feat: 推送编码器双边采样更改

2024-08-03 12:33:23 +08:00
parent c9da340c46
commit cb5e6f848c
6 changed files with 83 additions and 18 deletions
--- a/.eide/eide.json
+++ b/.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"
 }
--- a/BC2D.ATWP
+++ b/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>
--- a/app/by_motion.c
+++ b/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_m2(speed_m2_temp);
+    by_motion_set_speed_m1(speed_m1_temp * 2);
+    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_m2(speed_m2_temp);
+    by_motion_set_speed_m1(speed_m1_temp * 2);
+    by_motion_set_speed_m2(speed_m2_temp * 2);
 #endif
  }

--- a/project/inc/at32f413_wk_config.h
+++ b/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);
--- a/project/src/at32f413_wk_config.c
+++ b/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);

--- a/project/src/main.c
+++ b/project/src/main.c
@@ -68,10 +68,10 @@
 /* add user code end 0 */

 /**
- * @brief main function.
- * @param  none
- * @retval none
- */
+  * @brief main function.
+  * @param  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 */
  }
 }