fix: 修正限幅函数返回值类型错误问题

feat: 更新风扇驱动接口
fix: 修复蜂鸣器仅剩一个元素时，鸣响时长错误的问题
2024-04-16 16:49:14 +08:00 · 2024-04-16 16:09:34 +08:00 · 2024-04-16 11:14:12 +08:00 · 2024-04-16 10:54:44 +08:00 · 2024-04-16 09:58:51 +08:00 · 2024-04-16 09:49:38 +08:00
12 changed files with 215 additions and 124 deletions
--- a/app/by_buzzer.c
+++ b/app/by_buzzer.c
@@ -3,8 +3,10 @@
 #include <string.h>
 #include "zf_common_headfile.h"

-#define BUZZER_QUEUE_LENGTH 40
+#define BUZZER_TIME         (100) // 蜂鸣器音节长度
+#define BUZZER_QUEUE_LENGTH (40)

+uint32_t time_out   = 0;
 uint16_t queue_long = 0;
 uint32_t a[40]      = {0};

@@ -23,7 +25,7 @@ void queue_add_element(int element)
 }
 void queue_pop_element(void)
 {
-    memmove(a, &a[1], (queue_long - 1) * sizeof(a[0]));
+    memmove(a, &a[1], (queue_long - 1) * sizeof(a[0])); // FIXME 强迫症震怒，仅移动，未清除原位置上的值
    if (queue_long > 0) {
        queue_long--;
    }
@@ -51,6 +53,7 @@ void by_buzzer_init(void)
    by_buzzer_add(1500);
 }

+// TODO 异步写入问题，不可重入
 void by_buzzer_add(uint16_t tone)
 {
    queue_add_element(tone);
@@ -58,10 +61,19 @@ void by_buzzer_add(uint16_t tone)

 void by_buzzer_run(void)
 {
-    if (queue_long != 0) {
+    if (queue_long > 0) {
+
+        if (0 == time_out) {
            pwm_init(BUZZER_PIN, a[0], 5000);
            queue_pop_element();
-        system_delay_ms(100);
+            time_out = BUZZER_TIME;
+        }
+    } else {
+        if (0 == time_out)
            pwm_set_duty(BUZZER_PIN, 0);
    }
+
+    if (time_out) {
+        time_out--;
+    }
 }
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -3,25 +3,39 @@
 #include "zf_common_headfile.h"
 #include "jj_blueteeth.h"

-#define FAN_LL_PWM_PIN TIM8_PWM_MAP0_CH1_C6  // 左升力风扇
-#define FAN_RL_PWM_PIN TIM8_PWM_MAP0_CH2_C7  // 右升力风扇
-#define FAN_LS_PWM_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧动力风扇
-#define FAN_RS_PWM_PIN TIM4_PWM_MAP1_CH3_D14 // 右侧动力风扇
-#define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13 // 左后动力风扇
-#define FAN_RB_PWM_PIN TIM4_PWM_MAP1_CH1_D12 // 右后动力风扇
+#define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
+#define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
+// M4
+#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧动力风扇
+#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH2_D3 // 左侧动力风扇
+// M1
+#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右侧动力风扇
+#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧动力风扇
+// M3
+#define FAN_LB_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // 左后动力风扇
+#define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后动力风扇
+// M2
+#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // 右后动力风扇
+#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右后动力风扇

-uint32_t pwm_duty_ls_g;
-uint32_t pwm_duty_rs_g;
-uint32_t pwm_duty_lb_g;
-uint32_t pwm_duty_rb_g;
+int32_t pwm_duty_ls_g;
+int32_t pwm_duty_rs_g;
+int32_t pwm_duty_lb_g;
+int32_t pwm_duty_rb_g;

-static uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
+inline static uint32_t clip_u32(uint32_t x, uint32_t low, uint32_t up)
 {
    return (x > up ? up : x < low ? low
                                  : x);
 }

-static float myclip_f(float x, float low, float up)
+inline static int32_t clip_s32(int32_t x, int32_t low, int32_t up)
+{
+    return (x > up ? up : x < low ? low
+                                  : x);
+}
+
+inline static float clip_f32(float x, float low, float up)
 {
    return (x > up ? up : x < low ? low
                                  : x);
@@ -32,10 +46,43 @@ void by_pwm_init(void)
    pwm_init(FAN_LL_PWM_PIN, 50, 500);
    pwm_init(FAN_RL_PWM_PIN, 50, 500);

