学习目标

  1. 实现舵机控制
  2. 实现板级舵机驱动

    学习内容

    原理图

    071.png
    8路PWM来控制舵机转动,需要用到timer1和timer2。

    驱动封装

    ```c

    ifndef _BSP_DOG_STEERING_H

    define _BSP_DOG_STEERING_H

include “gd32f4xx.h”

include “systick.h”

//PWM周期:1ms PWM频率:1000hz //预分频:10 1s: 240 000 000 pwm周期计数: 240 000 000/10000=24000

define TIMER_PRESCALER (240 - 1)

//pwm周期计数

define TIMER_PERIOD (20000 - 1)

//PWM0

define PWM0_RCU RCU_GPIOA

define PWM0_PORT GPIOA

define PWM0_PIN GPIO_PIN_3

define PWM0_AF GPIO_AF_1

define PWM0_CH TIMER_CH_3

//PWM1

define PWM1_RCU RCU_GPIOA

define PWM1_PORT GPIOA

define PWM1_PIN GPIO_PIN_2

define PWM1_AF GPIO_AF_1

define PWM1_CH TIMER_CH_2

//PWM2

define PWM2_RCU RCU_GPIOA

define PWM2_PORT GPIOA

define PWM2_PIN GPIO_PIN_0

define PWM2_AF GPIO_AF_1

define PWM2_CH TIMER_CH_0

//PWM3

define PWM3_RCU RCU_GPIOA

define PWM3_PORT GPIOA

define PWM3_PIN GPIO_PIN_1

define PWM3_AF GPIO_AF_1

define PWM3_CH TIMER_CH_1

//PWM4

define PWM4_RCU RCU_GPIOB

define PWM4_PORT GPIOB

define PWM4_PIN GPIO_PIN_4

define PWM4_AF GPIO_AF_2

define PWM4_CH TIMER_CH_0

//PWM5

define PWM5_RCU RCU_GPIOB

define PWM5_PORT GPIOB

define PWM5_PIN GPIO_PIN_5

define PWM5_AF GPIO_AF_2

define PWM5_CH TIMER_CH_1

//PWM6

define PWM6_RCU RCU_GPIOB

define PWM6_PORT GPIOB

define PWM6_PIN GPIO_PIN_0

define PWM6_AF GPIO_AF_2

define PWM6_CH TIMER_CH_2

//PWM7

define PWM7_RCU RCU_GPIOB

define PWM7_PORT GPIOB

define PWM7_PIN GPIO_PIN_1

define PWM7_AF GPIO_AF_2

define PWM7_CH TIMER_CH_3

//舵机的角度偏差

define a1 5

define a2 0

define a3 5

define a4 0

define a5 5

define a6 0

define a7 5

define a8 5

void bsp_dog_config(void); //控制每个舵机转动角度 void bsp_pwm0_angle(float angle); void bsp_pwm1_angle(float angle); void bsp_pwm2_angle(float angle); void bsp_pwm3_angle(float angle); void bsp_pwm4_angle(float angle); void bsp_pwm5_angle(float angle); void bsp_pwm6_angle(float angle); void bsp_pwm7_angle(float angle); //给定8个舵机角度 void bsp_dog_angles(double steering_angles[8]); //狗安装角度 void dog_install_angle(void);

