add(actuator):添加推杆的驱动函数已经验证OK。

CMakeLists.txt

@@ -34,8 +34,9 @@ set(TARGET_SRC
     Src/led.c
     Src/uart_ring_buffer.c
     Src/command.c
-    Src/i2c.c
+    # Src/i2c.c
     Src/board_config.c
+    Src/actuator.c
 )
 
 # 设置输出目录

Inc/actuator.h

@@ -0,0 +1,12 @@
+#ifndef ACTUATOR_H
+#define ACTUATOR_H
+
+#include "board_config.h"
+#include "gd32e23x.h"
+#include "stdbool.h"
+
+void actuator_init(void);
+
+void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_direction_t direction);
+
+#endif // ACTUATOR_H

Inc/board_config.h

@@ -1,12 +1,15 @@
 #ifndef BOARD_CONFIG_H
 #define BOARD_CONFIG_H
 
-#ifndef DISABLE
+#include "gd32e23x.h"
-#define DISABLE 0
+#include "stdbool.h"
+
+#ifndef CFG_DISABLE
+#define CFG_DISABLE 0
 #endif
 
-#ifndef ENABLE
+#ifndef CFG_ENABLE
-#define ENABLE  1
+#define CFG_ENABLE  1
 #endif
 
 #define GD32E23XF4          0x10
@@ -19,25 +22,25 @@
 
 /* >>>>>>>>>>>>>>>>>>>>[IIC TYPE DEFINE]<<<<<<<<<<<<<<<<<<<< */
 
-#define SOFTWARE_IIC         DISABLE  // DISABLE: Hardware IIC; ENABLE: Software IIC
+#define SOFTWARE_IIC         CFG_DISABLE  // CFG_DISABLE: Hardware IIC; CFG_ENABLE: Software IIC
 
 /* >>>>>>>>>>>>>>>>>>>>[DEBUG MODE]<<<<<<<<<<<<<<<<<<<< */
 
-#define DEBUG_MODE           DISABLE  // DISABLE: Release Mode; ENABLE: Debug Mode
+#define DEBUG_MODE           CFG_DISABLE  // CFG_DISABLE: Release Mode; CFG_ENABLE: Debug Mode
 
 /* >>>>>>>>>>>>>>>>>>>>[COMMAND DEBUG]<<<<<<<<<<<<<<<<<<<< */
 
-#define COM_DEBUG            DISABLE  // DISABLE: Command debug off; ENABLE: Command debug on
+#define COM_DEBUG            CFG_DISABLE  // CFG_DISABLE: Command debug off; CFG_ENABLE: Command debug on
 
 /* >>>>>>>>>>>>>>>>>>>>[DEBUG ASSERTIONS DEFINE]<<<<<<<<<<<<<<<<<<<< */
 
-#define DEBUG_VERBOSE        DISABLE  // DISABLE: Verbose debug off; ENABLE: Verbose debug on
+#define DEBUG_VERBOSE        CFG_DISABLE  // CFG_DISABLE: Verbose debug off; CFG_ENABLE: Verbose debug on
 
 /* >>>>>>>>>>>>>>>>>>>>[SEGGER RTT DETECTION]<<<<<<<<<<<<<<<<<<<< */
 
-#define SEGGER_RTT_DETECTION ENABLE   // DISABLE: SEGGER RTT off; ENABLE: SEGGER RTT on
+#define SEGGER_RTT_DETECTION CFG_ENABLE   // CFG_DISABLE: SEGGER RTT off; CFG_ENABLE: SEGGER RTT on
 
-#if SEGGER_RTT_DETECTION == ENABLE
+#if SEGGER_RTT_DETECTION == CFG_ENABLE
   #include "SEGGER_RTT.h"
   #define RTT_printf(ch, ...)     SEGGER_RTT_printf(ch, __VA_ARGS__)
   #define RTT_WriteString(ch, s)  SEGGER_RTT_WriteString(ch, s)
@@ -67,13 +70,13 @@ void usart1_irq_handler(void);
 
