hulk/actuator_ctrl
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feature(actuator):添加推杆驱动函数新函数

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yelvlab
2026-07-28 19:45:00 +08:00
parent c8700aa353
commit f6ba273aff
2 changed files with 25 additions and 2 deletions
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Inc/actuator.h
+2
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@@ -9,4 +9,6 @@ void actuator_init(void);
void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_direction_t direction);
void actuator_stop(actuator_channel_t channel);
#endif // ACTUATOR_H
Src/actuator.c
+23 -2
View File
@@ -80,19 +80,21 @@ void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_directi
// 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);
SEGGER_RTT_printf(0, "[ACTUATOR] 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);
SEGGER_RTT_printf(0, "[ACTUATOR] 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) {
SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH2 PUSH with duty %d\n", duty);
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) {
SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH2 PULL with duty %d\n", duty);
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));
}
@@ -104,3 +106,22 @@ void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_directi
gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction LOW
}
}
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
} 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
} 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
}
}