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feat: 添加舵机控制接口 (未验证)

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This commit is contained in:
CaoWangrenbo
2023-12-16 11:31:25 +08:00
parent 4bb5fa8549
commit 619a8ca4fd
3 changed files with 90 additions and 44 deletions
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17
app/cw_servo.c Normal file
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@@ -0,0 +1,17 @@
#include "zf_common_headfile.h"
#include "cw_servo.h"
void cw_servo_init(void)
{
pwm_init(SERVO_L_PWM_CHANNEL, 50, 1000);
pwm_init(SERVO_R_PWM_CHANNEL, 50, 1000);
}
void cw_servo_set_angle(float servo_l_angle, float servo_r_angle)
{
uint32_t servo_l_duty_s = (uint32_t)(servo_l_angle * SERVO_L_DUTY_PER_ANGLE);
uint32_t servo_r_duty_s = (uint32_t)(servo_r_angle * SERVO_R_DUTY_PER_ANGLE);
pwm_set_duty(SERVO_L_PWM_CHANNEL, servo_l_duty_s);
pwm_set_duty(SERVO_R_PWM_CHANNEL, servo_r_duty_s);
}

20
app/cw_servo.h Normal file
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@@ -0,0 +1,20 @@
#ifndef _CW_SERVO_H__
#define _CW_SERVO_H__
#include "zf_common_headfile.h"
#define SERVO_L_PWM_CHANNEL TIM2_PWM_MAP0_CH1_A0
#define SERVO_R_PWM_CHANNEL TIM2_PWM_MAP0_CH2_A1
#define SERVO_MAX_ANGLE_RANGE (90.0F)
#define SERVO_L_DUTY_MAX (1100.0F)
#define SERVO_L_DUTY_MIN (900.0F)
#define SERVO_R_DUTY_MAX (1100.0F)
#define SERVO_R_DUTY_MIN (900.0F)
#define SERVO_L_DUTY_PER_ANGLE ((SERVO_L_DUTY_MAX - SERVO_L_DUTY_MIN) / SERVO_MAX_ANGLE_RANGE)
#define SERVO_R_DUTY_PER_ANGLE ((SERVO_R_DUTY_MAX - SERVO_R_DUTY_MIN) / SERVO_MAX_ANGLE_RANGE)
extern void cw_servo_init(void);
extern void cw_servo_set_angle(float servo_l_angle, float servo_r_angle);
#endif

23
app/main.c
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@@ -33,25 +33,34 @@
* 2022-09-15 大W first version
********************************************************************************************************************/
#include "zf_common_headfile.h"
#include "cw_servo.h"
uint8 mt9v03x_image_cp[MT9V03X_H][MT9V03X_W];
uint16_t pwm_cnt = 0;
int main(void)
{
clock_init(SYSTEM_CLOCK_120M); // 初始化芯片时钟 工作频率为 120MHz
debug_init(); // 务必保留，本函数用于初始化MPU 时钟 调试串口
// 此处编写用户代码 例如外设初始化代码等
ips114_init();
mt9v03x_init();
// 此处编写用户代码 例如外设初始化代码等
// mt9v03x_init();
while(1)
{
cw_servo_init();
while (imu660ra_init()) {};
while (1) {
ips114_show_string(0, 0, "temperature");
imu660ra_get_temperature();
system_delay_ms(100);
ips114_show_float(0, 16, imu660ra_temperature, 3, 3);
// 此处编写需要循环执行的代码
system_delay_ms(50);
if (mt9v03x_finish_flag) {
ips114_show_gray_image(0, 0, mt9v03x_image[0], 188, 120, 188, 120,0);
memcpy(mt9v03x_image_cp[0], mt9v03x_image[0], sizeof(mt9v03x_image) / sizeof(uint8_t));
ips114_show_gray_image(0, 0, mt9v03x_image_cp[0], 188, 120, 188, 120, 0);
}
// 此处编写需要循环执行的代码
}
}