 /******************************************************************************/
 
-#define RCU_GPIO_I2C         RCU_GPIOF
+// #define RCU_GPIO_I2C         RCU_GPIOF
-#define RCU_I2C              RCU_I2C0
+// #define RCU_I2C              RCU_I2C0
-#define I2C_SCL_PORT         GPIOF
+// #define I2C_SCL_PORT         GPIOF
-#define I2C_SCL_PIN          GPIO_PIN_1
+// #define I2C_SCL_PIN          GPIO_PIN_1
-#define I2C_SDA_PORT         GPIOF
+// #define I2C_SDA_PORT         GPIOF
-#define I2C_SDA_PIN          GPIO_PIN_0
+// #define I2C_SDA_PIN          GPIO_PIN_0
-#define I2C_GPIO_AF          GPIO_AF_1
+// #define I2C_GPIO_AF          GPIO_AF_1
 
 /******************************************************************************/
 
@@ -83,6 +86,40 @@ void usart1_irq_handler(void);
 
 /******************************************************************************/
 
+typedef enum {
+    ACTUATOR_CH1 = 0,
+    ACTUATOR_CH2
+} actuator_channel_t;
+
+typedef enum {
+    DIRECTION_PUSH = 0,  // 推动方向
+    DIRECTION_PULL   // 拉动方向
+} actuator_direction_t;
+
+/******************************************************************************/
+
+#define ACTUATOR_CH1_PWM_RCU        RCU_GPIOA
+#define ACTUATOR_CH1_PWM_PORT       GPIOA
+#define ACTUATOR_CH1_PWM_PIN        GPIO_PIN_10
+#define ACTUATOR_CH1_GPIO_RCU       RCU_GPIOF
+#define ACTUATOR_CH1_GPIO_PORT      GPIOF
+#define ACTUATOR_CH1_GPIO_PIN       GPIO_PIN_0
+
+#define ACTUATOR_CH2_PWM_RCU        RCU_GPIOA
+#define ACTUATOR_CH2_PWM_PORT       GPIOA
+#define ACTUATOR_CH2_PWM_PIN        GPIO_PIN_9
+#define ACTUATOR_CH2_GPIO_RCU       RCU_GPIOF
+#define ACTUATOR_CH2_GPIO_PORT      GPIOF
+#define ACTUATOR_CH2_GPIO_PIN       GPIO_PIN_1
+
+#define ACTUATOR_PWM_TIMER_RCU      RCU_TIMER0
+#define ACTUATOR_PWM_TIMER          TIMER0
+
+#define ACTUATOR_CH1_PWM_TIMER_CH   TIMER_CH_2
+#define ACTUATOR_CH2_PWM_TIMER_CH   TIMER_CH_1
+
+/******************************************************************************/
+
 #define UART_RCU             (g_usart_config.rcu_usart)
 #define UART_PHY             (g_usart_config.usart_periph)
 #define UART_IRQ             (g_usart_config.irq_type)

