------------------------*/ @@ -68,10 +68,10 @@ /* add user code end external variables */ /** - * @brief this function handles nmi exception. - * @param none - * @retval none - */ + * @brief this function handles nmi exception. + * @param none + * @retval none + */ void NMI_Handler(void) { /* add user code begin NonMaskableInt_IRQ 0 */ @@ -84,18 +84,17 @@ void NMI_Handler(void) } /** - * @brief this function handles hard fault exception. - * @param none - * @retval none - */ + * @brief this function handles hard fault exception. + * @param none + * @retval none + */ void HardFault_Handler(void) { /* add user code begin HardFault_IRQ 0 */ /* add user code end HardFault_IRQ 0 */ /* go to infinite loop when hard fault exception occurs */ - while (1) - { + while (1) { /* add user code begin W1_HardFault_IRQ 0 */ /* add user code end W1_HardFault_IRQ 0 */ @@ -103,18 +102,17 @@ void HardFault_Handler(void) } /** - * @brief this function handles memory manage exception. - * @param none - * @retval none - */ + * @brief this function handles memory manage exception. + * @param none + * @retval none + */ void MemManage_Handler(void) { /* add user code begin MemoryManagement_IRQ 0 */ /* add user code end MemoryManagement_IRQ 0 */ /* go to infinite loop when memory manage exception occurs */ - while (1) - { + while (1) { /* add user code begin W1_MemoryManagement_IRQ 0 */ /* add user code end W1_MemoryManagement_IRQ 0 */ @@ -122,18 +120,17 @@ void MemManage_Handler(void) } /** - * @brief this function handles bus fault exception. - * @param none - * @retval none - */ + * @brief this function handles bus fault exception. + * @param none + * @retval none + */ void BusFault_Handler(void) { /* add user code begin BusFault_IRQ 0 */ /* add user code end BusFault_IRQ 0 */ /* go to infinite loop when bus fault exception occurs */ - while (1) - { + while (1) { /* add user code begin W1_BusFault_IRQ 0 */ /* add user code end W1_BusFault_IRQ 0 */ @@ -141,18 +138,17 @@ void BusFault_Handler(void) } /** - * @brief this function handles usage fault exception. - * @param none - * @retval none - */ + * @brief this function handles usage fault exception. + * @param none + * @retval none + */ void UsageFault_Handler(void) { /* add user code begin UsageFault_IRQ 0 */ /* add user code end UsageFault_IRQ 0 */ /* go to infinite loop when usage fault exception occurs */ - while (1) - { + while (1) { /* add user code begin W1_UsageFault_IRQ 0 */ /* add user code end W1_UsageFault_IRQ 0 */ @@ -160,10 +156,10 @@ void UsageFault_Handler(void) } /** - * @brief this function handles svcall exception. - * @param none - * @retval none - */ + * @brief this function handles svcall exception. + * @param none + * @retval none + */ void SVC_Handler(void) { /* add user code begin SVCall_IRQ 0 */ @@ -175,10 +171,10 @@ void SVC_Handler(void) } /** - * @brief this function handles debug monitor exception. - * @param none - * @retval none - */ + * @brief this function handles debug monitor exception. + * @param none + * @retval none + */ void DebugMon_Handler(void) { /* add user code begin DebugMonitor_IRQ 0 */ @@ -190,10 +186,10 @@ void DebugMon_Handler(void) } /** - * @brief this function handles pendsv_handler exception. - * @param none - * @retval none - */ + * @brief this function handles pendsv_handler exception. + * @param none + * @retval none + */ void PendSV_Handler(void) { /* add user code begin PendSV_IRQ 0 */ @@ -205,14 +201,21 @@ void PendSV_Handler(void) } /** - * @brief this function handles CAN1 RX0 handler. - * @param none - * @retval none - */ + * @brief this function handles CAN1 RX0 handler. + * @param none + * @retval none + */ void CAN1_RX0_IRQHandler(void) { /* add user code begin CAN1_RX0_IRQ 0 */ + if (SET == can_flag_get(CAN1, CAN_RF0MN_FLAG)) { + can_rx_message_type can_rx_message; + can_message_receive(CAN1, CAN_RX_FIFO0, &can_rx_message); + by_servo_can_handle((uint16_t)can_rx_message.standard_id, can_rx_message.data, can_rx_message.dlc); + + can_flag_clear(CAN1, CAN_RF0MN_FLAG); + } /* add