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feat: 更新风扇驱动接口

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bmy
2024-04-16 16:09:34 +08:00
parent 0a1608ccfa
commit 170807fcc8
3 changed files with 80 additions and 34 deletions
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100
app/by_fan_control.c
View File

@@ -3,25 +3,39 @@
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
#include "jj_blueteeth.h" #include "jj_blueteeth.h"
#define FAN_LL_PWM_PIN TIM8_PWM_MAP0_CH1_C6 // 左升力风扇 #define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
#define FAN_RL_PWM_PIN TIM8_PWM_MAP0_CH2_C7 // 右升力风扇 #define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
#define FAN_LS_PWM_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧动力风扇 // M4
#define FAN_RS_PWM_PIN TIM4_PWM_MAP1_CH3_D14 // 右侧动力风扇 #define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧动力风扇
#define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13 // 左后动力风扇 #define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH2_D3 // 左侧动力风扇
#define FAN_RB_PWM_PIN TIM4_PWM_MAP1_CH1_D12 // 右后动力风扇 // M1
#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右侧动力风扇
#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧动力风扇
// M3
#define FAN_LB_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // 左后动力风扇
#define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后动力风扇
// M2
#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // 右后动力风扇
#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右后动力风扇
uint32_t pwm_duty_ls_g; int32_t pwm_duty_ls_g;
uint32_t pwm_duty_rs_g; int32_t pwm_duty_rs_g;
uint32_t pwm_duty_lb_g; int32_t pwm_duty_lb_g;
uint32_t pwm_duty_rb_g; int32_t pwm_duty_rb_g;
static uint32_t myclip(uint32_t x, uint32_t low, uint32_t up) inline static uint32_t clip_u32(uint32_t x, uint32_t low, uint32_t up)
{ {
return (x > up ? up : x < low ? low return (x > up ? up : x < low ? low
: x); : x);
} }
static float myclip_f(float x, float low, float up) inline static uint32_t clip_s32(int32_t x, int32_t low, int32_t up)
{
return (x > up ? up : x < low ? low
: x);
}
inline static float clip_f32(float x, float low, float up)
{ {
return (x > up ? up : x < low ? low return (x > up ? up : x < low ? low
: x); : x);
@@ -32,10 +46,14 @@ void by_pwm_init(void)
pwm_init(FAN_LL_PWM_PIN, 50, 500); pwm_init(FAN_LL_PWM_PIN, 50, 500);
pwm_init(FAN_RL_PWM_PIN, 50, 500); pwm_init(FAN_RL_PWM_PIN, 50, 500);
pwm_init(FAN_LS_PWM_PIN, 4000, 0); pwm_init(FAN_LS_PWM_A_PIN, 4000, 0);
pwm_init(FAN_RS_PWM_PIN, 4000, 0); pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_LB_PWM_PIN, 4000, 0); pwm_init(FAN_RS_PWM_A_PIN, 4000, 0);
pwm_init(FAN_RB_PWM_PIN, 4000, 0); pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 4000, 0);
pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 4000, 0);
pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
// system_delay_ms(3000); // system_delay_ms(3000);
// // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1 // // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1
// // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1 // // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1
@@ -57,8 +75,8 @@ void by_pwm_init(void)
*/ */
void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2) void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
{ {
update_pwm_duty1 = myclip(update_pwm_duty1, 500, 1000); update_pwm_duty1 = clip_u32(update_pwm_duty1, 500, 1000);
update_pwm_duty2 = myclip(update_pwm_duty2, 500, 1000); update_pwm_duty2 = clip_u32(update_pwm_duty2, 500, 1000);
pwm_set_duty(FAN_LL_PWM_PIN, update_pwm_duty1); pwm_set_duty(FAN_LL_PWM_PIN, update_pwm_duty1);
pwm_set_duty(FAN_RL_PWM_PIN, update_pwm_duty2); pwm_set_duty(FAN_RL_PWM_PIN, update_pwm_duty2);
} }
@@ -71,19 +89,47 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
* @param pwm_duty_lb * @param pwm_duty_lb
* @param pwm_duty_rb * @param pwm_duty_rb
*/ */
void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb) void by_pwm_power_duty(int32_t pwm_duty_ls, int32_t pwm_duty_rs, int32_t pwm_duty_lb, int32_t pwm_duty_rb)
{ {
pwm_duty_ls = myclip(pwm_duty_ls, 0, 8000); pwm_duty_ls = clip_s32(pwm_duty_ls, 0, 8000);
pwm_duty_rs = myclip(pwm_duty_rs, 0, 8000); pwm_duty_rs = clip_s32(pwm_duty_rs, 0, 8000);
pwm_duty_lb = myclip(pwm_duty_lb, 0, 8000); pwm_duty_lb = clip_s32(pwm_duty_lb, 0, 8000);
pwm_duty_rb = myclip(pwm_duty_rb, 0, 8000); pwm_duty_rb = clip_s32(pwm_duty_rb, 0, 8000);
pwm_duty_ls_g = pwm_duty_ls; pwm_duty_ls_g = pwm_duty_ls;
pwm_duty_rs_g = pwm_duty_rs; pwm_duty_rs_g = pwm_duty_rs;
pwm_duty_lb_g = pwm_duty_lb; pwm_duty_lb_g = pwm_duty_lb;
pwm_duty_rb_g = pwm_duty_rb; pwm_duty_rb_g = pwm_duty_rb;
pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls);
pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs); if (pwm_duty_ls >= 0) {
pwm_set_duty(FAN_LB_PWM_PIN, pwm_duty_lb); pwm_set_duty(FAN_LS_PWM_A_PIN, pwm_duty_ls);
pwm_set_duty(FAN_RB_PWM_PIN, pwm_duty_rb); pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
} else {
pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
}
if (pwm_duty_rs >= 0) {
pwm_set_duty(FAN_RS_PWM_A_PIN, pwm_duty_rs);
pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
} else {
pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
}
if (pwm_duty_lb >= 0) {
pwm_set_duty(FAN_LB_PWM_A_PIN, pwm_duty_lb);
pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
} else {
pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * pwm_duty_lb);
}
if (pwm_duty_rb >= 0) {
pwm_set_duty(FAN_RB_PWM_A_PIN, pwm_duty_rb);
pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
} else {
pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * pwm_duty_rb);
}
} }

