68 lines
1.6 KiB
C
68 lines
1.6 KiB
C
#include "bsp_pwm.h"
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#include "main.h"
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extern TIM_HandleTypeDef htim3;
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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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static bsp_pwm_config_t bsp_pwm_map[BSP_PWM_NUMBER] = {
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[BSP_PWM_SERVO_A] = {&htim3, TIM_CHANNEL_2},
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[BSP_PWM_SERVO_B] = {&htim3, TIM_CHANNEL_1},
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[BSP_PWM_SERVO_C] = {&htim3, TIM_CHANNEL_4},
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[BSP_PWM_SERVO_D] = {&htim3, TIM_CHANNEL_3},
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[BSP_PWM_IMU_HEAT] = {NULL, 0},
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};
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bsp_status_t bsp_pwm_start(bsp_pwm_channel_t ch) {
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if (ch == BSP_PWM_IMU_HEAT) {
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return BSP_ERR;
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}
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HAL_TIM_PWM_Start(bsp_pwm_map[ch].tim, bsp_pwm_map[ch].channel);
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return BSP_OK;
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}
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bsp_status_t bsp_pwm_set_comp(bsp_pwm_channel_t ch, float duty_cycle) {
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if (ch == BSP_PWM_IMU_HEAT) {
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return BSP_ERR;
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}
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if (duty_cycle > 1.0f) {
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return BSP_ERR;
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}
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if (duty_cycle < 0.0f) {
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duty_cycle = 0.f;
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}
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/* 通过PWM通道对应定时器重载值和给定占空比，计算PWM周期值 */
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uint16_t pulse = (uint16_t)(duty_cycle * (float)__HAL_TIM_GET_AUTORELOAD(
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bsp_pwm_map[ch].tim));
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__HAL_TIM_SET_COMPARE(bsp_pwm_map[ch].tim, bsp_pwm_map[ch].channel, pulse);
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return BSP_OK;
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}
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bsp_status_t bsp_pwm_set_freq(bsp_pwm_channel_t ch, float freq) {
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uint16_t reload = (uint16_t)(1000000U / freq);
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if (reload > 0) {
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__HAL_TIM_PRESCALER(bsp_pwm_map[ch].tim, reload);
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} else {
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return BSP_ERR;
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}
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return BSP_OK;
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}
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bsp_status_t bsp_pwm_stop(bsp_pwm_channel_t ch) {
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HAL_TIM_PWM_Stop(bsp_pwm_map[ch].tim, bsp_pwm_map[ch].channel);
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return BSP_OK;
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}
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