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compare: btl143:ff88b5a3feec74e5231e646a19045b94a22effa0
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10 Commits
fbed8b272e ... ff88b5a3fe

Author SHA1 Message Date
bmy
ff88b5a3fe fix: 修正限幅函数返回值类型错误问题 2024-04-16 16:49:14 +08:00
bmy
170807fcc8 feat: 更新风扇驱动接口 2024-04-16 16:09:34 +08:00
bmy
0a1608ccfa fix: 修复蜂鸣器仅剩一个元素时，鸣响时长错误的问题 2024-04-16 11:14:12 +08:00
bmy
2b3e70f0e9 feat: 更新测速编码器配置 2024-04-16 10:54:44 +08:00
bmy
36ca756209 feat: 更新旋转编码器配置 2024-04-16 09:58:51 +08:00
bmy
c5edd57aa8 feat: 增加IMU初始化时重新上电功能 2024-04-16 09:49:38 +08:00
bmy
a9b0fe1a18 更新IMU接口和配置 2024-04-16 09:39:48 +08:00
bmy
02588f6411 pref: 修改蜂鸣器为非阻塞形式 2024-04-16 01:49:04 +08:00
bmy
ca28f41448 fix: 修正上次提交中未修改HSE_VALUE为16MHz导致外设故障的问题 2024-04-16 01:23:19 +08:00
bmy
75b9cc4a8f feat: 根据新板卡QD4C更新时钟配置 
硬件上更换为 16MHz 的外部晶振，将PLL输入源更改为二分频之后的HSE，后续倍频系数不变（仅更改了144MHz下的配置）
 2024-04-15 23:08:37 +08:00
12 changed files with 215 additions and 124 deletions
Expand all files Collapse all files

20
app/by_buzzer.c
View File

@@ -3,8 +3,10 @@
#include <string.h> #include <string.h>
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
#define BUZZER_QUEUE_LENGTH 40 #define BUZZER_TIME (100) // 蜂鸣器音节长度
#define BUZZER_QUEUE_LENGTH (40)
uint32_t time_out = 0;
uint16_t queue_long = 0; uint16_t queue_long = 0;
uint32_t a[40] = {0}; uint32_t a[40] = {0};
@@ -23,7 +25,7 @@ void queue_add_element(int element)
} }
void queue_pop_element(void) void queue_pop_element(void)
{ {
memmove(a, &a[1], (queue_long - 1) * sizeof(a[0])); memmove(a, &a[1], (queue_long - 1) * sizeof(a[0])); // FIXME 强迫症震怒，仅移动，未清除原位置上的值
if (queue_long > 0) { if (queue_long > 0) {
queue_long--; queue_long--;
} }
@@ -51,6 +53,7 @@ void by_buzzer_init(void)
by_buzzer_add(1500); by_buzzer_add(1500);
} }
// TODO 异步写入问题，不可重入
void by_buzzer_add(uint16_t tone) void by_buzzer_add(uint16_t tone)
{ {
queue_add_element(tone); queue_add_element(tone);
@@ -58,10 +61,19 @@ void by_buzzer_add(uint16_t tone)
void by_buzzer_run(void) void by_buzzer_run(void)
{ {
if (queue_long != 0) { if (queue_long > 0) {
if (0 == time_out) {
pwm_init(BUZZER_PIN, a[0], 5000); pwm_init(BUZZER_PIN, a[0], 5000);
queue_pop_element(); queue_pop_element();
system_delay_ms(100); time_out = BUZZER_TIME;
}
} else {
if (0 == time_out)
pwm_set_duty(BUZZER_PIN, 0); pwm_set_duty(BUZZER_PIN, 0);
} }
if (time_out) {
time_out--;
}
} }

129
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 int32_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 +46,43 @@ 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); // 测试鸣叫
pwm_init(FAN_RS_PWM_PIN, 4000, 0); pwm_init(FAN_LS_PWM_A_PIN, 1500, 100);
pwm_init(FAN_LB_PWM_PIN, 4000, 0); pwm_init(FAN_LS_PWM_B_PIN, 4000, 0);
pwm_init(FAN_RB_PWM_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, 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);
// 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 +104,8 @@ 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 +118,47 @@ 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);
}
} }

