feat: 添加舵机控制接口 (未验证)

app/cw_servo.c

@@ -0,0 +1,17 @@
+#include "zf_common_headfile.h"
+#include "cw_servo.h"
+
+void cw_servo_init(void)
+{
+    pwm_init(SERVO_L_PWM_CHANNEL, 50, 1000);
+    pwm_init(SERVO_R_PWM_CHANNEL, 50, 1000);
+}
+
+void cw_servo_set_angle(float servo_l_angle, float servo_r_angle)
+{
+    uint32_t servo_l_duty_s = (uint32_t)(servo_l_angle * SERVO_L_DUTY_PER_ANGLE);
+    uint32_t servo_r_duty_s = (uint32_t)(servo_r_angle * SERVO_R_DUTY_PER_ANGLE);
+
+    pwm_set_duty(SERVO_L_PWM_CHANNEL, servo_l_duty_s);
+    pwm_set_duty(SERVO_R_PWM_CHANNEL, servo_r_duty_s);
+}

app/cw_servo.h

@@ -0,0 +1,20 @@
+#ifndef _CW_SERVO_H__
+#define _CW_SERVO_H__
+
+#include "zf_common_headfile.h"
+
+#define SERVO_L_PWM_CHANNEL    TIM2_PWM_MAP0_CH1_A0
+#define SERVO_R_PWM_CHANNEL    TIM2_PWM_MAP0_CH2_A1
+
+#define SERVO_MAX_ANGLE_RANGE  (90.0F)
+#define SERVO_L_DUTY_MAX       (1100.0F)
+#define SERVO_L_DUTY_MIN       (900.0F)
+#define SERVO_R_DUTY_MAX       (1100.0F)
+#define SERVO_R_DUTY_MIN       (900.0F)
+#define SERVO_L_DUTY_PER_ANGLE ((SERVO_L_DUTY_MAX - SERVO_L_DUTY_MIN) / SERVO_MAX_ANGLE_RANGE)
+#define SERVO_R_DUTY_PER_ANGLE ((SERVO_R_DUTY_MAX - SERVO_R_DUTY_MIN) / SERVO_MAX_ANGLE_RANGE)
+
+extern void cw_servo_init(void);
+extern void cw_servo_set_angle(float servo_l_angle, float servo_r_angle);
+
+#endif

app/main.c

@@ -33,25 +33,34 @@
  * 2022-09-15        <20><>W            first version
  ********************************************************************************************************************/
 #include "zf_common_headfile.h"
+#include "cw_servo.h"
 
+uint8 mt9v03x_image_cp[MT9V03X_H][MT9V03X_W];
+uint16_t pwm_cnt = 0;
 
 int main(void)
 {
     clock_init(SYSTEM_CLOCK_120M); // <20><>ʼ<EFBFBD><CABC>оƬʱ<C6AC><CAB1> <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>Ϊ 120MHz
     debug_init();                  // <20><><EFBFBD>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD>ʼ<EFBFBD><CABC>MPU ʱ<><CAB1> <20><><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
 
-    // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
     ips114_init();
-    mt9v03x_init();
+    // mt9v03x_init();
-    // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
-    while(1)
+    cw_servo_init();
-    {
+
+    while (imu660ra_init()) {};
+
+    while (1) {
+        ips114_show_string(0, 0, "temperature");
+        imu660ra_get_temperature();
+        system_delay_ms(100);
+        ips114_show_float(0, 16, imu660ra_temperature, 3, 3);
         // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD><D0B4>Ҫѭ<D2AA><D1AD>ִ<EFBFBD>еĴ<D0B5><C4B4><EFBFBD>
+        system_delay_ms(50);
         if (mt9v03x_finish_flag) {
-            ips114_show_gray_image(0, 0, mt9v03x_image[0], 188, 120, 188, 120,0);
+            memcpy(mt9v03x_image_cp[0], mt9v03x_image[0], sizeof(mt9v03x_image) / sizeof(uint8_t));
+            ips114_show_gray_image(0, 0, mt9v03x_image_cp[0], 188, 120, 188, 120, 0);
         }
         // <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD><D0B4>Ҫѭ<D2AA><D1AD>ִ<EFBFBD>еĴ<D0B5><C4B4><EFBFBD>
     }
 }
-