feat: 推送编码器双边采样更改

.eide/eide.json

@@ -3,7 +3,6 @@
   "type": "ARM",
   "dependenceList": [],
   "srcDirs": [
-    ".eide/deps",
     "3rd-part",
     "app"
   ],
@@ -132,14 +131,12 @@
           "project/inc",
           ".cmsis/include",
           "project/MDK_V5/RTE/_BC2D",
-          ".eide/deps",
           "3rd-part/dwt_delay",
           "3rd-part/PID-Library",
           "app",
           "3rd-part/lwprintf"
         ],
         "libList": [],
-        "sourceDirList": [],
         "defineList": [
           "AT32F413CBT7",
           "USE_STDPERIPH_DRIVER"
@@ -147,5 +144,5 @@
       }
     }
   },
-  "version": "3.3"
+  "version": "3.4"
 }

BC2D.ATWP

@@ -54,12 +54,18 @@
             <ModeSub name="Multi-Channels" value="Encoder_Mode"/>
             <ModeSub name="Activated" value="TRUE"/>
         </Mode>
+        <Parameters>
+            <ParametersSub name="EncoderMode" value="TMR_ENCODER_MODE_C"/>
+        </Parameters>
     </TMR2>
     <TMR3>
         <Mode>
             <ModeSub name="Multi-Channels" value="Encoder_Mode"/>
             <ModeSub name="Activated" value="TRUE"/>
         </Mode>
+        <Parameters>
+            <ParametersSub name="EncoderMode" value="TMR_ENCODER_MODE_C"/>
+        </Parameters>
     </TMR3>
     <TMR4>
         <Mode>
@@ -135,7 +141,7 @@
     </PINInfo>
     <ProjectInfomation>
         <ProjectName>BC2D</ProjectName>
-        <ProjectLocation>C:/Users/ForgotDoge/Desktop/BC2024/firmware</ProjectLocation>
+        <ProjectLocation>/home/evan/Desktop/Workplace</ProjectLocation>
         <ToolchainIDE>MDK_V5</ToolchainIDE>
         <KeepUserCode>true</KeepUserCode>
         <MinHeapSize>0x200</MinHeapSize>

app/by_motion.c

@@ -37,7 +37,7 @@ int16_t by_motion_get_speed_m1(void)
 #define alpha (0.1f)
   static float last_speed = 0.0f;
   param_m1.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(-1 * (int16_t)tmr_counter_value_get(TMR2));
-  last_speed = param_m1.real_speed;
+  last_speed              = param_m1.real_speed;
   tmr_counter_value_set(TMR2, 0);
   return (int16_t)param_m1.real_speed;
 #undef alpha
@@ -48,7 +48,7 @@ int16_t by_motion_get_speed_m2(void)
 #define alpha (0.1f)
   static float last_speed = 0.0f;
   param_m2.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(-1 * (int16_t)tmr_counter_value_get(TMR3));
-  last_speed = param_m2.real_speed;
+  last_speed              = param_m2.real_speed;
   tmr_counter_value_set(TMR3, 0);
   return (int16_t)param_m2.real_speed;
 #undef alpha
@@ -118,13 +118,13 @@ void by_motion_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
 #if defined(BC2D_MODEL1)
     int16_t speed_m1_temp = (int16_t)(data[0] | (data[1] << 8));
     int16_t speed_m2_temp = (int16_t)(data[2] | (data[3] << 8));
-    by_motion_set_speed_m1(speed_m1_temp);
+    by_motion_set_speed_m1(speed_m1_temp * 2);
-    by_motion_set_speed_m2(speed_m2_temp);
+    by_motion_set_speed_m2(speed_m2_temp * 2);
 #elif defined(BC2D_MODEL2)
     int16_t speed_m1_temp = (int16_t)(data[4] | (data[5] << 8));
     int16_t speed_m2_temp = (int16_t)(data[6] | (data[7] << 8));
-    by_motion_set_speed_m1(speed_m1_temp);
+    by_motion_set_speed_m1(speed_m1_temp * 2);
-    by_motion_set_speed_m2(speed_m2_temp);
+    by_motion_set_speed_m2(speed_m2_temp * 2);
 #endif
   }
 

