btl143/QD4C-firmware
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井明江
2024-05-05 19:15:51 +08:00
parent ff88b5a3fe
commit 6b1f345ead
5 changed files with 155 additions and 111 deletions
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146
app/by_fan_control.c
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@@ -2,21 +2,21 @@
#include "by_fan_control.h"
#include "zf_common_headfile.h"
#include "jj_blueteeth.h"
#include "jj_motion.h"
#define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
#define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
// M4
#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧动力风扇
#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH2_D3 // 左侧动力风扇
#define FAN_LB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 左侧动力风扇
#define FAN_LB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左侧动力风扇
// 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
#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // 右侧动力风扇
#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH1_D12 // 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
#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左后动力风扇
#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH3_D5 // 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
#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH4_D15 // 右后动力风扇
#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH2_D13 // 右后动力风扇
int32_t pwm_duty_ls_g;
int32_t pwm_duty_rs_g;
@@ -47,42 +47,44 @@ void by_pwm_init(void)
pwm_init(FAN_RL_PWM_PIN, 50, 500);
// 测试鸣叫
pwm_init(FAN_LS_PWM_A_PIN, 1500, 100);
pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RS_PWM_A_PIN, 1500, 100);
pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 1500, 100);
pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 1500, 100);
pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
system_delay_ms(300);
pwm_init(FAN_LS_PWM_A_PIN, 2000, 100);
pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RS_PWM_A_PIN, 2000, 100);
pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 2000, 100);
pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 2000, 100);
pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
system_delay_ms(300);
pwm_init(FAN_LS_PWM_A_PIN, 2500, 100);
pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RS_PWM_A_PIN, 2500, 100);
pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 2500, 100);
pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 2500, 100);
pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
system_delay_ms(300);
// pwm_init(FAN_LS_PWM_A_PIN, 1500, 1000);
// pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_RS_PWM_A_PIN, 1500, 1000);
// pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_LB_PWM_A_PIN, 1500, 1000);
// pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_RB_PWM_A_PIN, 1500, 1000);
// pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
// system_delay_ms(100);
// pwm_init(FAN_LS_PWM_A_PIN, 2000, 1000);
// pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_RS_PWM_A_PIN, 2000, 1000);
// pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_LB_PWM_A_PIN, 2000, 1000);
// pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_RB_PWM_A_PIN, 2000, 1000);
// pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
// system_delay_ms(100);
// pwm_init(FAN_LS_PWM_A_PIN, 2500, 1000);
// pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_RS_PWM_A_PIN, 2500, 1000);
// pwm_init(FAN_RS_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_LB_PWM_A_PIN, 2500, 1000);
// pwm_init(FAN_LB_PWM_B_PIN, 4000, 0);
// pwm_init(FAN_RB_PWM_A_PIN, 2500, 1000);
// pwm_init(FAN_RB_PWM_B_PIN, 4000, 0);
// system_delay_ms(100);
pwm_init(FAN_LS_PWM_A_PIN, 4000, 0);
pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RS_PWM_A_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);
pwm_init(FAN_LS_PWM_A_PIN, 12000, 0);
pwm_init(FAN_LS_PWM_B_PIN, 12000, 0);
pwm_init(FAN_RS_PWM_A_PIN, 12000, 0);
pwm_init(FAN_RS_PWM_B_PIN, 12000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 12000, 0);
pwm_init(FAN_LB_PWM_B_PIN, 12000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 12000, 0);
pwm_init(FAN_RB_PWM_B_PIN, 12000, 0);
// while (1)
// ;
// system_delay_ms(3000);
// // 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
@@ -118,47 +120,49 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
* @param pwm_duty_lb
* @param 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)
void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_duty_lb, int32_t bpwm_duty_rb)
{
pwm_duty_ls = clip_s32(pwm_duty_ls, 0, 8000);
pwm_duty_rs = clip_s32(pwm_duty_rs, 0, 8000);
pwm_duty_lb = clip_s32(pwm_duty_lb, 0, 8000);
pwm_duty_rb = clip_s32(pwm_duty_rb, 0, 8000);
bpwm_duty_ls = clip_s32(bpwm_duty_ls, 0, 5000);
bpwm_duty_rs = clip_s32(bpwm_duty_rs, 0, 5000);
bpwm_duty_lb = clip_s32(bpwm_duty_lb, -3000, 8000);
bpwm_duty_rb = clip_s32(bpwm_duty_rb, -3000, 8000);
pwm_duty_ls_g = pwm_duty_ls;
pwm_duty_rs_g = pwm_duty_rs;
pwm_duty_lb_g = pwm_duty_lb;
pwm_duty_rb_g = pwm_duty_rb;
// pwm_duty_ls_g = pwm_duty_ls;
// pwm_duty_rs_g = pwm_duty_rs;
// pwm_duty_lb_g = pwm_duty_lb;
// pwm_duty_rb_g = pwm_duty_rb;
if (pwm_duty_ls >= 0) {
pwm_set_duty(FAN_LS_PWM_A_PIN, pwm_duty_ls);
if (bpwm_duty_ls >= 0) {
pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls);
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);
}
// 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);
if (bpwm_duty_rs >= 0) {
pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_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);
}
// 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);
if (bpwm_duty_lb >= 0) {
pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb);
pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
} else {
} else if (bpwm_duty_lb < -1000 && out_speed < -2000.0f) {
pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * pwm_duty_lb);
pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * bpwm_duty_lb);
}
if (pwm_duty_rb >= 0) {
pwm_set_duty(FAN_RB_PWM_A_PIN, pwm_duty_rb);
if (bpwm_duty_rb >= 0) {
pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb);
pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
} else {
} else if (bpwm_duty_rb < -1000 && out_speed < -2000.0f) {
pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * pwm_duty_rb);
pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * bpwm_duty_rb);
}
}