150 lines
4.5 KiB
C
150 lines
4.5 KiB
C
#include <stdio.h>
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#include "by_fan_control.h"
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#include "zf_common_headfile.h"
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#include "jj_blueteeth.h"
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#include "jj_motion.h"
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#define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
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#define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
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// M4
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#define FAN_RB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 左后
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#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // 左后
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// M1
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#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右后
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#define FAN_LB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右后
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// M3
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#define FAN_RS_PWM_B_PIN TIM10_PWM_MAP3_CH3_D5 // 左侧
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#define FAN_RS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧
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// M2
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#define FAN_LS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右侧
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#define FAN_LS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧
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int32_t pwm_duty_ls_g;
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int32_t pwm_duty_rs_g;
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int32_t pwm_duty_lb_g;
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int32_t pwm_duty_rb_g;
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inline static uint32_t clip_u32(uint32_t x, uint32_t low, uint32_t up)
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{
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return (x > up ? up : x < low ? low
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: x);
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}
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inline static int32_t clip_s32(int32_t x, int32_t low, int32_t up)
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{
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return (x > up ? up : x < low ? low
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: x);
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}
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inline static float clip_f32(float x, float low, float up)
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{
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return (x > up ? up : x < low ? low
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: x);
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}
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#define FIX_DRIVE 0
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void by_pwm_init(void)
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{
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gpio_init(D4, GPO, 1, GPO_PUSH_PULL);
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gpio_init(C8, GPO, 1, GPO_PUSH_PULL);
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pwm_init(FAN_LL_PWM_PIN, 50, 500);
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pwm_init(FAN_RL_PWM_PIN, 50, 500);
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#if FIX_DRIVE == 1
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pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000);
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pwm_init(FAN_LS_PWM_B_PIN, 20000, 7000);
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pwm_init(FAN_RS_PWM_A_PIN, 20000, 7000);
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pwm_init(FAN_RS_PWM_B_PIN, 20000, 7000);
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pwm_init(FAN_LB_PWM_A_PIN, 20000, 7000);
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pwm_init(FAN_LB_PWM_B_PIN, 20000, 7000);
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pwm_init(FAN_RB_PWM_A_PIN, 20000, 7000);
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pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000);
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while (1);
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#elif FIX_DRIVE == 2
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pwm_init(FAN_LS_PWM_A_PIN, 20000, 0);
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pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
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pwm_init(FAN_RS_PWM_A_PIN, 20000, 0);
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pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
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pwm_init(FAN_LB_PWM_A_PIN, 20000, 0);
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pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
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pwm_init(FAN_RB_PWM_A_PIN, 20000, 1000);
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pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
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while (1);
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#endif
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pwm_init(FAN_LS_PWM_A_PIN, 20000, 0);
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pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
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pwm_init(FAN_RS_PWM_A_PIN, 20000, 0);
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pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
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pwm_init(FAN_LB_PWM_A_PIN, 20000, 0);
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pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
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pwm_init(FAN_RB_PWM_A_PIN, 20000, 0);
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pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
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}
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/**
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* @brief 更新升力风扇占空比
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*
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* @param update_pwm_duty1
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* @param update_pwm_duty2
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*/
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void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
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{
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update_pwm_duty1 = clip_u32(update_pwm_duty1, 500, 1000);
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update_pwm_duty2 = clip_u32(update_pwm_duty2, 500, 1000);
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pwm_set_duty(FAN_LL_PWM_PIN, update_pwm_duty1);
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pwm_set_duty(FAN_RL_PWM_PIN, update_pwm_duty2);
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}
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/**
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* @brief 更新动力风扇占空比
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*
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* @param pwm_duty_ls
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* @param pwm_duty_rs
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* @param pwm_duty_lb
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* @param pwm_duty_rb
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*/
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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)
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{
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bpwm_duty_ls = clip_s32(bpwm_duty_ls, -9000, 9000);
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bpwm_duty_rs = clip_s32(bpwm_duty_rs, -9000, 9000);
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bpwm_duty_lb = clip_s32(bpwm_duty_lb, -9000, 9000);
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bpwm_duty_rb = clip_s32(bpwm_duty_rb, -9000, 9000);
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// pwm_duty_ls_g = pwm_duty_ls;
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// pwm_duty_rs_g = pwm_duty_rs;
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// pwm_duty_lb_g = pwm_duty_lb;
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// pwm_duty_rb_g = pwm_duty_rb;
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if (bpwm_duty_ls >= 0) {
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pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls);
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pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
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} else {
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pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
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pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
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}
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if (bpwm_duty_rs >= 0) {
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pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_duty_rs);
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pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
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} else {
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pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
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pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
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}
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if (bpwm_duty_lb >= 0) {
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pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb);
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pwm_set_duty(FAN_LB_PWM_B_PIN, 0);
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} else {
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pwm_set_duty(FAN_LB_PWM_A_PIN, 0);
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pwm_set_duty(FAN_LB_PWM_B_PIN, -1 * bpwm_duty_lb);
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}
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if (bpwm_duty_rb >= 0) {
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pwm_set_duty(FAN_RB_PWM_A_PIN, bpwm_duty_rb);
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pwm_set_duty(FAN_RB_PWM_B_PIN, 0);
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} else {
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pwm_set_duty(FAN_RB_PWM_A_PIN, 0);
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pwm_set_duty(FAN_RB_PWM_B_PIN, -1 * bpwm_duty_rb);
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}
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}
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