119 lines
3.0 KiB
C
119 lines
3.0 KiB
C
#include <rtthread.h>
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#include <rtdevice.h>
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#include <drv_gpio.h>
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#include <board.h>
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#define LOG_TAG "app.robot"
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#define LOG_LVL LOG_LVL_DBG
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// #define LOG_LVL LOG_LVL_INFO
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#define USE_LOG1
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#define USE_LOG2
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#define USE_LOG3
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#define USE_LOG4
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#define USE_LOG5
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#define USE_LOG6
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#define USE_LOG7
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#define USE_LOG12
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#define USE_LOG_D
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#include "logn.h"
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#define MOTOR_PWM_DEV_NAME "pwm1"
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#define MOTOR_PWM_DEV_CHANNEL 1
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#define MOTOR2_PWM_DEV_NAME "pwm1"
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#define MOTOR2_PWM_DEV_CHANNEL 1
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// #define SERVO_PWM_DEV_NAME "pwm12"
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// #define SERVO_PWM_DEV_NAME "pwm12"
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// #define SERVO_PWM_DEV_CHANNEL 1
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extern TIM_HandleTypeDef htim12;
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struct rt_device_pwm *motor_dev; // pwm设备句柄
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rt_uint32_t period = 100000000; // 单位us 向左6位，变毫秒 10s
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// rt_uint32_t pulse = 1000000;
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struct rt_device_pwm *servo_dev; // pwm设备句柄
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rt_uint32_t servo_period = 20000; // 单位us 向左3位，变毫秒 20ms
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#define PIN_MOTOR2 GET_PIN(B, 2)
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#define PIN_MOTOR1 GET_PIN(A, 8)
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int motor1=PIN_HIGH;
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/**
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* @brief 电机速度控制(num)%
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*
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* @param num 百分比数字(0~100).
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*
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*/
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void motor_speed(int num)
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{
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// rt_pwm_set(motor_dev, MOTOR_PWM_DEV_CHANNEL, period, (100-num)/ 100 * period );
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rt_pin_write(PIN_MOTOR2, num>0?PIN_LOW:PIN_HIGH);
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rt_pin_write(PIN_MOTOR1, num>0?PIN_LOW:PIN_HIGH);
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}
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/**
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* @brief 舵机角度控制
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*
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* @param num 百分比数字(-90~90).
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*
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*/
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void servo_angle(int num)
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{
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// rt_pwm_set(servo_dev, SERVO_PWM_DEV_CHANNEL, servo_period, 1500+num*500/45 );
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__HAL_TIM_SET_COMPARE(&htim12,TIM_CHANNEL_1,1500+num*500/45);
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}
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int mot_init(void)
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{
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rt_pin_mode(PIN_MOTOR2, PIN_MODE_OUTPUT);
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rt_pin_write(PIN_MOTOR2, PIN_HIGH);
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rt_pin_mode(PIN_MOTOR1, PIN_MODE_OUTPUT);
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rt_pin_write(PIN_MOTOR1, PIN_HIGH);
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// motor_dev = (struct rt_device_pwm *)rt_device_find(MOTOR_PWM_DEV_NAME);
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// if (motor_dev == RT_NULL)
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// {
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// rt_kprintf("motor run failed! can't find %s device!\n", MOTOR_PWM_DEV_NAME);
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// return RT_ERROR;
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// }
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/* 设置PWM周期和脉冲宽度默认值 */
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motor_speed(100);
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// rt_pwm_enable(motor_dev, MOTOR_PWM_DEV_CHANNEL);
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LOG1("motor init success!");
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}
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int ser_init(void)
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{
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MX_TIM12_Init();
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HAL_TIM_PWM_Start(&htim12,TIM_CHANNEL_1);
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// servo_dev = (struct rt_device_pwm *)rt_device_find(SERVO_PWM_DEV_NAME);
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// if (servo_dev == RT_NULL)
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// {
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// rt_kprintf("servo_dev run failed! can't find %s device!\n", SERVO_PWM_DEV_NAME);
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// return RT_ERROR;
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// }
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servo_angle(0);
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// rt_pwm_enable(servo_dev, SERVO_PWM_DEV_CHANNEL);
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LOG1("servo_dev init success!");
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}
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void motor_set(int argc, char **argv)
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{
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if (argc == 2)
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{
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motor_speed(atoi(argv[1]));
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}
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LOG5("motor speed:%d",atoi(argv[1]));
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}
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MSH_CMD_EXPORT_ALIAS(motor_set,motor, motor_set speed 0~100);
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void servo_set(int argc, char **argv)
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{
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if (argc == 2)
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{
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servo_angle(atoi(argv[1]));
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}
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LOG5("servo angle:%d",atoi(argv[1]));
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}
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MSH_CMD_EXPORT_ALIAS(servo_set,servo, servo_set angle -90~90); |