第一次提交

2026-05-29 17:36:34 +08:00
commit 5b3333125d
1318 changed files with 722705 additions and 0 deletions
@@ -0,0 +1,78 @@
+#include "servo_motor.h"
+#include "stdlib.h"
+#include "memory.h"
+#include "bsp_log.h"
+uint8_t servo_angle_read[6]={0x55 ,0x55 ,0x04, 0x15 ,0x01 ,0x01 ,};
+uint8_t servo_angle_write[16]={0x55 ,0x55, 0x08, 0x03, 0x01 ,0xF4 ,0x01 ,0x01 ,0x20 ,0x03,0x55 ,0x55 ,0x04, 0x15 ,0x01 ,0x01 ,};
+uint8_t servo_unload[6]={0x55,0x55,0x04,0x14,0x01,0x01};
+
+/*第二版*/
+static ServoInstance *servo_motor_instance[SERVO_MOTOR_CNT];
+static uint8_t servo_idx = 0; // register servo_idx,是该文件的全局舵机索引,在注册时使用
+static void DecodeServo();
+// 通过此函数注册一个舵机
+ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config)
+{
+    ServoInstance *servo = (ServoInstance *)malloc(sizeof(ServoInstance));
+    memset(servo, 0, sizeof(ServoInstance));
+    USART_Init_Config_s config;
+    servo->servo_type = Servo_Init_Config->servo_type;
+    switch (Servo_Init_Config->servo_type)
+    {
+    case Bus_Servo:
+        config.module_callback = DecodeServo;
+        config.recv_buff_size = Servo_MAX_BUFF;
+        config.usart_handle = Servo_Init_Config->_handle;
+        servo->usart_instance = USARTRegister(&config);
+        break;
+    case PWM_Servo:
+        servo->pwm_instance = PWMRegister(&Servo_Init_Config->pwm_init_config);
+        break;
+    default:
+        LOGERROR("Servo type error");
+        break;
+    }
+    servo->servo_id = Servo_Init_Config->servo_id;
+    servo_idx++;
+    servo_motor_instance[servo->servo_id] = servo;
+
+    return servo;
+}
+//@todo PWM舵机的角度设置需要根据相应定时器PWM等参数进行计算(是否需要规范定时器PWM的初始化参数，以便于计算)
+void ServoSetAngle(ServoInstance *servo, float angle)
+{
+
+    switch (servo->servo_type)
+    {
+    case Bus_Servo:
+        servo_angle_write[8] = (uint16_t)angle&0xff;
+        servo_angle_write[9] = (uint16_t)angle>>8;
+        USARTSend(servo->usart_instance, servo_angle_write, 16, USART_TRANSFER_DMA);
+       // USARTSend(servo->usart_instance, servo_angle_read, 6, USART_TRANSFER_DMA);
+        break;
+    case PWM_Servo:
+        servo->angle = angle;
+        PWMSetDutyRatio(servo->pwm_instance, angle);
+        break;
+    default:
+        break;
+    }
+}
+
+//@todo 只读取了角度 还有电压，动作是否完成等 且只支持一个串口
+static void DecodeServo()
+{
+    for (uint8_t i = 0; i < servo_idx; i++)
+    {
+        if (servo_motor_instance[i]->servo_type == Bus_Servo)
+        {
+            if (servo_motor_instance[i]->usart_instance->recv_buff[0] == Servo_Frame_First && servo_motor_instance[i]->usart_instance->recv_buff[1] == Servo_Frame_Second)
+            {
+                if (servo_motor_instance[i]->usart_instance->recv_buff[3] == 21)
+                {
+                    servo_motor_instance[i]->recv_angle = (servo_motor_instance[i]->usart_instance->recv_buff[7] << 8 | servo_motor_instance[i]->usart_instance->recv_buff[6]);
+                }
+            }
+        }
+    }
+}
@@ -0,0 +1,45 @@
+#ifndef SERVO_MOTOR_H
+#define SERVO_MOTOR_H
+
+#include "main.h"
+#include "tim.h"
+#include <stdint-gcc.h>
+#include "bsp_pwm.h"
+#include "bsp_usart.h"
+
+#define SERVO_MOTOR_CNT 7
+#define Servo_Frame_First 0x55
+#define Servo_Frame_Second 0x55
+#define Servo_MAX_BUFF 10
+#define SERVO_MOVE_CMD 0x03
+#define SERVO_UNLOAD_CMD 0x14
+#define SERVO_POS_READ_CMD 0x15
+typedef enum
+{
+    Servo_None_Type = 0,
+    Bus_Servo = 1,
+    PWM_Servo = 2,
+}ServoType_e;
+
+
+/* 用于初始化不同舵机的结构体,各类舵机通用 */
+typedef struct
+{
+    PWM_Init_Config_s pwm_init_config;
+    ServoType_e servo_type;
+    UART_HandleTypeDef *_handle;
+    uint8_t servo_id;
+}Servo_Init_Config_s;
+typedef struct
+{   
+    uint8_t servo_id;
+    float angle;
+    uint16_t recv_angle;
+    PWMInstance *pwm_instance;
+    USARTInstance *usart_instance;
+    ServoType_e servo_type;
+}ServoInstance;
+
+ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config);
+void ServoSetAngle(ServoInstance *servo, float angle);
+#endif // SERVO_MOTOR_H
@@ -0,0 +1,23 @@
+##舵机的使用
+
+<p align='left' >panrui@hnu.edu.cn</p>
+
+> todo: 角度设置等需要规范化
+### 舵机基础知识
+
+已最常见的SG90舵机为例，SG90舵机要求工作在频率为50HZ——周期为20ms的PWM波，且对应信号的高低电平在0.5ms - 2.5ms之间，对应的舵机转动角度如下表所示（当然也可以按照这个线性的对应关系去达到转动自己想要的角度，如想要转动60°，则高电平脉宽为大概为1.2ms，具体能不能转到特定的角度还和舵机的精度有关）
+
+>0.5ms-------------0度； 2.5%
+>1.0ms------------45度； 5.0%
+>1.5ms------------90度； 7.5%
+>2.0ms-----------135度； 10.0%
+>2.5ms-----------180度； 12.5%
+
+根据`<font color=black size=3>Tout = (PSC+1)* (ARR+1)/Tclk</font>`公式
+则我们需要产生50Hz的PWM波，则预分频的系数为 Prescaler = 168-1，自动重装载值 Counter Period = 20000-1，此时定时器产生的频率为 168Mhz/168/20000 = 50Hz。  当然这个值也可以自己设置，只要满足产生的频率为50Hz即可.
+`__HAL_TIM_SET_COMPARE(htim, Channel, compare_value);`
+这是设置占空比的函数
+eg：当初始占空比为1200/20000则为6%，根据20*6%=1.2ms （1.2-0.5）/(2.5-0.5)*180=63° 故舵机会转动63° 
+为了方便通过上述eg我们将所需要的角度与PWM计数值对应关系封装成函数。需要在初始化的時候输入我们所需要的角度和相关定时器参数即可。这样我们就可以设置SG90为参数范围内(0~180°)任意度数。
+
+---