btl143/BC2D-POS-firmware
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feat: 移植 lwprintf

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feat: 创建 can 发送接口
feat: 添加编码器读数接口
This commit is contained in:
CaoWangrenbo
2024-04-19 17:16:24 +08:00
parent f0cbc9f1d3
commit 8408ab1cf3
21 changed files with 2522 additions and 94 deletions
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31
app/by_can.c Normal file
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@@ -0,0 +1,31 @@
#include "by_can.h"
#include <string.h>
#include <assert.h>
uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len)
{
assert(id < 0x7FF);
if (len > 8) {
len = 8;
}
uint8_t transmit_mailbox;
can_tx_message_type tx_message_struct;
tx_message_struct.standard_id = id; /* 设置发送数据帧的 ID=0x400 */
tx_message_struct.extended_id = 0; /* 不设置 */
tx_message_struct.id_type = CAN_ID_STANDARD; /* 发送数据帧类型（标准/扩展）：标准数据帧 */
tx_message_struct.frame_type = CAN_TFT_DATA; /* 发送帧类型（远程/数据）：数据帧 */
tx_message_struct.dlc = len; /* 发送数据长度（0~8）：8 */
memcpy(tx_message_struct.data, data, len); /* 复制发送数据 */
transmit_mailbox = can_message_transmit(CAN1, &tx_message_struct); /* 将以上待发送报文写入发送邮箱并请求发送 */
/* 等待该邮箱发送成功—对应邮箱发送成功标志置起 */
while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) !=
CAN_TX_STATUS_SUCCESSFUL)
;
return 0;
}

8
app/by_can.h Normal file
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@@ -0,0 +1,8 @@
#ifndef _BY_CAN_H__
#define _BY_CAN_H__
#include "at32f413.h"
uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len);
#endif

20
app/by_motion.c
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@@ -6,6 +6,9 @@
#define DRV_ENABLE() gpio_bits_set(GPIOB, GPIO_PINS_15)
#define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
int16_t speed_m1;
int16_t speed_m2;
void by_motion_pwm_m1(int32_t pwm_duty)
{
pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
@@ -24,10 +27,23 @@ void by_motion_pwm_m2(int32_t pwm_duty)
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
}
int16_t by_motion_get_speed_m1(void)
{
speed_m1 = (int16_t)tmr_counter_value_get(TMR2);
tmr_counter_value_set(TMR2, 0);
return speed_m1;
}
int16_t by_motion_get_speed_m2(void)
{
speed_m2 = (int16_t)tmr_counter_value_get(TMR3);
tmr_counter_value_set(TMR3, 0);
return speed_m2;
}
void by_motion_init(void)
{
DRV_ENABLE();
by_motion_pwm_m1(125);
by_motion_pwm_m1(-125);
by_motion_pwm_m2(0);
}

7
app/by_motion.h
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@@ -3,6 +3,11 @@
#include "at32f413.h"
void by_motion_init(void);
extern void by_motion_init(void);
extern int16_t by_motion_get_speed_m1(void);
extern int16_t by_motion_get_speed_m2(void);
extern int16_t speed_m1;
extern int16_t speed_m2;
#endif