project/inc/at32f413_wk_config.h

@@ -55,6 +55,65 @@ extern "C" {
 
 /* add user code end exported macro */
 
+/* add user code begin dma define */
+/* user can only modify the dma define value */
+//#define DMA1_CHANNEL1_BUFFER_SIZE   0
+//#define DMA1_CHANNEL1_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL1_PERIPHERAL_BASE_ADDR  0
+
+//#define DMA1_CHANNEL2_BUFFER_SIZE   0
+//#define DMA1_CHANNEL2_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL2_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL3_BUFFER_SIZE   0
+//#define DMA1_CHANNEL3_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL3_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL4_BUFFER_SIZE   0
+//#define DMA1_CHANNEL4_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL4_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL5_BUFFER_SIZE   0
+//#define DMA1_CHANNEL5_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL5_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL6_BUFFER_SIZE   0
+//#define DMA1_CHANNEL6_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL6_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL7_BUFFER_SIZE   0
+//#define DMA1_CHANNEL7_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL7_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL1_BUFFER_SIZE   0
+//#define DMA2_CHANNEL1_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL1_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL2_BUFFER_SIZE   0
+//#define DMA2_CHANNEL2_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL2_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL3_BUFFER_SIZE   0
+//#define DMA2_CHANNEL3_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL3_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL4_BUFFER_SIZE   0
+//#define DMA2_CHANNEL4_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL4_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL5_BUFFER_SIZE   0
+//#define DMA2_CHANNEL5_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL5_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL6_BUFFER_SIZE   0
+//#define DMA2_CHANNEL6_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL6_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL7_BUFFER_SIZE   0
+//#define DMA2_CHANNEL7_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL7_PERIPHERAL_BASE_ADDR   0
+/* add user code end dma define */
+
 /* exported functions ------------------------------------------------------- */
   /* system clock config. */
   void wk_system_clock_config(void);

project/src/at32f413_wk_config.c

@@ -470,7 +470,7 @@ void wk_tmr2_init(void)
   tmr_input_struct.input_filter_value = 0;
   tmr_input_channel_init(TMR2, &tmr_input_struct, TMR_CHANNEL_INPUT_DIV_1);
 
-  tmr_encoder_mode_config(TMR2, TMR_ENCODER_MODE_A, TMR_INPUT_RISING_EDGE, TMR_INPUT_RISING_EDGE);
+  tmr_encoder_mode_config(TMR2, TMR_ENCODER_MODE_C, TMR_INPUT_RISING_EDGE, TMR_INPUT_RISING_EDGE);
 
   tmr_counter_enable(TMR2, TRUE);
 
@@ -538,7 +538,7 @@ void wk_tmr3_init(void)
   tmr_input_struct.input_filter_value = 0;
   tmr_input_channel_init(TMR3, &tmr_input_struct, TMR_CHANNEL_INPUT_DIV_1);
 
-  tmr_encoder_mode_config(TMR3, TMR_ENCODER_MODE_A, TMR_INPUT_RISING_EDGE, TMR_INPUT_RISING_EDGE);
+  tmr_encoder_mode_config(TMR3, TMR_ENCODER_MODE_C, TMR_INPUT_RISING_EDGE, TMR_INPUT_RISING_EDGE);
 
   tmr_counter_enable(TMR3, TRUE);
 

project/src/main.c

@@ -68,10 +68,10 @@
 /* add user code end 0 */
 
 /**
- * @brief main function.
+  * @brief main function.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 int main(void)
 {
   /* add user code begin 1 */
@@ -124,8 +124,11 @@ int main(void)
   LOGI("init done");
   /* add user code end 2 */
 
-  while (1) {
+  while(1)
+  {
     /* add user code begin 3 */
+    // lwprintf("%f,%f,%f\r\n", param_m1.target_speed, param_m1.real_speed, param_m1.out_pwm / 10);
+    // DWT_Delay(20000);
     /* add user code end 3 */
   }
 }