-    pwm_init(FAN_LS_PWM_PIN, 4000, 0);
-    pwm_init(FAN_RS_PWM_PIN, 4000, 0);
-    pwm_init(FAN_LB_PWM_PIN, 4000, 0);
-    pwm_init(FAN_RB_PWM_PIN, 4000, 0);
+    // 测试鸣叫
+    pwm_init(FAN_LS_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 1500, 100);
+    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
+    system_delay_ms(300);
+    pwm_init(FAN_LS_PWM_A_PIN, 2000, 100);
+    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 2000, 100);
+    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 2000, 100);
+    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 2000, 100);
+    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
+    system_delay_ms(300);
+    pwm_init(FAN_LS_PWM_A_PIN, 2500, 100);
+    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 2500, 100);
+    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 2500, 100);
+    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 2500, 100);
+    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
+    system_delay_ms(300);
+
+    pwm_init(FAN_LS_PWM_A_PIN, 4000, 0);
+    pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_A_PIN, 4000, 0);
+    pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_A_PIN, 4000, 0);
+    pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_A_PIN, 4000, 0);
+    pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
    // system_delay_ms(3000);
    // // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1
    // // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1
@@ -57,8 +104,8 @@ void by_pwm_init(void)
 */
 void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
 {
-    update_pwm_duty1 = myclip(update_pwm_duty1, 500, 1000);
-    update_pwm_duty2 = myclip(update_pwm_duty2, 500, 1000);
+    update_pwm_duty1 = clip_u32(update_pwm_duty1, 500, 1000);
+    update_pwm_duty2 = clip_u32(update_pwm_duty2, 500, 1000);
    pwm_set_duty(FAN_LL_PWM_PIN, update_pwm_duty1);
    pwm_set_duty(FAN_RL_PWM_PIN, update_pwm_duty2);
 }
@@ -71,19 +118,47 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
 * @param pwm_duty_lb
 * @param pwm_duty_rb
 */
-void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb)
+void by_pwm_power_duty(int32_t pwm_duty_ls, int32_t pwm_duty_rs, int32_t pwm_duty_lb, int32_t pwm_duty_rb)
 {
-    pwm_duty_ls = myclip(pwm_duty_ls, 0, 8000);
-    pwm_duty_rs = myclip(pwm_duty_rs, 0, 8000);
-    pwm_duty_lb = myclip(pwm_duty_lb, 0, 8000);
-    pwm_duty_rb = myclip(pwm_duty_rb, 0, 8000);
+    pwm_duty_ls = clip_s32(pwm_duty_ls, 0, 8000);
+    pwm_duty_rs = clip_s32(pwm_duty_rs, 0, 8000);
+    pwm_duty_lb = clip_s32(pwm_duty_lb, 0, 8000);
+    pwm_duty_rb = clip_s32(pwm_duty_rb, 0, 8000);

    pwm_duty_ls_g = pwm_duty_ls;
    pwm_duty_rs_g = pwm_duty_rs;
    pwm_duty_lb_g = pwm_duty_lb;
    pwm_duty_rb_g = pwm_duty_rb;
-    pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls);
-    pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs);
-    pwm_set_duty(FAN_LB_PWM_PIN, pwm_duty_lb);
-    pwm_set_duty(FAN_RB_PWM_PIN, pwm_duty_rb);
+
+    if (pwm_duty_ls >= 0) {
+        pwm_set_duty(FAN_LS_PWM_A_PIN, pwm_duty_ls);
+        pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
+    } else {
+        pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
+        pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
+    }
+
+    if (pwm_duty_rs >= 0) {
+        pwm_set_duty(FAN_RS_PWM_A_PIN, pwm_duty_rs);
+        pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
+    } else {
+        pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
+        pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
+    }
+
+    if (pwm_duty_lb >= 0) {
+        pwm_set_duty(FAN_LB_PWM_A_PIN, pwm_duty_lb);
+        pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
+    } else {
+        pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
+        pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * pwm_duty_lb);
+    }
+
+    if (pwm_duty_rb >= 0) {
+        pwm_set_duty(FAN_RB_PWM_A_PIN, pwm_duty_rb);
+        pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
+    } else {
+        pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
+        pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * pwm_duty_rb);
+    }
 }
--- a/app/by_fan_control.h
+++ b/app/by_fan_control.h
@@ -4,13 +4,13 @@
 #include "stdio.h"
 #include "ch32v30x.h"