user code end CAN1_RX0_IRQ 0 */ /* add user code begin CAN1_RX0_IRQ 1 */ diff --git a/project/src/at32f415_wk_config.c b/project/src/at32f415_wk_config.c index 1fe72f8..e227d33 100644 --- a/project/src/at32f415_wk_config.c +++ b/project/src/at32f415_wk_config.c @@ -1,27 +1,27 @@ /* add user code begin Header */ /** - ************************************************************************** - * @file at32f415_wk_config.c - * @brief work bench config program - ************************************************************************** - * Copyright notice & Disclaimer - * - * The software Board Support Package (BSP) that is made available to - * download from Artery official website is the copyrighted work of Artery. - * Artery authorizes customers to use, copy, and distribute the BSP - * software and its related documentation for the purpose of design and - * development in conjunction with Artery microcontrollers. Use of the - * software is governed by this copyright notice and the following disclaimer. - * - * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, - * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS, - * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR - * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS, - * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT. - * - ************************************************************************** - */ + ************************************************************************** + * @file at32f415_wk_config.c + * @brief work bench config program + ************************************************************************** + * Copyright notice & Disclaimer + * + * The software Board Support Package (BSP) that is made available to + * download from Artery official website is the copyrighted work of Artery. + * Artery authorizes customers to use, copy, and distribute the BSP + * software and its related documentation for the purpose of design and + * development in conjunction with Artery microcontrollers. Use of the + * software is governed by this copyright notice and the following disclaimer. + * + * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, + * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS, + * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR + * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS, + * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT. + * + ************************************************************************** + */ /* add user code end Header */ #include "at32f415_wk_config.h" @@ -62,22 +62,22 @@ /* add user code end 0 */ /** - * @brief system clock config program - * @note the system clock is configured as follow: - * system clock (sclk) = hick / 12 * pll_mult - * system clock source = HICK_VALUE - * - sclk = 144000000 - * - ahbdiv = 1 - * - ahbclk = 144000000 - * - apb1div = 2 - * - apb1clk = 72000000 - * - apb2div = 2 - * - apb2clk = 72000000 - * - pll_mult = 36 - * - flash_wtcyc = 4 cycle - * @param none - * @retval none - */ + * @brief system clock config program + * @note the system clock is configured as follow: + * system clock (sclk) = hick / 12 * pll_mult + * system clock source = HICK_VALUE + * - sclk = 144000000 + * - ahbdiv = 1 + * - ahbclk = 144000000 + * - apb1div = 2 + * - apb1clk = 72000000 + * - apb2div = 2 + * - apb2clk = 72000000 + * - pll_mult = 36 + * - flash_wtcyc = 4 cycle + * @param none + * @retval none + */ void wk_system_clock_config(void) { /* reset crm */ @@ -90,16 +90,14 @@ void wk_system_clock_config(void) crm_clock_source_enable(CRM_CLOCK_SOURCE_LICK, TRUE); /* wait till lick is ready */ - while(crm_flag_get(CRM_LICK_STABLE_FLAG) != SET) - { + while (crm_flag_get(CRM_LICK_STABLE_FLAG) != SET) { } /* enable hick */ crm_clock_source_enable(CRM_CLOCK_SOURCE_HICK, TRUE); /* wait till hick is ready */ - while(crm_flag_get(CRM_HICK_STABLE_FLAG) != SET) - { + while (crm_flag_get(CRM_HICK_STABLE_FLAG) != SET) { } /* config pll clock resource */ @@ -109,8 +107,7 @@ void wk_system_clock_config(void) crm_clock_source_enable(CRM_CLOCK_SOURCE_PLL, TRUE); /* wait till pll is ready */ - while(crm_flag_get(CRM_PLL_STABLE_FLAG) != SET) - { + while (crm_flag_get(CRM_PLL_STABLE_FLAG) != SET) { } /* config ahbclk */ @@ -129,8 +126,7 @@ void wk_system_clock_config(void) crm_sysclk_switch(CRM_SCLK_PLL); /* wait till pll is used as system clock source */ - while(crm_sysclk_switch_status_get() != CRM_SCLK_PLL) - { + while (crm_sysclk_switch_status_get() != CRM_SCLK_PLL) { } /* disable auto step mode */ @@ -141,10 +137,10 @@ void wk_system_clock_config(void) } /** - * @brief config periph clock - * @param none - * @retval none - */ + * @brief config periph clock + * @param none + * @retval none + */ void wk_periph_clock_config(void) { /* enable iomux periph clock */ @@ -170,10 +166,10 @@ void wk_periph_clock_config(void) } /** - * @brief init debug function. - * @param none - * @retval none - */ + * @brief init debug function. + * @param none + * @retval none + */ void wk_debug_config(void) { /* jtag-dp disabled and sw-dp enabled */ @@ -181,10 +177,10 @@ void wk_debug_config(void) } /** - * @brief nvic config - * @param none - * @retval none - */ + * @brief nvic config + * @param none + * @retval none + */ void wk_nvic_config(void) { nvic_priority_group_config(NVIC_PRIORITY_GROUP_4); @@ -193,10 +189,10 @@ void wk_nvic_config(void) } /** - * @brief init gpio_input/gpio_output/gpio_analog/eventout function. - * @param none - * @retval none - */ + * @brief init gpio_input/gpio_output/gpio_analog/eventout function. + * @param none + * @retval none + */ void wk_gpio_config(void) { /* add user code begin gpio_config 0 */ @@ -214,10 +210,10 @@ void wk_gpio_config(void) gpio_bits_reset(GPIOA, GPIO_PINS_10); gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT; - gpio_init_struct.gpio_pins = GPIO_PINS_10; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT; + gpio_init_struct.gpio_pins = GPIO_PINS_10; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init(GPIOA, &gpio_init_struct); /* add user code begin gpio_config 2 */ @@ -226,10 +222,10 @@ void wk_gpio_config(void) } /** - * @brief init usart2 function - * @param none - * @retval none - */ + * @brief init usart2 function + * @param none + * @retval none + */ void wk_usart2_init(void) { /* add user code begin usart2_init 0 */ @@ -245,18 +241,18 @@ void wk_usart2_init(void) /* configure the TX pin */ gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_mode = GPIO_MODE_MUX; - gpio_init_struct.gpio_pins = GPIO_PINS_2; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_mode = GPIO_MODE_MUX; + gpio_init_struct.gpio_pins = GPIO_PINS_2; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init(GPIOA, &gpio_init_struct); /* configure the RX pin */ gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_mode = GPIO_MODE_INPUT; - gpio_init_struct.gpio_pins = GPIO_PINS_3; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_mode = GPIO_MODE_INPUT; + gpio_init_struct.gpio_pins = GPIO_PINS_3; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init(GPIOA, &gpio_init_struct); /* configure param */ @@ -275,10 +271,10 @@ void wk_usart2_init(void) } /** - * @brief init tmr1 function. - * @param none - * @retval none - */ + * @brief init tmr1 function. + * @param none + * @retval none + */ void wk_tmr1_init(void) { /* add user code begin tmr1_init 0 */ @@ -296,18 +292,18 @@ void wk_tmr1_init(void) /* add user code end tmr1_init 1 */ /* configure the CH1 pin */ - gpio_init_struct.gpio_pins = GPIO_PINS_8; - gpio_init_struct.gpio_mode = GPIO_MODE_MUX; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_pins = GPIO_PINS_8; + gpio_init_struct.gpio_mode = GPIO_MODE_MUX; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; gpio_init(GPIOA, &gpio_init_struct); /* configure the CH2 pin */ - gpio_init_struct.gpio_pins = GPIO_PINS_9; - gpio_init_struct.gpio_mode = GPIO_MODE_MUX; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_pins = GPIO_PINS_9; + gpio_init_struct.gpio_mode = GPIO_MODE_MUX; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; gpio_init(GPIOA, &gpio_init_struct); @@ -323,13 +319,13 @@ void wk_tmr1_init(void) tmr_primary_mode_select(TMR1, TMR_PRIMARY_SEL_RESET); /* configure channel 1 output settings */ - tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; - tmr_output_struct.oc_output_state = TRUE; + tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; + tmr_output_struct.oc_output_state = TRUE; tmr_output_struct.occ_output_state = FALSE; - tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.oc_idle_state = FALSE; - tmr_output_struct.occ_idle_state = FALSE; + tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.oc_idle_state = FALSE; + tmr_output_struct.occ_idle_state = FALSE; tmr_output_channel_config(TMR1, TMR_SELECT_CHANNEL_1, &tmr_output_struct); tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, 0); tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_1, FALSE); @@ -337,13 +333,13 @@ void wk_tmr1_init(void) tmr_output_channel_immediately_set(TMR1, TMR_SELECT_CHANNEL_1, FALSE); /* configure channel 2 output settings */ - tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; - tmr_output_struct.oc_output_state = TRUE; + tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; + tmr_output_struct.oc_output_state = TRUE; tmr_output_struct.occ_output_state = FALSE; - tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.oc_idle_state = FALSE; - tmr_output_struct.occ_idle_state = FALSE; + tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.oc_idle_state = FALSE; + tmr_output_struct.occ_idle_state = FALSE; tmr_output_channel_config(TMR1, TMR_SELECT_CHANNEL_2, &tmr_output_struct); tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, 0); tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_2, FALSE); @@ -351,16 +347,15 @@ void wk_tmr1_init(void) tmr_output_channel_immediately_set(TMR1, TMR_SELECT_CHANNEL_2, FALSE); /* configure break and dead-time settings */ - tmr_brkdt_struct.brk_enable = FALSE; + tmr_brkdt_struct.brk_enable = FALSE; tmr_brkdt_struct.auto_output_enable = FALSE; - tmr_brkdt_struct.brk_polarity = TMR_BRK_INPUT_ACTIVE_LOW; - tmr_brkdt_struct.fcsoen_state = FALSE; - tmr_brkdt_struct.fcsodis_state = FALSE; - tmr_brkdt_struct.wp_level = TMR_WP_OFF; - tmr_brkdt_struct.deadtime = 0; + tmr_brkdt_struct.brk_polarity = TMR_BRK_INPUT_ACTIVE_LOW; + tmr_brkdt_struct.fcsoen_state = FALSE; + tmr_brkdt_struct.fcsodis_state = FALSE; + tmr_brkdt_struct.wp_level = TMR_WP_OFF; + tmr_brkdt_struct.deadtime = 0; tmr_brkdt_config(TMR1, &tmr_brkdt_struct); - tmr_output_enable(TMR1, TRUE); tmr_counter_enable(TMR1, TRUE); @@ -371,10 +366,10 @@ void wk_tmr1_init(void) } /** - * @brief init tmr3 function. - * @param none - * @retval none - */ + * @brief init tmr3 function. + * @param none + * @retval none + */ void wk_tmr3_init(void) { /* add user code begin tmr3_init 0 */ @@ -391,34 +386,34 @@ void wk_tmr3_init(void) /* add user code end tmr3_init 1 */ /* configure the CH1 pin */ - gpio_init_struct.gpio_pins = GPIO_PINS_6; - gpio_init_struct.gpio_mode = GPIO_MODE_MUX; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_pins = GPIO_PINS_6; + gpio_init_struct.gpio_mode = GPIO_MODE_MUX; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; gpio_init(GPIOA, &gpio_init_struct); /* configure the CH2 pin */ - gpio_init_struct.gpio_pins = GPIO_PINS_7; - gpio_init_struct.gpio_mode = GPIO_MODE_MUX; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_pins = GPIO_PINS_7; + gpio_init_struct.gpio_mode = GPIO_MODE_MUX; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; gpio_init(GPIOA, &gpio_init_struct); /* configure the CH3 pin */ - gpio_init_struct.gpio_pins = GPIO_PINS_0; - gpio_init_struct.gpio_mode = GPIO_MODE_MUX; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_pins = GPIO_PINS_0; + gpio_init_struct.gpio_mode = GPIO_MODE_MUX; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; gpio_init(GPIOB, &gpio_init_struct); /* configure the CH4 pin */ - gpio_init_struct.gpio_pins = GPIO_PINS_1; - gpio_init_struct.gpio_mode = GPIO_MODE_MUX; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_pins = GPIO_PINS_1; + gpio_init_struct.gpio_mode = GPIO_MODE_MUX; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; gpio_init(GPIOB, &gpio_init_struct); @@ -433,13 +428,13 @@ void wk_tmr3_init(void) tmr_primary_mode_select(TMR3, TMR_PRIMARY_SEL_RESET); /* configure channel 1 output settings */ - tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; - tmr_output_struct.oc_output_state = TRUE; + tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; + tmr_output_struct.oc_output_state = TRUE; tmr_output_struct.occ_output_state = FALSE; - tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.oc_idle_state = FALSE; - tmr_output_struct.occ_idle_state = FALSE; + tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.oc_idle_state = FALSE; + tmr_output_struct.occ_idle_state = FALSE; tmr_output_channel_config(TMR3, TMR_SELECT_CHANNEL_1, &tmr_output_struct); tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_1, 0); tmr_output_channel_buffer_enable(TMR3, TMR_SELECT_CHANNEL_1, FALSE); @@ -447,13 +442,13 @@ void wk_tmr3_init(void) tmr_output_channel_immediately_set(TMR3, TMR_SELECT_CHANNEL_1, FALSE); /* configure channel 2 output settings */ - tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; - tmr_output_struct.oc_output_state = TRUE; + tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; + tmr_output_struct.oc_output_state = TRUE; tmr_output_struct.occ_output_state = FALSE; - tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.oc_idle_state = FALSE; - tmr_output_struct.occ_idle_state = FALSE; + tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.oc_idle_state = FALSE; + tmr_output_struct.occ_idle_state = FALSE; tmr_output_channel_config(TMR3, TMR_SELECT_CHANNEL_2, &tmr_output_struct); tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_2, 0); tmr_output_channel_buffer_enable(TMR3, TMR_SELECT_CHANNEL_2, FALSE); @@ -461,13 +456,13 @@ void wk_tmr3_init(void) tmr_output_channel_immediately_set(TMR3, TMR_SELECT_CHANNEL_2, FALSE); /* configure channel 3 output settings */ - tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; - tmr_output_struct.oc_output_state = TRUE; + tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; + tmr_output_struct.oc_output_state = TRUE; tmr_output_struct.occ_output_state = FALSE; - tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.oc_idle_state = FALSE; - tmr_output_struct.occ_idle_state = FALSE; + tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.oc_idle_state = FALSE; + tmr_output_struct.occ_idle_state = FALSE; tmr_output_channel_config(TMR3, TMR_SELECT_CHANNEL_3, &tmr_output_struct); tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_3, 0); tmr_output_channel_buffer_enable(TMR3, TMR_SELECT_CHANNEL_3, FALSE); @@ -475,20 +470,19 @@ void wk_tmr3_init(void) tmr_output_channel_immediately_set(TMR3, TMR_SELECT_CHANNEL_3, FALSE); /* configure channel 4 output settings */ - tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; - tmr_output_struct.oc_output_state = TRUE; + tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; + tmr_output_struct.oc_output_state = TRUE; tmr_output_struct.occ_output_state = FALSE; - tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; - tmr_output_struct.oc_idle_state = FALSE; - tmr_output_struct.occ_idle_state = FALSE; + tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; + tmr_output_struct.oc_idle_state = FALSE; + tmr_output_struct.occ_idle_state = FALSE; tmr_output_channel_config(TMR3, TMR_SELECT_CHANNEL_4, &tmr_output_struct); tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_4, 0); tmr_output_channel_buffer_enable(TMR3, TMR_SELECT_CHANNEL_4, FALSE); tmr_output_channel_immediately_set(TMR3, TMR_SELECT_CHANNEL_4, FALSE); - tmr_counter_enable(TMR3, TRUE); /* add