mirror of
https://github.com/goldenfishs/MRobot.git
synced 2026-02-04 18:00:19 +08:00
Robofish
eeb02a2de3
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
110 lines
3.0 KiB
C
110 lines
3.0 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "tim.h"
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#include "bsp/pwm.h"
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#include "bsp.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* Private define ----------------------------------------------------------- */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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typedef struct {
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TIM_HandleTypeDef *tim;
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uint16_t channel;
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} BSP_PWM_Config_t;
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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/* Private variables -------------------------------------------------------- */
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static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
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/* AUTO GENERATED BSP_PWM_MAP */
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};
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/* Private function -------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) {
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if (ch >= BSP_PWM_NUM) return BSP_ERR;
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HAL_TIM_PWM_Start(PWM_Map[ch].tim, PWM_Map[ch].channel);
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return BSP_OK;
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}
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int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
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if (ch >= BSP_PWM_NUM) return BSP_ERR;
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if (duty_cycle > 1.0f) {
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duty_cycle = 1.0f;
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}
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if (duty_cycle < 0.0f) {
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duty_cycle = 0.0f;
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}
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// 获取ARR值（周期值）
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uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim);
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// 计算比较值：CCR = duty_cycle * (ARR + 1)
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uint32_t ccr = (uint32_t)(duty_cycle * (arr + 1));
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__HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr);
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return BSP_OK;
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}
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int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq) {
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if (ch >= BSP_PWM_NUM) return BSP_ERR;
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uint32_t timer_clock = HAL_RCC_GetPCLK1Freq(); // Get the timer clock frequency
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uint32_t prescaler = PWM_Map[ch].tim->Init.Prescaler;
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uint32_t period = (timer_clock / (prescaler + 1)) / freq - 1;
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if (period > UINT16_MAX) {
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return BSP_ERR; // Frequency too low
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}
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__HAL_TIM_SET_AUTORELOAD(PWM_Map[ch].tim, period);
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return BSP_OK;
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}
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int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) {
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if (ch >= BSP_PWM_NUM) return BSP_ERR;
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HAL_TIM_PWM_Stop(PWM_Map[ch].tim, PWM_Map[ch].channel);
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return BSP_OK;
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}
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uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch) {
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if (ch >= BSP_PWM_NUM) return BSP_ERR;
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return PWM_Map[ch].tim->Init.AutoReloadPreload;
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}
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TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch) {
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return PWM_Map[ch].tim;
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}
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uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch) {
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if (ch >= BSP_PWM_NUM) return BSP_ERR;
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return PWM_Map[ch].channel;
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}
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int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length) {
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if (ch >= BSP_PWM_NUM) return BSP_ERR;
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HAL_TIM_PWM_Start_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel, pData, Length);
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return BSP_OK;
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}
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int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch) {
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if (ch >= BSP_PWM_NUM) return BSP_ERR;
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HAL_TIM_PWM_Stop_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel);
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return BSP_OK;
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} |