119 lines
2.8 KiB
C
119 lines
2.8 KiB
C
#include <rtthread.h>
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#include <rtdevice.h>
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#include <drv_gpio.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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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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#define PIN_MOTOR2 GET_PIN(B, 2)
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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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}
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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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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(0);
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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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void motor_set(int argc, char **argv)
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{
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// if(motor1== PIN_HIGH)
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// {
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// rt_pin_write(PIN_MOTOR1, PIN_LOW);
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// motor1=PIN_LOW;
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// }
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// else
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// {
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// rt_pin_write(PIN_MOTOR1, PIN_HIGH);
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// motor1=PIN_HIGH;
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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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// struct rt_device_pwm *motor_dev; // pwm设备句柄
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// rt_uint32_t period2 = 10000000; // 单位us 向左6位，变毫秒 10ms2
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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 motor2_speed(int num)
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// {
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// rt_pwm_set(motor_dev, MOTOR2_PWM_DEV_CHANNEL, period2, num * period2 / 100);
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// }
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// int mo2_init(void)
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// {
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// motor_dev = (struct rt_device_pwm *)rt_device_find(MOTOR2_PWM_DEV_NAME);
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// if (motor_dev == RT_NULL)
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// {
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// rt_kprintf("motor2 run failed! can't find %s device!\n", MOTOR2_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(0);
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// }
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// void motor2_set(int argc, char **argv)
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// {
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// if (argc == 2)
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// {
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// motor2_speed(atoi(argv[1]));
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// }
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// LOG5("motor2 speed:%d",atoi(argv[1]));
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// }
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// MSH_CMD_EXPORT_ALIAS(motor2_set,motor2, motor2_set speed 0~100);
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