12
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

10
app/by_rt_button.c
View File

@@ -17,10 +17,10 @@ uint8_t by_get_rb_status(void)
void by_rb_init(void) void by_rb_init(void)
{ {
gpio_init(E9, GPI, GPIO_HIGH, GPI_PULL_UP); gpio_init(B9, GPI, GPIO_HIGH, GPI_PULL_UP);
gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP); gpio_init(E0, GPI, GPIO_HIGH, GPI_PULL_UP);
gpio_init(E11, GPI, GPIO_HIGH, GPI_PULL_UP); gpio_init(E1, GPI, GPIO_HIGH, GPI_PULL_UP);
exti_init(E9, EXTI_TRIGGER_FALLING); exti_init(E0, EXTI_TRIGGER_FALLING);
exti_init(E11, EXTI_TRIGGER_BOTH); exti_init(E1, EXTI_TRIGGER_BOTH);
} }

58
app/isr.c
View File

@@ -152,6 +152,15 @@ void DVP_IRQHandler(void)
void EXTI0_IRQHandler(void) void EXTI0_IRQHandler(void)
{ {
if (SET == EXTI_GetITStatus(EXTI_Line0)) { if (SET == EXTI_GetITStatus(EXTI_Line0)) {
if (rotate_button == rotate_button_none) {
if (SET == gpio_get_level(B9)) {
rotate_button = rotate_button_backward;
queue_add_element(BY_BACKWARD);
} else {
rotate_button = rotate_button_forward;
queue_add_element(BY_FORWARD);
}
}
EXTI_ClearITPendingBit(EXTI_Line0); EXTI_ClearITPendingBit(EXTI_Line0);
} }
} }
@@ -159,6 +168,23 @@ void EXTI0_IRQHandler(void)
void EXTI1_IRQHandler(void) void EXTI1_IRQHandler(void)
{ {
if (SET == EXTI_GetITStatus(EXTI_Line1)) { if (SET == EXTI_GetITStatus(EXTI_Line1)) {
static uint64_t time_via = 0;
system_delay_ms(10);
if (RESET == gpio_get_level(E1)) {
time_via = system_get_tick();
} else if (SET == gpio_get_level(E1)) {
time_via = system_get_tick() - time_via;
if (time_via > LONG_PRESS_THRESHOLD_TICK) {
rotate_button = rotate_button_press_long;
queue_add_element(BY_PRESS_LONG);
} else {
rotate_button = rotate_button_press_short;
queue_add_element(BY_PRESS_SHORT);
}
time_via = 0;
}
EXTI_ClearITPendingBit(EXTI_Line1); EXTI_ClearITPendingBit(EXTI_Line1);
} }
} }
@@ -199,17 +225,6 @@ void EXTI9_5_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line8); EXTI_ClearITPendingBit(EXTI_Line8);
} }
if (SET == EXTI_GetITStatus(EXTI_Line9)) { if (SET == EXTI_GetITStatus(EXTI_Line9)) {
if (rotate_button == rotate_button_none) {
if (SET == gpio_get_level(E10)) {
rotate_button = rotate_button_backward;
queue_add_element(BY_BACKWARD);
} else {
rotate_button = rotate_button_forward;
queue_add_element(BY_FORWARD);
}
}
EXTI_ClearITPendingBit(EXTI_Line9); EXTI_ClearITPendingBit(EXTI_Line9);
} }
} }
@@ -225,22 +240,6 @@ void EXTI15_10_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line10); EXTI_ClearITPendingBit(EXTI_Line10);
} }
if (SET == EXTI_GetITStatus(EXTI_Line11)) { if (SET == EXTI_GetITStatus(EXTI_Line11)) {
static uint64_t time_via = 0;
system_delay_ms(10);
if (RESET == gpio_get_level(E11)) {
time_via = system_get_tick();
EXTI_ClearITPendingBit(EXTI_Line11);
} else if (SET == gpio_get_level(E11)) {
time_via = system_get_tick() - time_via;
if (time_via > LONG_PRESS_THRESHOLD_TICK) {
rotate_button = rotate_button_press_long;
queue_add_element(BY_PRESS_LONG);
} else {
rotate_button = rotate_button_press_short;
queue_add_element(BY_PRESS_SHORT);
}
time_via = 0;
EXTI_ClearITPendingBit(EXTI_Line11); EXTI_ClearITPendingBit(EXTI_Line11);
} }
if (SET == EXTI_GetITStatus(EXTI_Line12)) { if (SET == EXTI_GetITStatus(EXTI_Line12)) {
@@ -268,15 +267,14 @@ void EXTI15_10_IRQHandler(void)
// -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *----------------- // -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
EXTI_ClearITPendingBit(EXTI_Line15); EXTI_ClearITPendingBit(EXTI_Line15);
} }
}
} }
void TIM1_UP_IRQHandler(void) void TIM1_UP_IRQHandler(void)
{ {
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) { if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM1, TIM_IT_Update); by_buzzer_run();
sport_motion(); sport_motion();
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
} }
} }

