140 lines
4.7 KiB
C
140 lines
4.7 KiB
C
/**
|
||
* @file pwm_step_motor.c
|
||
* @brief
|
||
*
|
||
* Copyright (c) 2021 Bouffalolab team
|
||
*
|
||
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||
* contributor license agreements. See the NOTICE file distributed with
|
||
* this work for additional information regarding copyright ownership. The
|
||
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||
* "License"); you may not use this file except in compliance with the
|
||
* License. You may obtain a copy of the License at
|
||
*
|
||
* http://www.apache.org/licenses/LICENSE-2.0
|
||
*
|
||
* Unless required by applicable law or agreed to in writing, software
|
||
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||
* License for the specific language governing permissions and limitations
|
||
* under the License.
|
||
*
|
||
*/
|
||
#include "hal_pwm.h"
|
||
#include "hal_gpio.h"
|
||
#include "hal_clock.h"
|
||
/* 一二相励磁：八拍（A+B+,B+,B+A-,A-,A-B-,B-,B-A+,A+。。。。）
|
||
___ ___ ___
|
||
CH0 |___ ___ ___ ___ ___|
|
||
___ ___ ___
|
||
CH1 ___| |___ ___ ___ ___
|
||
___ ___ ___
|
||
CH2 ___ ___ ___| |___ ___
|
||
___ ___ ___
|
||
CH3 ___ ___ ___ ___ ___|
|
||
|
||
*/
|
||
|
||
struct device *motor_ch0;
|
||
struct device *motor_ch1;
|
||
struct device *motor_ch2;
|
||
struct device *motor_ch3;
|
||
|
||
enum motor_dir_type {
|
||
CW,
|
||
CCW,
|
||
STOP
|
||
};
|
||
|
||
void motor_set_dir(enum motor_dir_type dir)
|
||
{
|
||
pwm_dutycycle_config_t pwm_cfg[4];
|
||
|
||
if (dir == CW) {
|
||
pwm_cfg[0].threshold_low = 2;
|
||
pwm_cfg[0].threshold_high = 7;
|
||
pwm_cfg[1].threshold_low = 1;
|
||
pwm_cfg[1].threshold_high = 4;
|
||
pwm_cfg[2].threshold_low = 3;
|
||
pwm_cfg[2].threshold_high = 6;
|
||
pwm_cfg[3].threshold_low = 5;
|
||
pwm_cfg[3].threshold_high = 8;
|
||
}
|
||
|
||
else if (dir == CCW) {
|
||
pwm_cfg[0].threshold_low = 2;
|
||
pwm_cfg[0].threshold_high = 7;
|
||
pwm_cfg[1].threshold_low = 5;
|
||
pwm_cfg[1].threshold_high = 8;
|
||
pwm_cfg[2].threshold_low = 3;
|
||
pwm_cfg[2].threshold_high = 6;
|
||
pwm_cfg[3].threshold_low = 1;
|
||
pwm_cfg[3].threshold_high = 4;
|
||
} else if (dir == STOP) {
|
||
pwm_cfg[0].threshold_low = 0;
|
||
pwm_cfg[0].threshold_high = 0;
|
||
pwm_cfg[1].threshold_low = 0;
|
||
pwm_cfg[1].threshold_high = 0;
|
||
pwm_cfg[2].threshold_low = 0;
|
||
pwm_cfg[2].threshold_high = 0;
|
||
pwm_cfg[3].threshold_low = 0;
|
||
pwm_cfg[3].threshold_high = 0;
|
||
}
|
||
device_control(motor_ch0, DEIVCE_CTRL_PWM_DUTYCYCLE_CONFIG, &pwm_cfg[0]);
|
||
device_control(motor_ch1, DEIVCE_CTRL_PWM_DUTYCYCLE_CONFIG, &pwm_cfg[1]);
|
||
device_control(motor_ch2, DEIVCE_CTRL_PWM_DUTYCYCLE_CONFIG, &pwm_cfg[2]);
|
||
device_control(motor_ch3, DEIVCE_CTRL_PWM_DUTYCYCLE_CONFIG, &pwm_cfg[3]);
|
||
}
|
||
|
||
int main(void)
|
||
{
|
||
bflb_platform_init(0);
|
||
|
||
pwm_register(PWM_CH0_INDEX, "motor_ch0", DEVICE_OFLAG_RDWR);
|
||
pwm_register(PWM_CH1_INDEX, "motor_ch1", DEVICE_OFLAG_RDWR);
|
||
pwm_register(PWM_CH2_INDEX, "motor_ch2", DEVICE_OFLAG_RDWR);
|
||
pwm_register(PWM_CH3_INDEX, "motor_ch3", DEVICE_OFLAG_RDWR);
|
||
|
||
motor_ch0 = device_find("motor_ch0");
|
||
motor_ch1 = device_find("motor_ch1");
|
||
motor_ch2 = device_find("motor_ch2");
|
||
motor_ch3 = device_find("motor_ch3");
|
||
|
||
if (motor_ch0) {
|
||
PWM_DEV(motor_ch0)->period = 8; //frequence = 32K/32/8 = 125hz
|
||
PWM_DEV(motor_ch0)->threshold_low = 2;
|
||
PWM_DEV(motor_ch0)->threshold_high = 7;
|
||
PWM_DEV(motor_ch0)->polarity_invert_mode = ENABLE;
|
||
device_open(motor_ch0, DEVICE_OFLAG_STREAM_TX);
|
||
}
|
||
if (motor_ch1) {
|
||
PWM_DEV(motor_ch1)->period = 8; //frequence = 32K/32/8 = 125hz
|
||
PWM_DEV(motor_ch1)->threshold_low = 1;
|
||
PWM_DEV(motor_ch1)->threshold_high = 4;
|
||
device_open(motor_ch1, DEVICE_OFLAG_STREAM_TX);
|
||
}
|
||
if (motor_ch2) {
|
||
PWM_DEV(motor_ch2)->period = 8; //frequence = 32K/32/8 = 125hz
|
||
PWM_DEV(motor_ch2)->threshold_low = 3;
|
||
PWM_DEV(motor_ch2)->threshold_high = 6;
|
||
device_open(motor_ch2, DEVICE_OFLAG_STREAM_TX);
|
||
}
|
||
if (motor_ch3) {
|
||
PWM_DEV(motor_ch3)->period = 8; //frequence = 32K/32/8 = 125hz
|
||
PWM_DEV(motor_ch3)->threshold_low = 5;
|
||
PWM_DEV(motor_ch3)->threshold_high = 8;
|
||
device_open(motor_ch3, DEVICE_OFLAG_STREAM_TX);
|
||
}
|
||
pwm_channel_start(motor_ch0);
|
||
pwm_channel_start(motor_ch1);
|
||
pwm_channel_start(motor_ch2);
|
||
pwm_channel_start(motor_ch3);
|
||
|
||
while (1) {
|
||
motor_set_dir(CW);
|
||
bflb_platform_delay_ms(5000);
|
||
motor_set_dir(CCW);
|
||
bflb_platform_delay_ms(5000);
|
||
}
|
||
}
|