GD32VW553-IOT V2驱动舵机

#include "gd32vw55x.h"

#include "systick.h"

#include <stdio.h>

#include "main.h"

#include "gd32vw553h_eval.h"



#include "bsp_sg90.h"



/*!

\brief toggle the led every 500ms

\param[in] none

\param[out] none

\retval none

*/

void led_spark(void)

{

static __IO uint32_t timingdelaylocal = 0U;



if(timingdelaylocal) {



if(timingdelaylocal < 500U) {

gd_eval_led_on(LED1);

} else {

gd_eval_led_off(LED1);

}



timingdelaylocal--;

} else {

timingdelaylocal = 1000U;

}

}



/*!

\brief main function

\param[in] none

\param[out] none

\retval none

*/

int main(void)

{

#ifdef __FIRMWARE_VERSION_DEFINE

uint32_t fw_ver = 0;

#endif /* __FIRMWARE_VERSION_DEFINE */



/* configure systick */

systick_config();

eclic_priority_group_set(ECLIC_PRIGROUP_LEVEL3_PRIO1);

/* initilize the LEDs, USART and key */

gd_eval_led_init(LED1);

gd_eval_com_init(EVAL_COM0);

gd_eval_key_init(KEY_TAMPER_WAKEUP, KEY_MODE_GPIO);



#ifdef __FIRMWARE_VERSION_DEFINE

fw_ver = gd32vw55x_firmware_version_get();

printf("\r\n= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =\r\n\n");

printf("\r\n=== Welcome to use the LC-GD32VW553-HMQ6 development board ====\r\n\n");

printf("\r\n= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =\r\n");

/* print firmware version */

printf("\r\nGD32VW55X series firmware version: V%d.%d.%d", (uint8_t)(fw_ver >> 24), (uint8_t)(fw_ver >> 16), (uint8_t)(fw_ver >> 8));

#endif /* __FIRMWARE_VERSION_DEFINE */



/* print out the clock frequency of system, AHB, APB1 and APB2 */

printf("\r\nCK_SYS is %d\r\n", rcu_clock_freq_get(CK_SYS));

printf("\r\nCK_AHB is %d\r\n", rcu_clock_freq_get(CK_AHB));

printf("\r\nCK_APB1 is %d\r\n", rcu_clock_freq_get(CK_APB1));

printf("\r\nCK_APB2 is %d\r\n", rcu_clock_freq_get(CK_APB2));



uint8_t i = 0;



SG90_Init();

printf("\r\nSG90 Init Success\r\n");



/* 先让舵机转到最大角度位置，等待1000ms */

Set_SG90_Servo_Angle(180);

delay_1ms(1000);

/* 再让舵机转到最小角度位置，等待1000ms */

Set_SG90_Servo_Angle(0);

delay_1ms(1000);

printf("\r\nSG90 Set Angle Success\r\n");



while(1)

{

Set_SG90_Servo_Angle(i);

i=i+30;

if( i >= 180 )

{

i = 0;

}

delay_1ms(500);

}

}



#include "bsp_sg90.h"



uint8_t Servo_Angle = 0; //舵机角度



/******************************************************************

配置占空比 范围 0 ~ (per-1)

t = 0.5ms-------------------舵机会转动 0 °

t = 1.0ms-------------------舵机会转动 45°

t = 1.5ms-------------------舵机会转动 90°

t = 2.0ms-------------------舵机会转动 135°

t = 2.5ms-------------------舵机会转动180°

******************************************************************/

/******************************************************************

* 函 数 名 称：Set_SG90_Servo_Angle

* 函 数 说 明：设置角度

* 函 数 形 参：angle=要设置的角度，范围0-180

* 函 数 返 回：无

******************************************************************/

void Set_SG90_Servo_Angle(uint32_t angle)

{

if(angle > 180)

{

angle = 180; // 限制角度在0到180度之间

}



Servo_Angle = angle;