7
app/jj_motion.c
View File

@@ -75,10 +75,9 @@ float sport_get_speed(void)
static float speed_now = 0; static float speed_now = 0;
static float speed_last = 0; static float speed_last = 0;
speed_now = ALPHA * (float)encoder_get_count(TIM5_ENCOEDER) + (1.0f - ALPHA) * speed_last; speed_now = ALPHA * (float)encoder_get_count(TIM3_ENCOEDER) + (1.0f - ALPHA) * speed_last;
speed_last = speed_now; speed_last = speed_now;
encoder_clear_count(TIM3_ENCOEDER);
encoder_clear_count(TIM5_ENCOEDER);
return speed_now; return speed_now;
@@ -125,7 +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);
} }

9
app/main.c
View File

@@ -39,18 +39,18 @@ uint8_t last_state;
int main(void) int main(void)
{ {
TYPE_UNION test_data[BY_FRAME_DATA_NUM]; TYPE_UNION test_data[BY_FRAME_DATA_NUM];
clock_init(SYSTEM_CLOCK_120M); clock_init(SYSTEM_CLOCK_144M);
system_delay_init(); system_delay_init();
debug_init(); debug_init();
encoder_quad_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1); encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7);
ips200_init(IPS200_TYPE_SPI); ips200_init(IPS200_TYPE_SPI);
while (imu660ra_init()) while (imu660ra_init())
; ;
jj_param_eeprom_init(); jj_param_eeprom_init();
jj_bt_init(); jj_bt_init();
by_rb_init(); by_rb_init();
by_pwm_init(); // by_pwm_init();
by_buzzer_init(); by_buzzer_init();
by_frame_init(); by_frame_init();
@@ -65,14 +65,13 @@ int main(void)
// printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g); // printf("pwm:%lu,%lu,%lu,%lu\r\n", pwm_duty_ls_g, pwm_duty_rs_g, pwm_duty_lb_g, pwm_duty_rb_g);
Page_Run(); Page_Run();
by_frame_parse(&test_data[0].u32); by_frame_parse(&test_data[0].u32);
by_buzzer_run();
jj_bt_run(); jj_bt_run();
in_pos = test_data[1].f32; in_pos = test_data[1].f32;
in_angle = test_data[0].f32; in_angle = test_data[0].f32;
in_state = test_data[2].u8[0]; in_state = test_data[2].u8[0];
in_stop = test_data[2].u8[1]; in_stop = test_data[2].u8[1];
if (last_state != in_state) { if (last_state != in_state) {
bt_printf("changing to%u\r\n",in_state); bt_printf("changing to%u\r\n", in_state);
} }
last_state = in_state; last_state = in_state;
} }

2
libraries/sdk/Peripheral/ch32v30x.h
View File

@@ -22,7 +22,7 @@
#define __MPU_PRESENT 0 /* Other CH32 devices does not provide an MPU */ #define __MPU_PRESENT 0 /* Other CH32 devices does not provide an MPU */
#define __Vendor_SysTickConfig 0 /* Set to 1 if different SysTick Config is used */ #define __Vendor_SysTickConfig 0 /* Set to 1 if different SysTick Config is used */
#define HSE_VALUE ((uint32_t)8000000) /* Value of the External oscillator in Hz */ #define HSE_VALUE ((uint32_t)16000000) /* Value of the External oscillator in Hz */
/* In the following line adjust the External High Speed oscillator (HSE) Startup Timeout value */ /* In the following line adjust the External High Speed oscillator (HSE) Startup Timeout value */
#define HSE_STARTUP_TIMEOUT ((uint16_t)0x1000) /* Time out for HSE start up */ #define HSE_STARTUP_TIMEOUT ((uint16_t)0x1000) /* Time out for HSE start up */

