Gitee

https://gitee.com/WangXi_Chn/RttOs_ModuleLib

开发环境

CubeMX
MDK5 IDE
STM32F103C8T6 芯片
Stm32最小系统板
RT-Thread操作系统
面向对象模块接口设计
SG90舵机

硬件条件

  • PWM驱动配置成功
  • 定时器及通道对应正确

  • 舵机与单片机接线正常，供电正常

    核心思想

  • 将舵机模块封装（调用方式同前面的M3508电机）

  • 以绝对角度为控制量（初始位置已知）
  • 面向对象设计

    Module_Steering.h

    ```c /*
    • Copyright (c) 2020 - ~, HIT_HERO Team *
    • X-SPIDER APP HEAD FILE
    • Used in RT-Thread Operate System *
    • Change Logs:
    • Date Author Notes Mail
    • 2020-12-16 WangXi first version WangXi_chn@foxmail.com */

ifndef MODULE_STEERING_H

define MODULE_STEERING_H

include

include

include

enum TYPE_STEERING { SG90 = 0, TYPE_STEERING_END };

struct _MODULE_STEERING { / Property 初始化必要属性/ enum TYPE_STEERING Property_SteerType; //舵机类型（待扩充，决定了PWM参数配置） char * Property_PwmDevName; //pwm设备名，RTT配置所得 rt_uint8_t Property_PWM_CHANNEL; //pwm通道号，RTT配置所得

  1. rt_uint32_t Property_PulseMINus;            //舵机最小角度高电平时间
  2. rt_uint32_t Property_PulseMAXus;            //舵机最大角度高电平时间
  3. rt_int16_t  Property_AngleMAX;                //舵机最大角度
  4. rt_int16_t  Property_InitAngle;                //舵机初始角度
  7. /* Value 变量值*/
  8. rt_int16_t  Value_Angle;                    //舵机角度
  9. rt_uint32_t Value_PWM_PERIOD_NS;            //pwm脉冲周期
  10. rt_uint32_t Value_PWM_PULSE_NS;                //pwm脉冲高电平时间
  12. struct rt_device_pwm *pwm_dev;                //RTT的Pwm设备
  15. /* Method */
  16. void (*Method_Init)(struct _MODULE_STEERING *module);
  17. void (*Method_Enable)(struct _MODULE_STEERING *module);
  18. void (*Method_Disable)(struct _MODULE_STEERING *module);
  19. void (*Method_SetPulse)(struct _MODULE_STEERING *module,rt_uint32_t pwm_pulse_ns);
  20. void (*Method_SetAngle)(struct _MODULE_STEERING *module,rt_int16_t angle);

}; typedef struct _MODULE_STEERING MODULE_STEERING;

/ Glodal Method / rt_err_t Module_Steering_Config(MODULE_STEERING *Dev_Steering);