-extern uint32_t pwm_duty_ls_g;
-extern uint32_t pwm_duty_rs_g;
-extern uint32_t pwm_duty_lb_g;
-extern uint32_t pwm_duty_rb_g;
+extern int32_t pwm_duty_ls_g;
+extern int32_t pwm_duty_rs_g;
+extern int32_t pwm_duty_lb_g;
+extern int32_t pwm_duty_rb_g;

 extern void by_pwm_init(void);
-extern void by_pwm_update_duty(uint32_t update_pwm_duty1,uint32_t update_pwm_duty2);
-extern void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2);
+extern void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2);
+extern void by_pwm_power_duty(int32_t pwm_duty_ls, int32_t pwm_duty_rs, int32_t pwm_duty_lb, int32_t pwm_duty_rb);

 #endif
--- a/app/by_rt_button.c
+++ b/app/by_rt_button.c
@@ -17,10 +17,10 @@ uint8_t by_get_rb_status(void)

 void by_rb_init(void)
 {
-    gpio_init(E9, GPI, GPIO_HIGH, GPI_PULL_UP);
-    gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
-    gpio_init(E11, GPI, GPIO_HIGH, GPI_PULL_UP);
+    gpio_init(B9, GPI, GPIO_HIGH, GPI_PULL_UP);
+    gpio_init(E0, GPI, GPIO_HIGH, GPI_PULL_UP);
+    gpio_init(E1, GPI, GPIO_HIGH, GPI_PULL_UP);

-    exti_init(E9, EXTI_TRIGGER_FALLING);
-    exti_init(E11, EXTI_TRIGGER_BOTH);
+    exti_init(E0, EXTI_TRIGGER_FALLING);
+    exti_init(E1, EXTI_TRIGGER_BOTH);
 }
--- a/app/isr.c
+++ b/app/isr.c
@@ -152,6 +152,15 @@ void DVP_IRQHandler(void)
 void EXTI0_IRQHandler(void)
 {
    if (SET == EXTI_GetITStatus(EXTI_Line0)) {
+        if (rotate_button == rotate_button_none) {
+            if (SET == gpio_get_level(B9)) {
+                rotate_button = rotate_button_backward;
+                queue_add_element(BY_BACKWARD);
+            } else {
+                rotate_button = rotate_button_forward;
+                queue_add_element(BY_FORWARD);
+            }
+        }
        EXTI_ClearITPendingBit(EXTI_Line0);
    }
 }
@@ -159,6 +168,23 @@ void EXTI0_IRQHandler(void)
 void EXTI1_IRQHandler(void)
 {
    if (SET == EXTI_GetITStatus(EXTI_Line1)) {
+
+        static uint64_t time_via = 0;
+        system_delay_ms(10);
+        if (RESET == gpio_get_level(E1)) {
+            time_via = system_get_tick();
+        } else if (SET == gpio_get_level(E1)) {
+            time_via = system_get_tick() - time_via;
+            if (time_via > LONG_PRESS_THRESHOLD_TICK) {
+                rotate_button = rotate_button_press_long;
+                queue_add_element(BY_PRESS_LONG);
+
+            } else {
+                rotate_button = rotate_button_press_short;
+                queue_add_element(BY_PRESS_SHORT);
+            }
+            time_via = 0;
+        }
        EXTI_ClearITPendingBit(EXTI_Line1);
    }
 }
@@ -199,17 +225,6 @@ void EXTI9_5_IRQHandler(void)
        EXTI_ClearITPendingBit(EXTI_Line8);
    }
    if (SET == EXTI_GetITStatus(EXTI_Line9)) {
-
-        if (rotate_button == rotate_button_none) {
-            if (SET == gpio_get_level(E10)) {
-                rotate_button = rotate_button_backward;
-                queue_add_element(BY_BACKWARD);
-            } else {
-                rotate_button = rotate_button_forward;
-                queue_add_element(BY_FORWARD);
-            }
-        }
-
        EXTI_ClearITPendingBit(EXTI_Line9);
    }
 }
@@ -225,22 +240,6 @@ void EXTI15_10_IRQHandler(void)
        EXTI_ClearITPendingBit(EXTI_Line10);
    }
    if (SET == EXTI_GetITStatus(EXTI_Line11)) {
-        static uint64_t time_via = 0;
-        system_delay_ms(10);
-        if (RESET == gpio_get_level(E11)) {
-            time_via = system_get_tick();
-            EXTI_ClearITPendingBit(EXTI_Line11);
-        } else if (SET == gpio_get_level(E11)) {
-            time_via = system_get_tick() - time_via;
-            if (time_via > LONG_PRESS_THRESHOLD_TICK) {
-                rotate_button = rotate_button_press_long;
-                queue_add_element(BY_PRESS_LONG);
-
-            } else {
-                rotate_button = rotate_button_press_short;
-                queue_add_element(BY_PRESS_SHORT);
-            }
-            time_via = 0;
        EXTI_ClearITPendingBit(EXTI_Line11);
    }
    if (SET == EXTI_GetITStatus(EXTI_Line12)) {
@@ -268,15 +267,14 @@ void EXTI15_10_IRQHandler(void)
        // -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
        EXTI_ClearITPendingBit(EXTI_Line15);
    }
-    }
 }