12
libraries/zf_common/zf_common_clock.c
View File

@@ -2,11 +2,11 @@
* CH32V307VCT6 Opensourec Library <20><><EFBFBD><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4> * CH32V307VCT6 Opensourec Library <20><><EFBFBD><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF> * Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
* *
* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD> * <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
* *
* CH32V307VCT6 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> * CH32V307VCT6 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> * <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNU ͨ<EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD> * <20><> GPL <20>ĵ<EFBFBD> 3 <EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
* *
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤ * <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
* <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤ * <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
@@ -30,7 +30,7 @@
* *
* <20>޸ļ<DEB8>¼ * <20>޸ļ<DEB8>¼
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע * <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-09-15 <20><>W first version * 2022-09-15 <20><> W first version
********************************************************************************************************************/ ********************************************************************************************************************/
#include "ch32v30x.h" #include "ch32v30x.h"
@@ -48,7 +48,7 @@ uint32 system_clock = SYSTEM_CLOCK_144M; // ϵͳʱ
//------------------------------------------------------------------------------------------------------------------- //-------------------------------------------------------------------------------------------------------------------
void clock_reset(void) void clock_reset(void)
{ {
RCC->CTLR |= (uint32) 0x00000001; //ʹ<><CAB9>HSI<53><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD> RCC->CTLR |= (uint32) 0x00000001; //ʹ<><CAB9> HSI <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
RCC->CFGR0 &= (uint32) 0xF8FF0000; RCC->CFGR0 &= (uint32) 0xF8FF0000;
RCC->CTLR &= (uint32) 0xFEF6FFFF; RCC->CTLR &= (uint32) 0xFEF6FFFF;
RCC->CTLR &= (uint32) 0xFFFBFFFF; RCC->CTLR &= (uint32) 0xFFFBFFFF;
@@ -105,7 +105,7 @@ void clock_set_freq(uint32 clock)
| RCC_PLLMULL)); | RCC_PLLMULL));
if (clock == SYSTEM_CLOCK_144M) if (clock == SYSTEM_CLOCK_144M)
RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE_Div2
| RCC_PLLMULL18_EXTEN); | RCC_PLLMULL18_EXTEN);
else if (clock == SYSTEM_CLOCK_120M) else if (clock == SYSTEM_CLOCK_120M)
RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE RCC->CFGR0 |= (uint32) (RCC_PLLSRC_HSE | RCC_PLLXTPRE_HSE

7
libraries/zf_device/zf_device_imu660ra.c
View File

@@ -223,6 +223,13 @@ void imu660ra_get_temperature(void)
uint8 imu660ra_init(void) uint8 imu660ra_init(void)
{ {
uint8 return_state = 0; uint8 return_state = 0;
// 先给 IMU660RA 断电重启
gpio_init(IMU660RA_PE_PIN, GPO, 0, GPO_PUSH_PULL); // 配置 IMU660RA 的 PE 端口
gpio_low(IMU660RA_PE_PIN);
system_delay_ms(100);
gpio_high(IMU660RA_PE_PIN);
system_delay_ms(20); // 等待设备上电成功 system_delay_ms(20); // 等待设备上电成功
#if IMU660RA_USE_SOFT_IIC #if IMU660RA_USE_SOFT_IIC