endif

/** (C) COPYRIGHT 2020 WANGXI **END OF FILE**/

  2. - 在使用前可单独编写代码段，调用Method_SetPulse方法
  3. - 来获取舵机的转动范围，及其对应的脉冲参数来决定Property_PulseMINus，Property_PulseMAXus的数值大小
  4. - Property_AngleMAX由舵机自身决定，一般为90、180、360
  5. - 舵机的各项参数都确定后，即可调用Method_SetAngle方法，驱动舵机转到指定角度
  6. <a name="WaQFh"></a>
  7. # Module_Steering.c
  8. ```c
  9. /*
  10.  * Copyright (c) 2020 - ~, HIT_HERO Team
  11.  *
  12.  * STEERING ENGINE MODULE SOUCE FILE
  13.  * Used in RT-Thread Operate System
  14.  *
  15.  * Change Logs:
  16.  * Date           Author       Notes                Mail
  17.  * 2020-12-18     WangXi       first version        WangXi_chn@foxmail.com
  18.  */
  20. #include "Module_Steering.h"
  22. /* Static Method */
  23. static void Module_SteeringInit(MODULE_STEERING *module);
  24. static void Module_SteeringEnable(MODULE_STEERING *module);
  25. static void Module_SteeringDisable(MODULE_STEERING *module);
  26. static void Module_SteeringSetPulse(MODULE_STEERING *module,rt_uint32_t pwm_pulse_ns);
  27. static void Module_SteeringSetAngle(MODULE_STEERING *module,rt_int16_t angle);
  29.  /* Global Method */
  30. rt_err_t Module_Steering_Config(MODULE_STEERING *Dev_Steering){
  31.     if(    Dev_Steering->Method_Init        ==    NULL &&
  32.         Dev_Steering->Method_SetPulse    ==    NULL &&
  33.         Dev_Steering->Method_Enable        ==     NULL &&
  34.         Dev_Steering->Method_Disable    ==    NULL &&
  35.         Dev_Steering->Method_SetAngle    ==     NULL 
  37.     ){  
  38.         /* Link the Method */
  39.         Dev_Steering->Method_Init         = Module_SteeringInit;
  40.         Dev_Steering->Method_Enable        = Module_SteeringEnable;
  41.         Dev_Steering->Method_Disable    = Module_SteeringDisable;
  42.         Dev_Steering->Method_SetPulse    = Module_SteeringSetPulse;
  43.         Dev_Steering->Method_SetAngle    = Module_SteeringSetAngle;
  45.     }
  46.     else{
  47.         rt_kprintf("Warning: Module Steering is Configed twice\n");
  48.         return RT_ERROR;
  49.     }
  51.     /* Device Init */
  52.     Dev_Steering->Method_Init(Dev_Steering);
  53.     return RT_EOK;
  54. }
  56. /* Static Method */
  57. static void Module_SteeringInit(MODULE_STEERING *module)
  58. {   
  59.     module->pwm_dev = (struct rt_device_pwm *)rt_device_find(module->Property_PwmDevName);
  61.     if (module->pwm_dev == RT_NULL)
  62.         rt_kprintf("pwm init failed! can't find pwm device!\n");
  64.     switch(module->Property_SteerType){
  65.         case SG90:
  66.             module->Value_PWM_PERIOD_NS = 20000000;//20ms = 20000000 ns
  67.             break;
  68.         case TYPE_STEERING_END:
  69.             break;
  70.         default:
  71.             break;
  72.     }
  74.     module->Method_SetAngle(module,module->Property_InitAngle);
  76. }
  78. static void Module_SteeringSetPulse(MODULE_STEERING *module,rt_uint32_t pwm_pulse_ns){   
  80.     module->Value_PWM_PULSE_NS = pwm_pulse_ns;
  81.     rt_pwm_set(    module->pwm_dev, module->Property_PWM_CHANNEL, 
  82.                 module->Value_PWM_PERIOD_NS, module->Value_PWM_PULSE_NS);
  84. }
  86. static void Module_SteeringEnable(MODULE_STEERING *module){
  88.     rt_pwm_enable(module->pwm_dev, module->Property_PWM_CHANNEL);
  90. }
  92. static void Module_SteeringDisable(MODULE_STEERING *module){
  94.     rt_pwm_disable(module->pwm_dev, module->Property_PWM_CHANNEL);
  96. }
  98. static void Module_SteeringSetAngle(MODULE_STEERING *module,rt_int16_t angle){
  100.     angle = angle >= module->Property_AngleMAX ? module->Property_AngleMAX:angle;
  101.     angle = angle <= 0 ? 0:angle;
  103.     module ->Value_Angle = angle;
  104.     double k = (module->Property_PulseMAXus - module->Property_PulseMINus)
  105.                 /module->Property_AngleMAX;
  107.     module->Value_PWM_PULSE_NS = 
  108.                 (k * module ->Value_Angle + module->Property_PulseMINus)*1000;
  110.     rt_pwm_set(    module->pwm_dev, module->Property_PWM_CHANNEL, 
  111.                 module->Value_PWM_PERIOD_NS, module->Value_PWM_PULSE_NS);
  113. }
  115.  /************************ (C) COPYRIGHT 2020 WANGXI **************END OF FILE****/

测试程序

  1. /*
  2.  * Copyright (c) 2006-2018, RT-Thread Development Team
  3.  *
  4.  * SPDX-License-Identifier: Apache-2.0
  5.  *
  6.  * Change Logs:
  7.  * Date           Author       Notes
  8.  * 2018-11-06     SummerGift   first version
  9.  */
  11. #include <rtthread.h>
  12. #include <rtdevice.h>
  13. #include <board.h>
  15. #include "Module_Steering.h"
  16. #include <stdlib.h>
  18. //     Steer Param Test-Part------------------------------------------    
  20. MODULE_STEERING module_steering = {
  21.     .Property_SteerType = SG90,
  22.     .Property_PwmDevName = "pwm2",
  23.     .Property_PWM_CHANNEL = 1,
  24.     .Property_PulseMINus = 600,
  25.     .Property_PulseMAXus = 2500,
  26.     .Property_AngleMAX = 180,
  27.     .Property_InitAngle = 0
  28. };
  30. void SteerPulse(int argc,char **argv)
  31. {
  33.     rt_uint32_t num = atoi(argv[1]); 
  34.     module_steering.Method_SetPulse(&module_steering,num*1000);
  36. }
  37. MSH_CMD_EXPORT(SteerPulse , SteerPulseUs <pulse>(500-2500)us);
  39. void SteerAngle(int argc,char **argv)
  40. {
  42.     rt_uint16_t Angle = atoi(argv[1]); 
  43.     module_steering.Method_SetAngle(&module_steering,Angle);
  45. }
  46. MSH_CMD_EXPORT(SteerAngle , SteerAngle <Angle>(0-MAX));
  49. int main(void)
  50. {
  52. //     Steer Param Test-Part------------------------------------------    
  54.     Module_Steering_Config(&module_steering);
  55.     module_steering.Method_Enable(&module_steering);
  57.     return 0;
  58. }