10
app/by_fan_control.h
View File

@@ -4,13 +4,13 @@
#include "stdio.h" #include "stdio.h"
#include "ch32v30x.h" #include "ch32v30x.h"
extern uint32_t pwm_duty_ls_g; extern int32_t pwm_duty_ls_g;
extern uint32_t pwm_duty_rs_g; extern int32_t pwm_duty_rs_g;
extern uint32_t pwm_duty_lb_g; extern int32_t pwm_duty_lb_g;
extern uint32_t pwm_duty_rb_g; extern int32_t pwm_duty_rb_g;
extern void by_pwm_init(void); extern void by_pwm_init(void);
extern void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2); extern void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2);
extern void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1,uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2); extern void by_pwm_power_duty(int32_t pwm_duty_ls, int32_t pwm_duty_rs, int32_t pwm_duty_lb, int32_t pwm_duty_rb);
#endif #endif

2
app/jj_motion.c
View File

@@ -124,7 +124,7 @@ void sport_motion(void)
pwm_duty_lb = (uint32_t)myclip_f(1.f * out_speed + out_gyro, 0.0f, 8000.f); pwm_duty_lb = (uint32_t)myclip_f(1.f * out_speed + out_gyro, 0.0f, 8000.f);
pwm_duty_rb = (uint32_t)myclip_f(1.f * out_speed - out_gyro, 0.0f, 8000.f); pwm_duty_rb = (uint32_t)myclip_f(1.f * out_speed - out_gyro, 0.0f, 8000.f);
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb); by_pwm_power_duty((int32_t)pwm_duty_ls, (int32_t)pwm_duty_rs, (int32_t)pwm_duty_lb, (int32_t)pwm_duty_rb);
} else { } else {
by_pwm_power_duty(0, 0, 0, 0); by_pwm_power_duty(0, 0, 0, 0);
} }