Src/actuator.c

@@ -0,0 +1,106 @@
+#include "actuator.h"
+
+void actuator_init(void) {
+    // Initialize PWM pins for actuators
+    rcu_periph_clock_enable(ACTUATOR_CH1_PWM_RCU);
+    rcu_periph_clock_enable(ACTUATOR_CH2_PWM_RCU);
+    rcu_periph_clock_enable(ACTUATOR_CH1_GPIO_RCU);
+    rcu_periph_clock_enable(ACTUATOR_CH2_GPIO_RCU);
+    // rcu_periph_clock_enable(PWM3_RCU);
+    // rcu_periph_clock_enable(PWM4_RCU);
+
+    rcu_periph_clock_enable(ACTUATOR_PWM_TIMER_RCU); // Enable clock for TIMER0
+
+    gpio_mode_set(ACTUATOR_CH1_PWM_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, ACTUATOR_CH1_PWM_PIN);
+    gpio_output_options_set(ACTUATOR_CH1_PWM_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, ACTUATOR_CH1_PWM_PIN);
+    gpio_af_set(ACTUATOR_CH1_PWM_PORT, GPIO_AF_2, ACTUATOR_CH1_PWM_PIN);
+
+    gpio_mode_set(ACTUATOR_CH2_PWM_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, ACTUATOR_CH2_PWM_PIN);
+    gpio_output_options_set(ACTUATOR_CH2_PWM_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, ACTUATOR_CH2_PWM_PIN);
+    gpio_af_set(ACTUATOR_CH2_PWM_PORT, GPIO_AF_2, ACTUATOR_CH2_PWM_PIN);
+
+    gpio_mode_set(ACTUATOR_CH1_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, ACTUATOR_CH1_GPIO_PIN);
+    gpio_output_options_set(ACTUATOR_CH1_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, ACTUATOR_CH1_GPIO_PIN);
+    gpio_bit_reset(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set initial state to LOW
+
+    gpio_mode_set(ACTUATOR_CH2_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, ACTUATOR_CH2_GPIO_PIN);
+    gpio_output_options_set(ACTUATOR_CH2_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, ACTUATOR_CH2_GPIO_PIN);
+    gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set initial state to LOW
+
+    // Additional actuator initialization code can be added here
+
+    // HSI = 72MHz , Freq Timer = 72MHz / (Prescaler + 1) / (Period + 1)
+    timer_deinit(ACTUATOR_PWM_TIMER);
+    timer_parameter_struct timer_initpara;
+    timer_initpara.prescaler            = 2; // 72MHz  / (2+1) = 24MHz
+    timer_initpara.alignedmode          = TIMER_COUNTER_EDGE;
+    timer_initpara.counterdirection     = TIMER_COUNTER_UP;
+    timer_initpara.period               = 999; // 24MHz / (999 + 1) = 24kHz
+    timer_initpara.clockdivision        = TIMER_CKDIV_DIV1;
+    timer_initpara.repetitioncounter    = 0;
+    timer_init(ACTUATOR_PWM_TIMER, &timer_initpara);
+
+    timer_oc_parameter_struct timer_ocinitpara;
+    timer_ocinitpara.ocpolarity          = TIMER_OC_POLARITY_HIGH;
+    timer_ocinitpara.outputstate        = TIMER_CCX_ENABLE;
+    timer_ocinitpara.outputnstate       = TIMER_CCXN_DISABLE;
+    timer_ocinitpara.ocpolarity         = TIMER_OC_POLARITY_HIGH;
+    timer_ocinitpara.ocnpolarity        = TIMER_OCN_POLARITY_HIGH;
+    timer_ocinitpara.ocidlestate        = TIMER_OC_IDLE_STATE_LOW;
+    timer_ocinitpara.ocnidlestate       = TIMER_OCN_IDLE_STATE_LOW;
+
+    // CH0
+    timer_channel_output_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, &timer_ocinitpara);
+    timer_channel_output_mode_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, TIMER_OC_MODE_PWM0);
+    timer_channel_output_shadow_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, TIMER_OC_SHADOW_ENABLE);
+    timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, 0);
+
+    // CH1
+    timer_channel_output_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, &timer_ocinitpara);
+    timer_channel_output_mode_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, TIMER_OC_MODE_PWM0);
+    timer_channel_output_shadow_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, TIMER_OC_SHADOW_ENABLE);
+    timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 0);
+
+    timer_auto_reload_shadow_enable(ACTUATOR_PWM_TIMER);
+    timer_primary_output_config(ACTUATOR_PWM_TIMER, ENABLE);
+    timer_enable(ACTUATOR_PWM_TIMER);
+}
+
+void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_direction_t direction) {
+
+    if (duty > 999) duty = 999; // Limit duty cycle to max value
+
+    if (direction != DIRECTION_PUSH && direction != DIRECTION_PULL) {
+        // Invalid direction, handle error if necessary
+        return;
+    }
+
+    // Set PWM output for the specified actuator channel
+    // This is a placeholder; actual implementation will depend on the PWM configuration
+    // For example, setting the duty cycle to a specific value to activate the actuator
+    if (channel == ACTUATOR_CH1) {
+        if (direction == DIRECTION_PUSH) {
+            SEGGER_RTT_printf(0, "Actuator CH1 PUSH with duty %d\n", duty);
+            gpio_bit_reset(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set direction LOW
+            timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, duty);
+        } else if (direction == DIRECTION_PULL) {
+            SEGGER_RTT_printf(0, "Actuator CH1 PULL with duty %d\n", duty);
+            gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN);   // Set direction HIGH
+            timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, (999 - duty));
+        }
+    } else if (channel == ACTUATOR_CH2) {
+        if (direction == DIRECTION_PUSH) {
+            gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set direction LOW
+            timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, duty);
+        } else if (direction == DIRECTION_PULL) {
+            gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN);   // Set direction HIGH
+            timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, (999 - duty));
+        }
+    } else {
+        // Invalid channel, handle error if necessary
+        timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, 0);    // Ensure CH1 is off
+        timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 0);    // Ensure CH2 is off
+        gpio_bit_reset(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction LOW
+        gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction LOW
+    }
+}

