generated from hulk/gd32e23x_template_cmake_vscode
127 lines
7.6 KiB
C
127 lines
7.6 KiB
C
#include "actuator.h"
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void actuator_init(void) {
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// Initialize PWM pins for actuators
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rcu_periph_clock_enable(ACTUATOR_CH1_PWM_RCU);
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rcu_periph_clock_enable(ACTUATOR_CH2_PWM_RCU);
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rcu_periph_clock_enable(ACTUATOR_CH1_GPIO_RCU);
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rcu_periph_clock_enable(ACTUATOR_CH2_GPIO_RCU);
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// rcu_periph_clock_enable(PWM3_RCU);
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// rcu_periph_clock_enable(PWM4_RCU);
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rcu_periph_clock_enable(ACTUATOR_PWM_TIMER_RCU); // Enable clock for TIMER0
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gpio_mode_set(ACTUATOR_CH1_PWM_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, ACTUATOR_CH1_PWM_PIN);
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gpio_output_options_set(ACTUATOR_CH1_PWM_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, ACTUATOR_CH1_PWM_PIN);
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gpio_af_set(ACTUATOR_CH1_PWM_PORT, GPIO_AF_2, ACTUATOR_CH1_PWM_PIN);
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gpio_mode_set(ACTUATOR_CH2_PWM_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, ACTUATOR_CH2_PWM_PIN);
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gpio_output_options_set(ACTUATOR_CH2_PWM_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, ACTUATOR_CH2_PWM_PIN);
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gpio_af_set(ACTUATOR_CH2_PWM_PORT, GPIO_AF_2, ACTUATOR_CH2_PWM_PIN);
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gpio_mode_set(ACTUATOR_CH1_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, ACTUATOR_CH1_GPIO_PIN);
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gpio_output_options_set(ACTUATOR_CH1_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, ACTUATOR_CH1_GPIO_PIN);
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gpio_bit_reset(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set initial state to LOW
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gpio_mode_set(ACTUATOR_CH2_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, ACTUATOR_CH2_GPIO_PIN);
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gpio_output_options_set(ACTUATOR_CH2_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, ACTUATOR_CH2_GPIO_PIN);
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gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set initial state to LOW
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// Additional actuator initialization code can be added here
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// HSI = 72MHz , Freq Timer = 72MHz / (Prescaler + 1) / (Period + 1)
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timer_deinit(ACTUATOR_PWM_TIMER);
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timer_parameter_struct timer_initpara;
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timer_initpara.prescaler = 2; // 72MHz / (2+1) = 24MHz
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = 999; // 24MHz / (999 + 1) = 24kHz
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_initpara.repetitioncounter = 0;
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timer_init(ACTUATOR_PWM_TIMER, &timer_initpara);
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timer_oc_parameter_struct timer_ocinitpara;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
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timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
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timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
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// CH0
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timer_channel_output_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, &timer_ocinitpara);
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timer_channel_output_mode_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, TIMER_OC_SHADOW_ENABLE);
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, 0);
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// CH1
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timer_channel_output_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, &timer_ocinitpara);
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timer_channel_output_mode_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, TIMER_OC_SHADOW_ENABLE);
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 0);
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timer_auto_reload_shadow_enable(ACTUATOR_PWM_TIMER);
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timer_primary_output_config(ACTUATOR_PWM_TIMER, ENABLE);
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timer_enable(ACTUATOR_PWM_TIMER);
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}
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void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_direction_t direction) {
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if (duty > ACTUARTOR_PERIOD_MAX) duty = ACTUARTOR_PERIOD_MAX; // Limit duty cycle to max value
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if (direction != DIRECTION_PUSH && direction != DIRECTION_PULL) {
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// Invalid direction, handle error if necessary
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return;
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}
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// Set PWM output for the specified actuator channel
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// This is a placeholder; actual implementation will depend on the PWM configuration
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// For example, setting the duty cycle to a specific value to activate the actuator
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if (channel == ACTUATOR_CH1) {
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if (direction == DIRECTION_PUSH) {
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SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH1 PUSH with duty %d\n", duty);
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gpio_bit_reset(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set direction LOW
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, duty);
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} else if (direction == DIRECTION_PULL) {
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SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH1 PULL with duty %d\n", duty);
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gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set direction HIGH
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, (ACTUARTOR_PERIOD_MAX - duty));
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}
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} else if (channel == ACTUATOR_CH2) {
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if (direction == DIRECTION_PUSH) {
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SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH2 PUSH with duty %d\n", duty);
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gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set direction LOW
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, duty);
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} else if (direction == DIRECTION_PULL) {
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SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH2 PULL with duty %d\n", duty);
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gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set direction HIGH
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, (ACTUARTOR_PERIOD_MAX - duty));
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}
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} else {
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// Invalid channel, handle error if necessary
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, 0); // Ensure CH1 is off
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 0); // Ensure CH2 is off
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gpio_bit_reset(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction LOW
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gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction LOW
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}
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}
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void actuator_stop(actuator_channel_t channel) {
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if(channel == ACTUATOR_CH1) {
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SEGGER_RTT_printf(0, "[ACTUATOR] Stopping Actuator CH1\n");
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, ACTUARTOR_PERIOD_MAX); // Ensure CH1 is off
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gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction High
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} else if(channel == ACTUATOR_CH2) {
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SEGGER_RTT_printf(0, "[ACTUATOR] Stopping Actuator CH2\n");
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, ACTUARTOR_PERIOD_MAX); // Ensure CH2 is off
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gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction High
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} else {
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// Invalid channel, handle error if necessary
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SEGGER_RTT_printf(0, "[ACTUATOR] Invalid channel specified for stop: %d\n", channel);
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, ACTUARTOR_PERIOD_MAX); // Ensure CH1 is off
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timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, ACTUARTOR_PERIOD_MAX); // Ensure CH2 is off
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gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction High
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gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction High
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}
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} |