 void TIM1_UP_IRQHandler(void)
 {
    if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
-        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
-
+        by_buzzer_run();
        sport_motion();
+        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
    }
 }

--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -75,10 +75,9 @@ float sport_get_speed(void)
    static float speed_now  = 0;
    static float speed_last = 0;

-    speed_now  = ALPHA * (float)encoder_get_count(TIM5_ENCOEDER) + (1.0f - ALPHA) * speed_last;
+    speed_now  = ALPHA * (float)encoder_get_count(TIM3_ENCOEDER) + (1.0f - ALPHA) * speed_last;
    speed_last = speed_now;
-
-    encoder_clear_count(TIM5_ENCOEDER);
+    encoder_clear_count(TIM3_ENCOEDER);

    return speed_now;

@@ -125,7 +124,7 @@ void sport_motion(void)
        pwm_duty_lb = (uint32_t)myclip_f(1.f * out_speed + out_gyro, 0.0f, 8000.f);
        pwm_duty_rb = (uint32_t)myclip_f(1.f * out_speed - out_gyro, 0.0f, 8000.f);

-        by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
+        by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
    } else {
        by_pwm_power_duty(0, 0, 0, 0);
    }
--- a/app/main.c
+++ b/app/main.c
@@ -39,18 +39,18 @@ uint8_t last_state;
 int main(void)
 {
    TYPE_UNION test_data[BY_FRAME_DATA_NUM];
-    clock_init(SYSTEM_CLOCK_120M);
+    clock_init(SYSTEM_CLOCK_144M);
    system_delay_init();
    debug_init();

-    encoder_quad_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
+    encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7);
    ips200_init(IPS200_TYPE_SPI);
    while (imu660ra_init())
        ;
    jj_param_eeprom_init();
    jj_bt_init();
    by_rb_init();
-    by_pwm_init();
+    // by_pwm_init();
    by_buzzer_init();
    by_frame_init();

@@ -65,14 +65,13 @@ int main(void)
        // printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g);
        Page_Run();
        by_frame_parse(&test_data[0].u32);
-        by_buzzer_run();
        jj_bt_run();
        in_pos   = test_data[1].f32;
        in_angle = test_data[0].f32;
        in_state = test_data[2].u8[0];
        in_stop  = test_data[2].u8[1];
        if (last_state != in_state) {
-            bt_printf("changing to%u\r\n",in_state);
+            bt_printf("changing to%u\r\n", in_state);
        }
        last_state = in_state;
    }
--- a/libraries/sdk/Peripheral/ch32v30x.h
+++ b/libraries/sdk/Peripheral/ch32v30x.h
@@ -22,7 +22,7 @@
 #define __MPU_PRESENT             0 /* Other CH32 devices does not provide an MPU */
 #define __Vendor_SysTickConfig    0 /* Set to 1 if different SysTick Config is used */	 
 	 