Src/command.c

@@ -21,6 +21,7 @@
 #include "gd32e23x_usart.h"
 #include "i2c.h"
 #include "core_cm23.h"
+#include "actuator.h"
 
 /* ============================================================================
  * 协议格式说明
@@ -67,15 +68,15 @@
 
 /** @name 响应帧标识符
  * @{ */
-#define RESP_HEADER               0xB5  /**< 响应帧包头标识 >**/
+#define RESP_HEADER               0xB5  /**< 响应帧包头标识 */
-#define RESP_TYPE_OK              0xF0  /**< 成功响应类型 >**/
+#define RESP_TYPE_OK              0xF0  /**< 成功响应类型 */
-#define RESP_TYPE_CRC_ERR         0xF1  /**< CRC校验错误 >**/
+#define RESP_TYPE_CRC_ERR         0xF1  /**< CRC校验错误 */
-#define RESP_TYPE_HEADER_ERR      0xF2  /**< 包头错误 >**/
+#define RESP_TYPE_HEADER_ERR      0xF2  /**< 包头错误 */
-#define RESP_TYPE_TYPE_ERR        0xF3  /**< 板类型错误 >**/
+#define RESP_TYPE_TYPE_ERR        0xF3  /**< 板类型错误 */
-#define RESP_TYPE_LEN_ERR         0xF4  /**< 长度错误 >**/
+#define RESP_TYPE_LEN_ERR         0xF4  /**< 长度错误 */
-#define RESP_TYPE_PARAM_ERR       0xFD  /**< 参数错误 >**/
+#define RESP_TYPE_PARAM_ERR       0xFD  /**< 参数错误 */
-#define RESP_TYPE_CMD_ERR         0xFE  /**< 命令错误 >**/
+#define RESP_TYPE_CMD_ERR         0xFE  /**< 命令错误 */
-#define RESP_TYPE_ERR             0xFF  /**< 通用错误 >**/
+#define RESP_TYPE_ERR             0xFF  /**< 通用错误 */
 /** @} */
 
 /* ============================================================================
@@ -101,7 +102,7 @@ void system_software_reset(void)
 }
 
 /* Debug output control */
-#if COM_DEBUG == ENABLE
+#if COM_DEBUG == CFG_ENABLE
     #include <stdio.h>
     #define COMMAND_DEBUG(fmt, ...) printf("[COMMAND] " fmt "\n", ##__VA_ARGS__)
 #else
@@ -565,7 +566,7 @@ void command_process(void) {
             // 到帧尾，进行各项校验
             bool verification_status = true;
 
-            #if DEBUG_VERBOSE == ENABLE
+            #if DEBUG_VERBOSE == CFG_ENABLE
             if (cmd_buf[0] != PROTOCOL_PACKAGE_HEADER) {
                 send_response(RESP_TYPE_HEADER_ERR, s_report_status_err, sizeof(s_report_status_err));
                 verification_status = false;

Src/main.c

@@ -41,6 +41,7 @@ OF SUCH DAMAGE.
 #include <stdio.h>
 #include "i2c.h"
 #include "board_config.h"
+#include "actuator.h"
 
 /*!
     \brief      main function
@@ -60,20 +61,24 @@ int main(void)
     uart_ring_buffer_init();
     uart_init();
 
-    i2c_config();
+    actuator_init();
 
-#if DEBUG_MODE == ENABLE
+    // actuator_output(ACTUATOR_CH1, 800, DIRECTION_PULL); // Set actuator channel 1 to high, channel 2 to low
+
+    // i2c_config();
+
+#if DEBUG_MODE == CFG_ENABLE
     printf("Hello World!\r\n");
 #endif
 
-#if SEGGER_RTT_DETECTION == ENABLE
+#if SEGGER_RTT_DETECTION == CFG_ENABLE
     RTT_printf(0, "Hello World!\r\n");
 #endif
 
-#if DEBUG_VERBOSE == ENABLE
+#if DEBUG_VERBOSE == CFG_ENABLE
-    i2c_scan();
+    // i2c_scan();
 
-    i2c_bus_reset();
+    // i2c_bus_reset();
 #endif
 
     /* ========== Command Testing ========== */