hulk/actuator_ctrl
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fix(timer):修复在输出高电平时，CCR=ARR情况下，驱动信号有毛刺。设置CCR=ARR+1，即可解决要输出高电平时的毛刺问题。

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yelvlab
2026-07-28 20:43:30 +08:00
parent 86351a7bcb
commit ffb8ba0329
3 changed files with 11 additions and 9 deletions
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Inc/actuator.h
+2
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@@ -5,6 +5,8 @@
#include "gd32e23x.h" #include "gd32e23x.h"
#include "stdbool.h" #include "stdbool.h"
#define ACTUARTOR_PERIOD_MAX 1000u
void actuator_init(void); void actuator_init(void);
void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_direction_t direction); void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_direction_t direction);
Src/actuator.c
+7 -7
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@@ -68,7 +68,7 @@ void actuator_init(void) {
void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_direction_t direction) { 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 (duty > ACTUARTOR_PERIOD_MAX) duty = ACTUARTOR_PERIOD_MAX; // Limit duty cycle to max value
if (direction != DIRECTION_PUSH && direction != DIRECTION_PULL) { if (direction != DIRECTION_PUSH && direction != DIRECTION_PULL) {
// Invalid direction, handle error if necessary // Invalid direction, handle error if necessary
@@ -86,7 +86,7 @@ void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_directi
} else if (direction == DIRECTION_PULL) { } else if (direction == DIRECTION_PULL) {
SEGGER_RTT_printf(0, "[ACTUATOR] 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 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)); timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, (ACTUARTOR_PERIOD_MAX - duty));
} }
} else if (channel == ACTUATOR_CH2) { } else if (channel == ACTUATOR_CH2) {
if (direction == DIRECTION_PUSH) { if (direction == DIRECTION_PUSH) {
@@ -96,7 +96,7 @@ void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_directi
} else if (direction == DIRECTION_PULL) { } else if (direction == DIRECTION_PULL) {
SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH2 PULL with duty %d\n", duty); 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 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)); timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, (ACTUARTOR_PERIOD_MAX - duty));
} }
} else { } else {
// Invalid channel, handle error if necessary // Invalid channel, handle error if necessary
@@ -110,17 +110,17 @@ void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_directi
void actuator_stop(actuator_channel_t channel) { void actuator_stop(actuator_channel_t channel) {
if(channel == ACTUATOR_CH1) { if(channel == ACTUATOR_CH1) {
SEGGER_RTT_printf(0, "[ACTUATOR] Stopping Actuator CH1\n"); 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 timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, ACTUARTOR_PERIOD_MAX); // Ensure CH1 is off
gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction High gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction High
} else if(channel == ACTUATOR_CH2) { } else if(channel == ACTUATOR_CH2) {
SEGGER_RTT_printf(0, "[ACTUATOR] Stopping Actuator CH2\n"); 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 timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, ACTUARTOR_PERIOD_MAX); // Ensure CH2 is off
gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction High gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction High
} else { } else {
// Invalid channel, handle error if necessary // Invalid channel, handle error if necessary
SEGGER_RTT_printf(0, "[ACTUATOR] Invalid channel specified for stop: %d\n", channel); 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_CH1_PWM_TIMER_CH, ACTUARTOR_PERIOD_MAX); // Ensure CH1 is off
timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 999); // Ensure CH2 is off timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, ACTUARTOR_PERIOD_MAX); // Ensure CH2 is off
gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction High 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 gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction High
} }
Src/command.c
+2 -2
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@@ -458,7 +458,7 @@ void handle_command(const uint8_t *frame, uint8_t len) {
return; return;
} }
if (p_val > (uint32_t)ACTUATOR_CH2 || s_val > 999u) { if (p_val > (uint32_t)ACTUATOR_CH2 || s_val > ACTUARTOR_PERIOD_MAX) {
send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err)); send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
return; return;
} }
@@ -480,7 +480,7 @@ void handle_command(const uint8_t *frame, uint8_t len) {
return; return;
} }
if (p_val > (uint32_t)ACTUATOR_CH2 || s_val > 999u) { if (p_val > (uint32_t)ACTUATOR_CH2 || s_val > ACTUARTOR_PERIOD_MAX) {
send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err)); send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
return; return;
} }