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PWM Not working 

Signed-off-by: linuxes_mojoworld@aleeas.com <linuxes_mojoworld@aleeas.com>
This commit is contained in:
linuxes_mojoworld@aleeas.com 2023-11-21 17:06:55 +08:00
parent 7aa3ff6af3
commit 267f4bace5
3 changed files with 51 additions and 42 deletions
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10
frtos/motor/motor_init.h
View File

@ -77,23 +77,23 @@ motor_init(car_struct_t *car_struct)
gpio_set_function(PWM_PIN_RIGHT, GPIO_FUNC_PWM); gpio_set_function(PWM_PIN_RIGHT, GPIO_FUNC_PWM);
car_struct->p_left_motor->pwm.slice_num car_struct->p_left_motor->pwm.slice_num
= pwm_gpio_to_slice_num(PWM_PIN_LEFT); = pwm_gpio_to_slice_num(0);
car_struct->p_right_motor->pwm.slice_num car_struct->p_right_motor->pwm.slice_num
= pwm_gpio_to_slice_num(PWM_PIN_RIGHT); = pwm_gpio_to_slice_num(0);
// NOTE: PWM clock is 125MHz for raspberrypi pico w by default // NOTE: PWM clock is 125MHz for raspberrypi pico w by default
// 125MHz / 50 = 2500kHz // 125MHz / 50 = 2500kHz
pwm_set_clkdiv(car_struct->p_left_motor->pwm.slice_num, PWM_CLK_DIV); pwm_set_clkdiv(car_struct->p_left_motor->pwm.slice_num, PWM_CLK_DIV);
pwm_set_clkdiv(car_struct->p_right_motor->pwm.slice_num, PWM_CLK_DIV); // pwm_set_clkdiv(car_struct->p_right_motor->pwm.slice_num, PWM_CLK_DIV);
// L289N can accept up to 40kHz // L289N can accept up to 40kHz
// 2500kHz / 100 = 25kHz // 2500kHz / 100 = 25kHz
pwm_set_wrap(car_struct->p_left_motor->pwm.slice_num, (PWM_WRAP - 1U)); pwm_set_wrap(car_struct->p_left_motor->pwm.slice_num, (PWM_WRAP - 1U));
pwm_set_wrap(car_struct->p_right_motor->pwm.slice_num, (PWM_WRAP - 1U)); // pwm_set_wrap(car_struct->p_right_motor->pwm.slice_num, (PWM_WRAP - 1U));
pwm_set_enabled(car_struct->p_left_motor->pwm.slice_num, true); pwm_set_enabled(car_struct->p_left_motor->pwm.slice_num, true);
pwm_set_enabled(car_struct->p_right_motor->pwm.slice_num, true); // pwm_set_enabled(car_struct->p_right_motor->pwm.slice_num, true);
} }
/*! /*!

8
frtos/motor/motor_test.c
View File

@ -8,14 +8,16 @@ motor_control_task(void *params)
for (;;) for (;;)
{ {
set_wheel_direction(DIRECTION_FORWARD); set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct); set_wheel_speed_synced(99u, car_struct);
vTaskDelay(pdMS_TO_TICKS(1000));
set_wheel_speed_synced(50u, car_struct);
vTaskDelay(pdMS_TO_TICKS(10000)); vTaskDelay(pdMS_TO_TICKS(5000));
revert_wheel_direction(); revert_wheel_direction();
set_wheel_speed_synced(90u, car_struct); set_wheel_speed_synced(90u, car_struct);
vTaskDelay(pdMS_TO_TICKS(10000)); vTaskDelay(pdMS_TO_TICKS(5000));
} }
} }

75
frtos/rtos_car.c
View File

@ -33,30 +33,37 @@ void
motor_control_task(void *params) motor_control_task(void *params)
{ {
car_struct_t *car_struct = (car_struct_t *)params; car_struct_t *car_struct = (car_struct_t *)params;
car_struct->p_pid->use_pid = false;
set_wheel_direction(DIRECTION_FORWARD); set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct); // set_wheel_speed_synced(50u, car_struct);
pwm_set_chan_level(car_struct->p_left_motor->pwm.slice_num,
car_struct->p_left_motor->pwm.channel,
50u);
// pwm_set_chan_level(car_struct->p_right_motor->pwm.slice_num,
// car_struct->p_right_motor->pwm.channel,
// 50u);
for (;;) for (;;)
{ {
uint8_t temp = check_line_touch(car_struct); // uint8_t temp = check_line_touch(car_struct);
switch (temp) // switch (temp)
{ // {
default: // default:
break; // break;
case 0b01: // case 0b01:
car_struct->p_right_motor->speed.distance_cm // car_struct->p_right_motor->speed.distance_cm
-= SLOT_DISTANCE_CM; // -= SLOT_DISTANCE_CM;
break; // break;
case 0b10: // case 0b10:
car_struct->p_right_motor->speed.distance_cm // car_struct->p_right_motor->speed.distance_cm
+= SLOT_DISTANCE_CM; // += SLOT_DISTANCE_CM;
break; // break;
case 0b11: // case 0b11:
turn(DIRECTION_LEFT, 90u, 90u, car_struct); // turn(DIRECTION_LEFT, 90u, 90u, car_struct);
set_wheel_direction(DIRECTION_FORWARD); // set_wheel_direction(DIRECTION_FORWARD);
set_wheel_speed_synced(90u, car_struct); // set_wheel_speed_synced(90u, car_struct);
break; // break;
} // }
vTaskDelay(pdMS_TO_TICKS(25)); vTaskDelay(pdMS_TO_TICKS(25));
} }
@ -172,13 +179,13 @@ main(void)
sleep_ms(1000u); sleep_ms(1000u);
// control task // control task
// TaskHandle_t h_motor_turning_task_handle = NULL; TaskHandle_t h_motor_turning_task_handle = NULL;
// xTaskCreate(motor_control_task, xTaskCreate(motor_control_task,
// "motor_turning_task", "motor_turning_task",
// configMINIMAL_STACK_SIZE, configMINIMAL_STACK_SIZE,
// (void *)&car_struct, (void *)&car_struct,
// PRIO, PRIO,
// &h_motor_turning_task_handle); &h_motor_turning_task_handle);
// obs task // obs task
// TaskHandle_t h_obs_task_handle = NULL; // TaskHandle_t h_obs_task_handle = NULL;
@ -190,13 +197,13 @@ main(void)
// &h_obs_task_handle); // &h_obs_task_handle);
// turn task // turn task
TaskHandle_t h_turn_task_handle = NULL; // TaskHandle_t h_turn_task_handle = NULL;
xTaskCreate(turn_task, // xTaskCreate(turn_task,
"turn_task", // "turn_task",
configMINIMAL_STACK_SIZE, // configMINIMAL_STACK_SIZE,
(void *)&car_struct, // (void *)&car_struct,
PRIO, // PRIO,
&h_turn_task_handle); // &h_turn_task_handle);
// PID timer // PID timer
struct repeating_timer pid_timer; struct repeating_timer pid_timer;