endif

  1. ```c
  2. #include "bsp_dog_steering.h"
  4. static void timer1_config(void){
  5.     /*************** GPIO config **************/
  6.     //PA3
  7.     rcu_periph_clock_enable(PWM0_RCU);
  8.     gpio_mode_set(PWM0_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM0_PIN);
  9.     gpio_output_options_set(PWM0_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_MAX, PWM0_PIN);
  10.     gpio_af_set(PWM0_PORT, PWM0_AF, PWM0_PIN);
  12.     //PA2
  13.     rcu_periph_clock_enable(PWM1_RCU);
  14.     gpio_mode_set(PWM1_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM1_PIN);
  15.     gpio_output_options_set(PWM1_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_MAX, PWM1_PIN);
  16.     gpio_af_set(PWM1_PORT, PWM1_AF, PWM1_PIN);
  18.     //PA0
  19.     rcu_periph_clock_enable(PWM2_RCU);
  20.     gpio_mode_set(PWM2_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM2_PIN);
  21.     gpio_output_options_set(PWM2_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_MAX, PWM2_PIN);
  22.     gpio_af_set(PWM2_PORT, PWM2_AF, PWM2_PIN);
  24.     //PA1
  25.     rcu_periph_clock_enable(PWM3_RCU);
  26.     gpio_mode_set(PWM3_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM3_PIN);
  27.     gpio_output_options_set(PWM3_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_MAX, PWM3_PIN);
  28.     gpio_af_set(PWM3_PORT, PWM3_AF, PWM3_PIN);
  30.     /*************** Timer config *************/
  31.     // 时钟配置
  32.     rcu_periph_clock_enable(RCU_TIMER1);
  33.     // 复位定时器
  34.     timer_deinit(TIMER1);
  35.     // 倍频配置
  36.     rcu_timer_clock_prescaler_config(RCU_TIMER_PSC_MUL4);
  38.     // 初始化定时器
  39.     timer_parameter_struct tps;
  40.     timer_struct_para_init(&tps);
  42.     tps.prescaler = TIMER_PRESCALER; // 分频计数  240 000 000   预分频:10000  1s:24000
  43.     tps.period =  TIMER_PERIOD; // 周期计数  1s  
  44.     //定时器初始化
  45.     timer_init(TIMER1, &tps);
  47.     // pwm0
  48.     timer_oc_parameter_struct tops;
  49.     timer_channel_output_struct_para_init(&tops);
  50.     //输出OP的PWM
  51.     tops.outputstate  = TIMER_CCX_ENABLE;
  52.     timer_channel_output_config(TIMER1, PWM0_CH, &tops);
  53.     // 输出模式配置  TIMER_OC_MODE_PWM0有效点平是高电平
  54.     timer_channel_output_mode_config(TIMER1, PWM0_CH, TIMER_OC_MODE_PWM0);
  56.     // pwm1
  57.     timer_channel_output_struct_para_init(&tops);
  58.     //输出OP的PWM
  59.     tops.outputstate  = TIMER_CCX_ENABLE;
  60.     timer_channel_output_config(TIMER1, PWM1_CH, &tops);
  61.     // 输出模式配置  TIMER_OC_MODE_PWM0有效点平是高电平
  62.     timer_channel_output_mode_config(TIMER1, PWM1_CH, TIMER_OC_MODE_PWM0);
  64.     // pwm2
  65.     timer_channel_output_struct_para_init(&tops);
  66.     //输出OP的PWM
  67.     tops.outputstate  = TIMER_CCX_ENABLE;
  68.     timer_channel_output_config(TIMER1, PWM2_CH, &tops);
  69.     // 输出模式配置  TIMER_OC_MODE_PWM0有效点平是高电平
  70.     timer_channel_output_mode_config(TIMER1, PWM2_CH, TIMER_OC_MODE_PWM0);
  72.     // pwm3
  73.     timer_channel_output_struct_para_init(&tops);
  74.     //输出OP的PWM
  75.     tops.outputstate  = TIMER_CCX_ENABLE;
  76.     timer_channel_output_config(TIMER1, PWM3_CH, &tops);
  77.     // 输出模式配置  TIMER_OC_MODE_PWM0有效点平是高电平
  78.     timer_channel_output_mode_config(TIMER1, PWM3_CH, TIMER_OC_MODE_PWM0);
  80.     // 初始化
  81.     timer_enable(TIMER1);
  82. }
  84. static void timer2_config(void){
  85.     /*************** GPIO config **************/
  86.     //PB4
