68 lines
2.0 KiB
C
68 lines
2.0 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "bsp\pwm.h"
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#include <main.h>
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#include <tim.h>
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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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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switch (ch) {
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case BSP_PWM_IMU_HEAT:
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HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
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break;
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case BSP_PWM_SHOOT_SERVO:
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
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break;
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}
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return BSP_OK;
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}
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int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
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if (duty_cycle > 1.0f) return BSP_ERR;
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if (duty_cycle < 0.0f) duty_cycle = 0.f;
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uint16_t pulse;
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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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switch (ch) {
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case BSP_PWM_IMU_HEAT:
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pulse = (uint16_t)(duty_cycle * (float)__HAL_TIM_GET_AUTORELOAD(&htim10));
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break;
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case BSP_PWM_SHOOT_SERVO:
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pulse = (uint16_t)(duty_cycle * (float)__HAL_TIM_GET_AUTORELOAD(&htim1));
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break;
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}
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if (pulse > 0) {
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switch (ch) {
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case BSP_PWM_IMU_HEAT:
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__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, pulse);
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break;
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case BSP_PWM_SHOOT_SERVO:
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pulse);
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break;
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}
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} else {
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BSP_PWM_Stop(ch);
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}
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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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switch (ch) {
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case BSP_PWM_IMU_HEAT:
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HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
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break;
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case BSP_PWM_SHOOT_SERVO:
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
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break;
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}
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HAL_GPIO_WritePin(IMU_HEAT_PWM_GPIO_Port, IMU_HEAT_PWM_Pin, GPIO_PIN_RESET);
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return BSP_OK;
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}
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