user code begin tmr3_init 2 */ @@ -497,16 +491,16 @@ void wk_tmr3_init(void) } /** - * @brief init can1 function. - * @param none - * @retval none - */ + * @brief init can1 function. + * @param none + * @retval none + */ void wk_can1_init(void) { /* add user code begin can1_init 0 */ /* add user code end can1_init 0 */ - + gpio_init_type gpio_init_struct; can_base_type can_base_struct; can_baudrate_type can_baudrate_struct; @@ -515,57 +509,57 @@ void wk_can1_init(void) /* add user code begin can1_init 1 */ /* add user code end can1_init 1 */ - - /*gpio-----------------------------------------------------------------------------*/ + + /*gpio-----------------------------------------------------------------------------*/ gpio_default_para_init(&gpio_init_struct); /* configure the CAN1 TX pin */ gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_mode = GPIO_MODE_MUX; - gpio_init_struct.gpio_pins = GPIO_PINS_12; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_mode = GPIO_MODE_MUX; + gpio_init_struct.gpio_pins = GPIO_PINS_12; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init(GPIOA, &gpio_init_struct); /* configure the CAN1 RX pin */ gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER; - gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; - gpio_init_struct.gpio_mode = GPIO_MODE_INPUT; - gpio_init_struct.gpio_pins = GPIO_PINS_11; - gpio_init_struct.gpio_pull = GPIO_PULL_NONE; + gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; + gpio_init_struct.gpio_mode = GPIO_MODE_INPUT; + gpio_init_struct.gpio_pins = GPIO_PINS_11; + gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init(GPIOA, &gpio_init_struct); - /*can_base_init--------------------------------------------------------------------*/ + /*can_base_init--------------------------------------------------------------------*/ can_default_para_init(&can_base_struct); - can_base_struct.mode_selection = CAN_MODE_COMMUNICATE; - can_base_struct.ttc_enable = FALSE; - can_base_struct.aebo_enable = TRUE; - can_base_struct.aed_enable = TRUE; - can_base_struct.prsf_enable = FALSE; + can_base_struct.mode_selection = CAN_MODE_COMMUNICATE; + can_base_struct.ttc_enable = FALSE; + can_base_struct.aebo_enable = TRUE; + can_base_struct.aed_enable = TRUE; + can_base_struct.prsf_enable = FALSE; can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED; - can_base_struct.mmssr_selection = CAN_SENDING_BY_ID; + can_base_struct.mmssr_selection = CAN_SENDING_BY_ID; can_base_init(CAN1, &can_base_struct); - /*can_baudrate_setting-------------------------------------------------------------*/ - /*set baudrate = pclk/(baudrate_div *(1 + bts1_size + bts2_size))------------------*/ - can_baudrate_struct.baudrate_div = 18; /*value: 1~0xFFF*/ - can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ; /*value: 1~4*/ - can_baudrate_struct.bts1_size = CAN_BTS1_6TQ; /*value: 1~16*/ - can_baudrate_struct.bts2_size = CAN_BTS2_1TQ; /*value: 1~8*/ + /*can_baudrate_setting-------------------------------------------------------------*/ + /*set baudrate = pclk/(baudrate_div *(1 + bts1_size + bts2_size))------------------*/ + can_baudrate_struct.baudrate_div = 18; /*value: 1~0xFFF*/ + can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ; /*value: 1~4*/ + can_baudrate_struct.bts1_size = CAN_BTS1_6TQ; /*value: 1~16*/ + can_baudrate_struct.bts2_size = CAN_BTS2_1TQ; /*value: 1~8*/ can_baudrate_set(CAN1, &can_baudrate_struct); /*can_filter_0_config--------------------------------------------------------------*/ can_filter_init_struct.filter_activate_enable = TRUE; - can_filter_init_struct.filter_number = 0; - can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0; - can_filter_init_struct.filter_bit = CAN_FILTER_16BIT; - can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK; + can_filter_init_struct.filter_number = 0; + can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0; + can_filter_init_struct.filter_bit = CAN_FILTER_16BIT; + can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK; /*Standard