hulk/actuator_ctrl
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fix(command):修复一些规范性问题，无实质修改。

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yelvlab
2026-07-28 20:21:06 +08:00
parent 15cf25a9e0
commit 86351a7bcb
2 changed files with 9 additions and 7 deletions
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Src/actuator.c
+4 -4
View File
@@ -111,17 +111,17 @@ void actuator_stop(actuator_channel_t channel) {
if(channel == ACTUATOR_CH1) {
SEGGER_RTT_printf(0, "[ACTUATOR] Stopping Actuator CH1\n");
timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, 999); // Ensure CH1 is off
gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction LOW
gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction High
} else if(channel == ACTUATOR_CH2) {
SEGGER_RTT_printf(0, "[ACTUATOR] Stopping Actuator CH2\n");
timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 999); // Ensure CH2 is off
gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction LOW
gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction High
} else {
// Invalid channel, handle error if necessary
SEGGER_RTT_printf(0, "[ACTUATOR] Invalid channel specified for stop: %d\n", channel);
timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, 999); // Ensure CH1 is off
timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 999); // Ensure CH2 is off
gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction LOW
gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction LOW
gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction High
gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction High
}
}
Src/command.c
+5 -3
View File
@@ -491,15 +491,17 @@ void handle_command(const uint8_t *frame, uint8_t len) {
return;
case 5u: // M5 stop actuator output
{
uint32_t p_val = 0;
bool has_p = find_parameter_value(cmd, cmd_len, 'P', &p_val);
if (!has_p || p_val > (uint32_t)ACTUATOR_CH2) {
send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
return;
}
SEGGER_RTT_printf(0, "[COMMAND] M5 Command(STOP): Actuator Channel=%u \n", p_val);
actuator_stop((actuator_channel_t)p_val);
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
SEGGER_RTT_printf(0, "[COMMAND] M5 Command(STOP): Actuator Channel=%u \n", p_val);
actuator_stop((actuator_channel_t)p_val);
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
}
return;
/* ==========================================