#include "stdio.h"
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#include "stdarg.h"
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#include "string.h"
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#include "pwm_ctrol.h"
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#include "bluetooth.h"
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#include "stm32h7xx_it.h"
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#include "stm32h7xx_hal.h"
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#include "main.h"
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#include "mainex.h"
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#include "DBG.h"
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#include "Uart.h"
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#include "HIDO_Util.h"
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#define STATE_WAIT_RISING 0
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#define STATE_WAIT_FALLING 1
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uint32_t rising_time = 0;
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uint32_t falling_time = 0;
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uint32_t pulse_width_us = 0;
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uint8_t capture_state = STATE_WAIT_RISING;;
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// ÉèÖÃËùÓеç»úµ½Ö¸¶¨Õ¼¿Õ±È
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void set_all_pwm(uint16_t duty)
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{
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, duty);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, duty);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, duty);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_4, duty);
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, duty);
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, duty);
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__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, duty);
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__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, duty);
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}
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// Ïò×ó£ºÇ°ÂÖ×óת£¬ºóÂÖÓÒת
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void set_pwm_left()
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{
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 1000); // Ç°×ó
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 2000); // Ç°ÓÒ
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 2000); // ºó×ó
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 1000); // ºóÓÒ
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}
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// ÏòÓÒ£ºÇ°ÂÖÓÒת£¬ºóÂÖ×óת
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void set_pwm_right()
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{
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 2000); // Ç°×ó
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 1000); // Ç°ÓÒ
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 1000); // ºó×ó
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 2000); // ºóÓÒ
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}
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// Ó³É亯Êý£º½« [-100,100] Ó³Éäµ½ [1000,2000]
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uint32_t Map(int16_t input, int16_t in_min, int16_t in_max, uint32_t out_min, uint32_t out_max)
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{
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return (input - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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}
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// ÉèÖõç»ú PWM£¨Ç°½ø/ºóÍË£©
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void Set_Motor_PWM(int16_t speed)
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{
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static HIDO_UINT8 l_Motor[50];
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uint32_t pulse = Map(speed, -100, 100, 1000, 2000); // -100~100 ¡ú 1000~2000
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__HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL, pulse);
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HIDO_UtilSnprintf((HIDO_CHAR *)l_Motor, sizeof(l_Motor), "Motor cortrol:speed=%d,pulse=%d\r\n", speed,pulse);
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Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_Motor, strlen(l_Motor));
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}
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// ÉèÖÃתÏò PWM£¨×óת/ÓÒת£©
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void Set_Steering_PWM(int16_t steer)
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{
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static HIDO_UINT8 l_Steering[50];
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uint32_t pulse = Map(steer, -100, 100, 1000, 2000); // -100~100 ¡ú 1000~2000
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__HAL_TIM_SetCompare(&STEERING_TIM, STEERING_CHANNEL, pulse);
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HIDO_UtilSnprintf((HIDO_CHAR *)l_Steering, sizeof(l_Steering), "Steering cortrol:steer=%d,pulse=%d\r\n", steer,pulse);
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Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_Steering, strlen(l_Steering));
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}
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void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
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{
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static HIDO_UINT8 l_pulse_width[20];
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if (htim->Instance == TIM4)
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{
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uint32_t current_time = htim->Instance->CCR1;
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if (capture_state == STATE_WAIT_RISING)
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{
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// µ±Ç°ÊÇÉÏÉýÑØ ¡ú ¼Ç¼²¢Çл»µ½µÈ´ýϽµÑØ
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rising_time = current_time;
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// Çл»ÎªÏ½µÑØ´¥·¢
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htim->Instance->CCER &= ~TIM_CCER_CC1P; // ÉÏÉýÑØ
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htim->Instance->CCER |= TIM_CCER_CC1NP; // ¼ÓÉÏ NP ±íʾ·Ç·´Ïࣿʵ¼ÊӦʹÓü«ÐÔ¿ØÖƺ¯Êý
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// ¸üÍƼöʹÓà HAL º¯ÊýÉèÖü«ÐÔ
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__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);
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capture_state = STATE_WAIT_FALLING;
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}
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else if (capture_state == STATE_WAIT_FALLING)
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{
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// µ±Ç°ÊÇϽµÑØ ¡ú ¼ÆËã¸ßµçƽ¿í¶È
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uint32_t pulse_width = current_time - rising_time;
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if (pulse_width > 65535) // ³¬¹ý×î´óºÏÀíÖµ
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{
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pulse_width = 0; // »òÕß±ê¼ÇΪÎÞЧ
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}
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//printf("High Pulse Width: %lu ¦Ìs\n", pulse_width);
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HIDO_UtilSnprintf((HIDO_CHAR *)l_pulse_width, sizeof(l_pulse_width), "pulse_width=%d\r\n", pulse_width);
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Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_pulse_width, strlen(l_pulse_width));
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// ÇлØÉÏÉýÑØ´¥·¢
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__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
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capture_state = STATE_WAIT_RISING;
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}
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// Çå³ýÖжϱêÖ¾
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__HAL_TIM_CLEAR_IT(htim, TIM_IT_CC1);
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}
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}
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#if 0
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/**
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* @brief Update Callback (for overflow protection)
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*/
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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if (htim->Instance == TIM4)
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{
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// Ö»ÔÚ³¤Ê±¼äÎÞÏìӦʱ²ÅÖØÖÃ״̬
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static uint32_t last_reset_ms = 0;
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if (HAL_GetTick() - last_reset_ms > 100) // 100ms ³¬Ê±
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{
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capture_state = 0;
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__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
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last_reset_ms = HAL_Get_Tick();
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printf("TIM4 Overflow Reset (timeout)\r\n");
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}
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}
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}
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#endif
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#if 0
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void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
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{
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if (htim->Instance == TIM4 && htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
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{
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uint32_t current_value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
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if (capture_state == 0)
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{
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// ÉÏÉýÑØ£º¼Ç¼Æðʼʱ¼ä
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rising_time = current_value;
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printf("Rising Edge: %lu\r\n", rising_time);
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// Çл»ÎªÏ½µÑؼì²â
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__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);
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capture_state = 1;
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}
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else if (capture_state == 1)
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{
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// ϽµÑØ£º¼ÆËãÂö¿í
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falling_time = current_value;
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pulse_width_us = falling_time - rising_time;
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// ·ÀÖ¹¸ºÊý£¨·ÀÖ¹Òç³ö£©
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if (pulse_width_us > 65535) // ³¬¹ý×î´óºÏÀíÖµ
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{
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pulse_width_us = 0; // »òÕß±ê¼ÇΪÎÞЧ
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}
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printf("Falling Edge: %lu\r\n", falling_time);
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printf("Pulse Width: %lu ¦Ìs\r\n", pulse_width_us);
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// ÖØÐÂÉèÖÃΪÉÏÉýÑØ£¬µÈ´ýÏÂÒ»¸öÖÜÆÚ
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__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
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capture_state = 0;
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}
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}
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}
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#endif
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