-#define HSE_VALUE    ((uint32_t)8000000) /* Value of the External oscillator in Hz */
+#define HSE_VALUE    ((uint32_t)16000000) /* Value of the External oscillator in Hz */

 /* In the following line adjust the External High Speed oscillator (HSE) Startup Timeout value */
 #define HSE_STARTUP_TIMEOUT   ((uint16_t)0x1000) /* Time out for HSE start up */
--- a/libraries/zf_common/zf_common_clock.c
+++ b/libraries/zf_common/zf_common_clock.c
@@ -2,11 +2,11 @@
 * CH32V307VCT6 Opensourec Library <20><><EFBFBD><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
 * Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
 *
- * <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
+ * <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
 *
 * CH32V307VCT6 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
+ * <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNU ͨ<EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * <20><> GPL <20>ĵ<EFBFBD> 3 <EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
 *
 * <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
 * <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
@@ -30,7 +30,7 @@
 *
 * <20>޸ļ<DEB8>¼
 * <20><><EFBFBD><EFBFBD>                                      <20><><EFBFBD><EFBFBD>                             <20><>ע
- * 2022-09-15        <20><>W            first version
+ * 2022-09-15        <20><> W            first version
 ********************************************************************************************************************/

 #include "ch32v30x.h"
@@ -48,7 +48,7 @@ uint32 system_clock = SYSTEM_CLOCK_144M;                               // ϵͳʱ
 //-------------------------------------------------------------------------------------------------------------------
 void clock_reset(void)
 {
-    RCC->CTLR  |= (uint32) 0x00000001;      //ʹ<><CAB9>HSI<53><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    RCC->CTLR  |= (uint32) 0x00000001;      //ʹ<><CAB9> HSI <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    RCC->CFGR0 &= (uint32) 0xF8FF0000;
    RCC->CTLR  &= (uint32) 0xFEF6FFFF;
    RCC->CTLR  &= (uint32) 0xFFFBFFFF;
@@ -105,7 +105,7 @@ void clock_set_freq(uint32 clock)
                | RCC_PLLMULL));

        if (clock == SYSTEM_CLOCK_144M)
-            RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE
+            RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE_Div2 
                    | RCC_PLLMULL18_EXTEN);
        else if (clock == SYSTEM_CLOCK_120M)
            RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE
--- a/libraries/zf_device/zf_device_imu660ra.c
+++ b/libraries/zf_device/zf_device_imu660ra.c
@@ -223,6 +223,13 @@ void imu660ra_get_temperature(void)
 uint8 imu660ra_init(void)
 {
    uint8 return_state = 0;
+
+    // 先给 IMU660RA 断电重启
+    gpio_init(IMU660RA_PE_PIN, GPO, 0, GPO_PUSH_PULL); // 配置 IMU660RA 的 PE 端口
+    gpio_low(IMU660RA_PE_PIN);
+    system_delay_ms(100);
+    gpio_high(IMU660RA_PE_PIN);
+
    system_delay_ms(20); // 等待设备上电成功

 #if IMU660RA_USE_SOFT_IIC
--- a/libraries/zf_device/zf_device_imu660ra.h
+++ b/libraries/zf_device/zf_device_imu660ra.h
@@ -62,8 +62,9 @@
 #if IMU660RA_USE_SOFT_IIC         // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
 //====================================================软件 IIC 驱动====================================================
 #define IMU660RA_SOFT_IIC_DELAY (10) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
-#define IMU660RA_SCL_PIN        (B3) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
-#define IMU660RA_SDA_PIN        (B5) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
+#define IMU660RA_SCL_PIN        (E5) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
+#define IMU660RA_SDA_PIN        (E4) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
+#define IMU660RA_PE_PIN         (E6) // 软件 IIC SDO 引脚 连接 IMU660RA 的 SDO 引脚
 //====================================================软件 IIC 驱动====================================================
 #else

