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chenged to 2 motor velocity-closed-loop; before testing

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4x-tech
2025-11-20 09:50:13 +08:00
parent dd8f7c006f
commit ed09f10c03
13 changed files with 276 additions and 261 deletions
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32
3rd/soft_i2c.c
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@@ -4,33 +4,47 @@
#define DELAY 1
#define SDA_PIN_SHIFT 9 // if pa.8 shift8 , if pa.9 shift 9
uint32_t SCL_PIN, SDA_PIN;
uint32_t SDA_IOMUX;
GPIO_Regs *PORT;
void Set_Ang_Sensor(int Mot) {
if (Mot == 0) {
PORT = SOFT_I2C_PORT;
SDA_IOMUX = SOFT_I2C_SDA_IOMUX;
SCL_PIN = SOFT_I2C_CLK_PIN;
SDA_PIN = SOFT_I2C_SDA_PIN;
} else if (Mot == 1) {
}
}
void I2C_ENABLE_OUTPUT_SDA(void) {
DL_GPIO_initDigitalOutput(SOFT_I2C_SDA_IOMUX);
DL_GPIO_enableOutput(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
DL_GPIO_initDigitalOutput(SDA_IOMUX);
DL_GPIO_enableOutput(PORT, SDA_PIN);
}
void I2C_ENABLE_INPUT_SDA(void) {
DL_GPIO_disableOutput(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
DL_GPIO_disableOutput(PORT, SDA_PIN);
DL_GPIO_initDigitalInputFeatures(
SOFT_I2C_SDA_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
SDA_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
}
void I2C_W_SCL(uint8_t BitValue) {
if (BitValue) {
DL_GPIO_setPins(SOFT_I2C_PORT, SOFT_I2C_CLK_PIN);
DL_GPIO_setPins(PORT, SCL_PIN);
} else {
DL_GPIO_clearPins(SOFT_I2C_PORT, SOFT_I2C_CLK_PIN);
DL_GPIO_clearPins(PORT, SCL_PIN);
}
delay_us(DELAY);
}
void I2C_W_SDA(uint8_t BitValue) {
if (BitValue) {
DL_GPIO_setPins(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
DL_GPIO_setPins(PORT, SDA_PIN);
} else {
DL_GPIO_clearPins(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
DL_GPIO_clearPins(PORT, SDA_PIN);
}
delay_us(DELAY);
}
@@ -38,7 +52,7 @@ void I2C_W_SDA(uint8_t BitValue) {
// 读取时钟线数据
uint8_t I2C_R_SDA(void) {
uint32_t BitValue;
BitValue = DL_GPIO_readPins(SOFT_I2C_PORT, SOFT_I2C_SDA_PIN);
BitValue = DL_GPIO_readPins(PORT, SDA_PIN);
return (uint8_t)(BitValue >> 9);
}