// 计算PWM占空比

// 0.5ms对应的计数 ~= 500

// 2.5ms对应的计数 ~= 2500

float min_count = 500.0f;

float max_count = 2500.0f;

float range = max_count - min_count;

float ServoAngle = min_count + (((float)angle / 180.0f) * range);



timer_channel_output_pulse_value_config(BSP_PWM_TIMER, BSP_PWM_TIMER_CH, (uint32_t)ServoAngle);

}



/******************************************************************

* 函 数 名 称：读取当前角度

* 函 数 说 明：Get_SG90_Servo_Angle

* 函 数 形 参：无

* 函 数 返 回：当前角度

* 备 注：使用前必须确保之前使用过

Set_SG90_Servo_Angle

函数设置过角度

******************************************************************/

uint8_t Get_SG90_Servo_Angle(void)

{

return Servo_Angle;

}



/******************************************************************

* 函 数 名 称：SG90_Init

* 函 数 说 明：SG90舵机初始化

* 函 数 形 参：无

* 函 数 返 回：无

******************************************************************/

void SG90_Init(void)

{

/* 使能相关时钟 */

Module_RCU_Enable();



gpio_mode_set(BSP_PWM_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, BSP_PWM_PIN);

gpio_output_options_set(BSP_PWM_PORT,GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ,BSP_PWM_PIN);

/* 配置IO为定时器的通道 */

gpio_af_set(BSP_PWM_PORT, BSP_PWM_AF, BSP_PWM_PIN);



timer_parameter_struct timer_initpara; // 定义定时器结构体



/* 开启时钟 */

rcu_periph_clock_enable(BSP_PWM_TIMER_RCU); // 开启定时器时钟

/* CK_TIMERx = 2 x CK_APB1 = 2x80M = 160MHZ */

rcu_timer_clock_prescaler_config(RCU_TIMER_PSC_MUL2); // 配置定时器时钟

timer_deinit(BSP_PWM_TIMER); // 复位定时器



/* 配置定时器参数 */

timer_initpara.prescaler = 160-1; // 时钟预分频值 PSC_CLK= 160MHZ / 160 = 1MHZ

timer_initpara.alignedmode = TIMER_COUNTER_EDGE; // 边缘对齐

timer_initpara.counterdirection = TIMER_COUNTER_UP; // 向上计数

timer_initpara.period = 20000 -1; // 周期 T = 20000 T-time = 20ms f = 50HZ

/* 在输入捕获的时候使用 数字滤波器使用的采样频率之间的分频比例 */

timer_initpara.clockdivision = TIMER_CKDIV_DIV1; // 分频因子

/* 只有高级定时器才有。配置为x，就重复x+1次进入中断 */

timer_initpara.repetitioncounter = 0; // 重复计数器 0-255

timer_init(BSP_PWM_TIMER,&timer_initpara); // 初始化定时器



/* 使能定时器 */

timer_enable(BSP_PWM_TIMER);



/* 定义定时器输出参数 */

timer_oc_parameter_struct timer_ocintpara;

timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH; // 输出极性为高

timer_ocintpara.outputstate = TIMER_CCX_ENABLE; // 使能输出



/* 配置定时器输出功能 */

timer_channel_output_config(BSP_PWM_TIMER, BSP_PWM_TIMER_CH, &timer_ocintpara);



/* 配置定时器通道输出脉冲值 */

timer_channel_output_pulse_value_config(BSP_PWM_TIMER,BSP_PWM_TIMER_CH, 0);



/* 配置定时器通道输出比较模式 */

timer_channel_output_mode_config(BSP_PWM_TIMER,BSP_PWM_TIMER_CH,TIMER_OC_MODE_PWM0);



/* 配置定时器通道输出影子寄存器 */

timer_channel_output_shadow_config(BSP_PWM_TIMER,BSP_PWM_TIMER_CH,TIMER_OC_SHADOW_DISABLE);



/* 使能自动重载影子寄存器 */

timer_auto_reload_shadow_enable(BSP_PWM_TIMER);

}