identifier + Mask Mode + Data/Remote frame: id/mask 11bit --------------*/ - can_filter_init_struct.filter_id_high = 0x0 << 5; - can_filter_init_struct.filter_id_low = 0x0 << 5; + can_filter_init_struct.filter_id_high = 0x0 << 5; + can_filter_init_struct.filter_id_low = 0x0 << 5; can_filter_init_struct.filter_mask_high = 0x0 << 5; - can_filter_init_struct.filter_mask_low = 0x0 << 5; + can_filter_init_struct.filter_mask_low = 0x0 << 5; can_filter_init(CAN1, &can_filter_init_struct); @@ -578,7 +572,7 @@ void wk_can1_init(void) */ /* add user code begin can1_init 2 */ - + can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE); /* add user code end can1_init 2 */ } diff --git a/project/src/main.c b/project/src/main.c index 3df5069..c743dd6 100644 --- a/project/src/main.c +++ b/project/src/main.c @@ -1,27 +1,27 @@ /* add user code begin Header */ /** - ************************************************************************** - * @file main.c - * @brief main program - ************************************************************************** - * Copyright notice & Disclaimer - * - * The software Board Support Package (BSP) that is made available to - * download from Artery official website is the copyrighted work of Artery. - * Artery authorizes customers to use, copy, and distribute the BSP - * software and its related documentation for the purpose of design and - * development in conjunction with Artery microcontrollers. Use of the - * software is governed by this copyright notice and the following disclaimer. - * - * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, - * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS, - * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR - * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS, - * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT. - * - ************************************************************************** - */ + ************************************************************************** + * @file main.c + * @brief main program + ************************************************************************** + * Copyright notice & Disclaimer + * + * The software Board Support Package (BSP) that is made available to + * download from Artery official website is the copyrighted work of Artery. + * Artery authorizes customers to use, copy, and distribute the BSP + * software and its related documentation for the purpose of design and + * development in conjunction with Artery microcontrollers. Use of the + * software is governed by this copyright notice and the following disclaimer. + * + * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, + * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS, + * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR + * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS, + * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT. + * + ************************************************************************** + */ /* add user code end Header */ /* Includes ------------------------------------------------------------------*/ @@ -30,6 +30,7 @@ /* private includes ----------------------------------------------------------*/ /* add user code begin private includes */ #include "by_debug.h" +#include "by_servo.h" /* add user code end private includes */ /* private typedef -----------------------------------------------------------*/ @@ -63,10 +64,10 @@ /* add user code end 0 */ /** - * @brief main function. - * @param none - * @retval none - */ + * @brief main function. + * @param none + * @retval none + */ int main(void) { /* add user code begin 1 */ @@ -102,12 +103,12 @@ int main(void) /* add user code begin 2 */ delay_init(); + by_servo_init(); /* add user code end 2 */ - while(1) - { - /* add user code begin 3 */ - + while (1) { + gpio_bits_write(GPIOA, GPIO_PINS_10, !gpio_output_data_bit_read(GPIOA, GPIO_PINS_10)); + delay_ms(1000); /* add user code end 3 */ } }