  87.     rcu_periph_clock_enable(PWM4_RCU);
  88.     gpio_mode_set(PWM4_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM4_PIN);
  89.     gpio_output_options_set(PWM4_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_MAX, PWM4_PIN);
  90.     gpio_af_set(PWM4_PORT, PWM4_AF, PWM4_PIN);
  92.     //PB5
  93.     rcu_periph_clock_enable(PWM5_RCU);
  94.     gpio_mode_set(PWM5_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM5_PIN);
  95.     gpio_output_options_set(PWM5_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_MAX, PWM5_PIN);
  96.     gpio_af_set(PWM5_PORT, PWM5_AF, PWM5_PIN);
  98.     //PB0
  99.     rcu_periph_clock_enable(PWM6_RCU);
  100.     gpio_mode_set(PWM6_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM6_PIN);
  101.     gpio_output_options_set(PWM6_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_MAX, PWM6_PIN);
  102.     gpio_af_set(PWM6_PORT, PWM6_AF, PWM6_PIN);
  104.     //PB1
  105.     rcu_periph_clock_enable(PWM7_RCU);
  106.     gpio_mode_set(PWM7_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM7_PIN);
  107.     gpio_output_options_set(PWM7_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_MAX, PWM7_PIN);
  108.     gpio_af_set(PWM7_PORT, PWM7_AF, PWM7_PIN);
  110.     /*************** Timer config *************/
  111.     // 时钟配置
  112.     rcu_periph_clock_enable(RCU_TIMER2);
  113.     // 复位定时器
  114.     timer_deinit(TIMER2);
  115.     // 倍频配置
  116.     rcu_timer_clock_prescaler_config(RCU_TIMER_PSC_MUL4);
  118.     // 初始化定时器
  119.     timer_parameter_struct tps;
  120.     timer_struct_para_init(&tps);
  122.     tps.prescaler = TIMER_PRESCALER; // 分频计数  240 000 000   预分频:10000  1s:24000
  123.     tps.period =  TIMER_PERIOD; // 周期计数  1s  
  124.     //定时器初始化
  125.     timer_init(TIMER2, &tps);
  127.     // pwm4
  128.     timer_oc_parameter_struct tops;
  129.     timer_channel_output_struct_para_init(&tops);
  130.     //输出OP的PWM
  131.     tops.outputstate  = TIMER_CCX_ENABLE;
  132.     timer_channel_output_config(TIMER2, PWM4_CH, &tops);
  133.     // 输出模式配置  TIMER_OC_MODE_PWM0有效点平是高电平
  134.     timer_channel_output_mode_config(TIMER2, PWM4_CH, TIMER_OC_MODE_PWM0);
  136.     // pwm5
  137.     timer_channel_output_struct_para_init(&tops);
  138.     //输出OP的PWM
  139.     tops.outputstate  = TIMER_CCX_ENABLE;
  140.     timer_channel_output_config(TIMER2, PWM5_CH, &tops);
  141.     // 输出模式配置  TIMER_OC_MODE_PWM0有效点平是高电平
  142.     timer_channel_output_mode_config(TIMER2, PWM5_CH, TIMER_OC_MODE_PWM0);
  144.     // pwm6
  145.     timer_channel_output_struct_para_init(&tops);
  146.     //输出OP的PWM
  147.     tops.outputstate  = TIMER_CCX_ENABLE;
  148.     timer_channel_output_config(TIMER2, PWM6_CH, &tops);
  149.     // 输出模式配置  TIMER_OC_MODE_PWM0有效点平是高电平
  150.     timer_channel_output_mode_config(TIMER2, PWM6_CH, TIMER_OC_MODE_PWM0);
  152.     // pwm7
  153.     timer_channel_output_struct_para_init(&tops);
  154.     //输出OP的PWM
  155.     tops.outputstate  = TIMER_CCX_ENABLE;
  156.     timer_channel_output_config(TIMER2, PWM7_CH, &tops);
  157.     // 输出模式配置  TIMER_OC_MODE_PWM0有效点平是高电平
  158.     timer_channel_output_mode_config(TIMER2, PWM7_CH, TIMER_OC_MODE_PWM0);
  160.     // 初始化
  161.     timer_enable(TIMER2);
  162. }
  164. void bsp_dog_config(void){
  165.     timer1_config();
  166.     timer2_config();
  167. }
  169. static void pwm0_update(float duty) {//0-100
  170.     //10 
  171.     uint32_t pulse =     (uint32_t)(duty*TIMER_PERIOD/100);