7
libraries/zf_device/zf_device_imu660ra.h
View File

@@ -62,8 +62,9 @@
#if IMU660RA_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的 #if IMU660RA_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
//====================================================软件 IIC 驱动==================================================== //====================================================软件 IIC 驱动====================================================
#define IMU660RA_SOFT_IIC_DELAY (10) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快 #define IMU660RA_SOFT_IIC_DELAY (10) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
#define IMU660RA_SCL_PIN (B3) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚 #define IMU660RA_SCL_PIN (E5) // 软件 IIC SCL 引脚 连接 IMU660RA 的 SCL 引脚
#define IMU660RA_SDA_PIN (B5) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚 #define IMU660RA_SDA_PIN (E4) // 软件 IIC SDA 引脚 连接 IMU660RA 的 SDA 引脚
#define IMU660RA_PE_PIN (E6) // 软件 IIC SDO 引脚 连接 IMU660RA 的 SDO 引脚
//====================================================软件 IIC 驱动==================================================== //====================================================软件 IIC 驱动====================================================
#else #else
@@ -100,7 +101,7 @@ typedef enum {
#define IMU660RA_TIMEOUT_COUNT (0x00FF) // IMU660RA 超时计数 #define IMU660RA_TIMEOUT_COUNT (0x00FF) // IMU660RA 超时计数
//================================================定义 IMU660RA 内部地址================================================ //================================================定义 IMU660RA 内部地址================================================
#define IMU660RA_DEV_ADDR (0x69) // SA0 接地：0x68 SA0 上拉：0x69 模块默认上拉 #define IMU660RA_DEV_ADDR (0x68) // SA0 接地：0x68 SA0 上拉：0x69 模块默认上拉
#define IMU660RA_SPI_W (0x00) #define IMU660RA_SPI_W (0x00)
#define IMU660RA_SPI_R (0x80) #define IMU660RA_SPI_R (0x80)

4
libraries/zf_device/zf_device_k24c02.h
View File

@@ -55,7 +55,7 @@
//====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>==================================================== //====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>====================================================
#define K24C02_SOFT_IIC_DELAY (500) // <20><><EFBFBD><EFBFBD> IIC <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> <20><>ֵԽС IIC ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD> #define K24C02_SOFT_IIC_DELAY (500) // <20><><EFBFBD><EFBFBD> IIC <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> <20><>ֵԽС IIC ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD>
#define K24C02_SCL_PIN (E3) // <20><><EFBFBD><EFBFBD> IIC SCL <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> K24C02 <20><> SCL <20><><EFBFBD><EFBFBD> #define K24C02_SCL_PIN (E3) // <20><><EFBFBD><EFBFBD> IIC SCL <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> K24C02 <20><> SCL <20><><EFBFBD><EFBFBD>
#define K24C02_SDA_PIN (E2 ) // <20><><EFBFBD><EFBFBD> IIC SDA <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> K24C02 <20><> SDA <20><><EFBFBD><EFBFBD> #define K24C02_SDA_PIN (E2) // <20><><EFBFBD><EFBFBD> IIC SDA <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> K24C02 <20><> SDA <20><><EFBFBD><EFBFBD>
//====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>==================================================== //====================================================<3D><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>====================================================
#else #else
//====================================================Ӳ<><D3B2> IIC <20><><EFBFBD><EFBFBD>==================================================== //====================================================Ӳ<><D3B2> IIC <20><><EFBFBD><EFBFBD>====================================================
@@ -69,7 +69,7 @@
#define K24C02_TIMEOUT_COUNT (0x00FF) // K24C02 <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> #define K24C02_TIMEOUT_COUNT (0x00FF) // K24C02 <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
//================================================<3D><><EFBFBD><EFBFBD> K24C02 <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================ //================================================<3D><><EFBFBD><EFBFBD> K24C02 <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================
#define K24C02_DEV_ADDR (0xA0 >> 1) // IICд<43><D0B4>ʱ<EFBFBD>ĵ<EFBFBD>ַ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD><EFBFBD> +1Ϊ<31><CEAA>ȡ #define K24C02_DEV_ADDR (0xA0 >> 1) // IIC д<EFBFBD><EFBFBD>ʱ<EFBFBD>ĵ<EFBFBD>ַ<EFBFBD>ֽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> +1 Ϊ<EFBFBD><EFBFBD>ȡ
//================================================<3D><><EFBFBD><EFBFBD> K24C02 <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================ //================================================<3D><><EFBFBD><EFBFBD> K24C02 <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================
#define K24C02_SIZE (256) // 256 byte #define K24C02_SIZE (256) // 256 byte