@@ -100,7 +101,7 @@ typedef enum {
 #define IMU660RA_TIMEOUT_COUNT       (0x00FF) // IMU660RA 超时计数

 //================================================定义 IMU660RA 内部地址================================================
-#define IMU660RA_DEV_ADDR     (0x69) // SA0 接地：0x68 SA0 上拉：0x69 模块默认上拉
+#define IMU660RA_DEV_ADDR     (0x68) // SA0 接地：0x68 SA0 上拉：0x69 模块默认上拉
 #define IMU660RA_SPI_W        (0x00)
 #define IMU660RA_SPI_R        (0x80)

--- a/libraries/zf_device/zf_device_k24c02.h
+++ b/libraries/zf_device/zf_device_k24c02.h
@@ -55,7 +55,7 @@
 //====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>====================================================
 #define K24C02_SOFT_IIC_DELAY      (500)                                        // <20><><EFBFBD><EFBFBD> IIC <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> <20><>ֵԽС IIC ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD>
 #define K24C02_SCL_PIN             (E3)                                        // <20><><EFBFBD><EFBFBD> IIC SCL <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> K24C02 <20><> SCL <20><><EFBFBD><EFBFBD>
-#define K24C02_SDA_PIN             (E2 )                                        // <20><><EFBFBD><EFBFBD> IIC SDA <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> K24C02 <20><> SDA <20><><EFBFBD><EFBFBD>
+#define K24C02_SDA_PIN             (E2)                                        // <20><><EFBFBD><EFBFBD> IIC SDA <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> K24C02 <20><> SDA <20><><EFBFBD><EFBFBD>
 //====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>====================================================
 #else
 //====================================================Ӳ<><D3B2> IIC <20><><EFBFBD><EFBFBD>====================================================
@@ -69,7 +69,7 @@
 #define K24C02_TIMEOUT_COUNT       (0x00FF)                                     // K24C02 <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>

 //================================================<3D><><EFBFBD><EFBFBD> K24C02 <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================
-#define K24C02_DEV_ADDR            (0xA0 >> 1)                                  // IICд<43><D0B4>ʱ<EFBFBD>ĵ<EFBFBD>ַ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD><EFBFBD> +1Ϊ<31><CEAA>ȡ
+#define K24C02_DEV_ADDR            (0xA0 >> 1)                                  // IIC д<EFBFBD><EFBFBD>ʱ<EFBFBD>ĵ<EFBFBD>ַ<EFBFBD>ֽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> +1 Ϊ<EFBFBD><EFBFBD>ȡ
 //================================================<3D><><EFBFBD><EFBFBD> K24C02 <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================

 #define K24C02_SIZE                 (256)                                       // 256 byte
Author	SHA1	Message	Date
bmy	ff88b5a3fe	fix: 修正限幅函数返回值类型错误问题	2024-04-16 16:49:14 +08:00
bmy	170807fcc8	feat: 更新风扇驱动接口	2024-04-16 16:09:34 +08:00
bmy	0a1608ccfa	fix: 修复蜂鸣器仅剩一个元素时，鸣响时长错误的问题	2024-04-16 11:14:12 +08:00
bmy	2b3e70f0e9	feat: 更新测速编码器配置	2024-04-16 10:54:44 +08:00
bmy	36ca756209	feat: 更新旋转编码器配置	2024-04-16 09:58:51 +08:00
bmy	c5edd57aa8	feat: 增加IMU初始化时重新上电功能	2024-04-16 09:49:38 +08:00
bmy	a9b0fe1a18	更新IMU接口和配置	2024-04-16 09:39:48 +08:00
bmy	02588f6411	pref: 修改蜂鸣器为非阻塞形式	2024-04-16 01:49:04 +08:00
bmy	ca28f41448	fix: 修正上次提交中未修改HSE_VALUE为16MHz导致外设故障的问题	2024-04-16 01:23:19 +08:00
bmy	75b9cc4a8f	feat: 根据新板卡QD4C更新时钟配置硬件上更换为 16MHz 的外部晶振，将PLL输入源更改为二分频之后的HSE，后续倍频系数不变（仅更改了144MHz下的配置）	2024-04-15 23:08:37 +08:00