  172.     // 配置输出的占空比  占空比 计数值
  173.     timer_channel_output_pulse_value_config(TIMER1, PWM0_CH, pulse);
  174. }
  176. static void pwm1_update(float duty) {//0-100
  177.     //10 
  178.     uint32_t pulse =     (uint32_t)(duty*TIMER_PERIOD/100);
  179.     // 配置输出的占空比  占空比 计数值
  180.     timer_channel_output_pulse_value_config(TIMER1, PWM1_CH, pulse);
  181. }
  183. static void pwm2_update(float duty) {//0-100
  184.     //10 
  185.     uint32_t pulse =     (uint32_t)(duty*TIMER_PERIOD/100);
  186.     // 配置输出的占空比  占空比 计数值
  187.     timer_channel_output_pulse_value_config(TIMER1, PWM2_CH, pulse);
  188. }
  190. static void pwm3_update(float duty) {//0-100
  191.     //10 
  192.     uint32_t pulse =     (uint32_t)(duty*TIMER_PERIOD/100);
  193.     // 配置输出的占空比  占空比 计数值
  194.     timer_channel_output_pulse_value_config(TIMER1, PWM3_CH, pulse);
  195. }
  197. static void pwm4_update(float duty) {//0-100
  198.     //10 
  199.     uint32_t pulse =     (uint32_t)(duty*TIMER_PERIOD/100);
  200.     // 配置输出的占空比  占空比 计数值
  201.     timer_channel_output_pulse_value_config(TIMER2, PWM4_CH, pulse);
  202. }
  204. static void pwm5_update(float duty) {//0-100
  205.     //10 
  206.     uint32_t pulse =     (uint32_t)(duty*TIMER_PERIOD/100);
  207.     // 配置输出的占空比  占空比 计数值
  208.     timer_channel_output_pulse_value_config(TIMER2, PWM5_CH, pulse);
  209. }
  211. static void pwm6_update(float duty) {//0-100
  212.     //10 
  213.     uint32_t pulse =     (uint32_t)(duty*TIMER_PERIOD/100);
  214.     // 配置输出的占空比  占空比 计数值
  215.     timer_channel_output_pulse_value_config(TIMER2, PWM6_CH, pulse);
  216. }
  218. static void pwm7_update(float duty) {//0-100
  219.     //10 
  220.     uint32_t pulse =     (uint32_t)(duty*TIMER_PERIOD/100);
  221.     // 配置输出的占空比  占空比 计数值
  222.     timer_channel_output_pulse_value_config(TIMER2, PWM7_CH, pulse);
  223. }
  225. void bsp_pwm0_angle(float angle){
  226.     pwm0_update(2.5+(angle+a1)*10.0/180.0);
  227. }
  229. void bsp_pwm1_angle(float angle){
  230.     pwm1_update(2.5+(angle+a2)*10.0/180.0);
  231. }
  233. void bsp_pwm2_angle(float angle){
  234.     pwm2_update(2.5+(angle+a3)*10.0/180.0);
  235. }
  237. void bsp_pwm3_angle(float angle){
  238.     pwm3_update(2.5+(angle+a4)*10.0/180.0);
  239. }
  241. void bsp_pwm4_angle(float angle){
  242.     pwm4_update(2.5+(angle+a5)*10.0/180.0);
  243. }
  245. void bsp_pwm5_angle(float angle){
  246.     pwm5_update(2.5+(angle+a6)*10.0/180.0);
  247. }
  249. void bsp_pwm6_angle(float angle){
  250.     pwm6_update(2.5+(angle+a7)*10.0/180.0);
  251. }
  253. void bsp_pwm7_angle(float angle){
  254.     pwm7_update(2.5+(angle+a8)*10.0/180.0);
  255. }
  257. //给定8个舵机角度
  258. void bsp_dog_angles(double steering_angles[8]){
  259.     bsp_pwm0_angle(steering_angles[0]);
  260.     bsp_pwm1_angle(steering_angles[1]); 
  261.     bsp_pwm2_angle(steering_angles[2]);
  262.     bsp_pwm3_angle(steering_angles[3]);
  263.     bsp_pwm4_angle(steering_angles[4]);
  264.     bsp_pwm5_angle(steering_angles[5]);
  265.     bsp_pwm6_angle(steering_angles[6]);
  266.     bsp_pwm7_angle(steering_angles[7]);
  267. }
  269. //狗的安装角度
  270. void dog_install_angle(void){
  271.     bsp_pwm0_angle(90);
  272.     bsp_pwm1_angle(0); 
  273.     bsp_pwm2_angle(90);
  274.     bsp_pwm3_angle(0);
  275.     bsp_pwm4_angle(0);
  276.     bsp_pwm5_angle(90);
  277.     bsp_pwm6_angle(0);
  278.     bsp_pwm7_angle(90);
  279. }