使用rt-thread pwm 框架实现支持电机正反转例子

#include  #include  #include  #define PWM_CHANNEL 1 #define PWM_PERIOD 20000 /* 20ms */ #define MOTOR_FORWARD 1 #define MOTOR_BACKWARD 0 struct motor_device { struct rt_device_pwm *pwm_device; rt_uint32_t channel; rt_uint32_t period; rt_uint32_t forward_duty; rt_uint32_t backward_duty; }; /* 初始化电机设备 */ static rt_err_t motor_init(struct motor_device *motor, const char *pwm_device_name) { /* 获取PWM设备 */ motor->pwm_device = (struct rt_device_pwm *) rt_device_find(pwm_device_name); if (motor->pwm_device == RT_NULL) { rt_kprintf("motor device %!s(MISSING) not found!\n", pwm_device_name); return -RT_ERROR; } motor->channel = PWM_CHANNEL; motor->period = PWM_PERIOD; motor->forward_duty = 0; /* 初始正转占空比为0%!(BADWIDTH)%!/(MISSING) motor->backward_duty = 0; /* 初始反转占空比为0%!(BADWIDTH)%!/(MISSING) /* 初始化PWM设备 */ rt_pwm_set(motor->pwm_device, motor->channel, motor->period, motor->forward_duty); return RT_EOK; } /* 设置电机正转占空比 */ static void motor_set_forward_duty(struct motor_device *motor, rt_uint32_t duty) { motor->forward_duty = duty; rt_pwm_set(motor->pwm_device, motor->channel, motor->period, motor->forward_duty); } /* 设置电机反转占空比 */ static void motor_set_backward_duty(struct motor_device *motor, rt_uint32_t duty) { motor->backward_duty = duty; rt_pwm_set(motor->pwm_device, motor->channel, motor->period, motor->backward_duty); } /* 控制电机正反转 */ static void motor_control(struct motor_device *motor, rt_uint8_t direction) { if (direction == MOTOR_FORWARD) { /* 正转 */ rt_pwm_set(motor->pwm_device, motor->channel, motor->period, motor->forward_duty); } else if (direction == MOTOR_BACKWARD) { /* 反转 */ rt_pwm_set(motor->pwm_device, motor->channel, motor->period, motor->backward_duty); } else { /* 停止 */ rt_pwm_set(motor->pwm_device, motor->channel, motor->period, 0); } } /* 电机测试函数 */ static void motor_test(struct motor_device *motor) { /* 正转1s，反转1s，停止1s */ motor_control(motor, MOTOR_FORWARD); rt_thread_mdelay(1000); motor_control(motor, MOTOR_BACKWARD); rt_thread_mdelay(1000); motor_control(motor, 2); rt_thread_mdelay(1000); } /* 电机设备对象 */ static struct motor_device motor; int motor_pwm_sample(void) { /* 初始化电机设备 */ motor_init(&motor, "pwm"); /* 测试电机 */ motor_test(&motor); return 0; }

在上述代码中，我们定义了一个motor_device结构体，用于保存电机的 PWM 设备、通道、周期、正转占空比和反转占空比等信息。motor_init函数用于初始化电机设备，其中我们通过rt_device_find函数获取 PWM 设备并保存到motor->pwm_device中。motor_set_forward_duty和motor_set_backward_duty函数用于设置电机正转和反转占空比，motor_control函数根据传入的参数控制电机正反转或停止。motor_test函数用于测试电机的正反转功能。 在主函数中，我们调用motor_init函数初始化电机设备，并调用motor_test函数测试电机的正反转功能。