【RT_thread英飞凌开发板】1.pwm驱动轮胎转动

1.新建工程

选择基于开发板为PSOC62-IFX-EVAL-KIT

BSP为1.0.3

选择RT_thread为5.0.1

2.硬件连接

硬件：L298N电机驱动

L298N	B2B	B2A	B1B	B1A	ENA	IN1	IN2	IN3	IN4	ENB
Port	5.0	5.1	11.2	11.3	11.4	11.5	5.6	5.7	0.5	0.2
功能	右电机编码器		左电机编码器		左轮PWM	左进	左退	右进	右退	右轮pwm
特殊功能					pwm0channel3					pwm0channel1

3.board/Kconfig设置

menuconfig BSP_USING_PWM0_CH1
    bool "Enable PWM0 channel1"
    default n
    if BSP_USING_PWM0_CH1
        config BSP_USING_PWM0_PORT0
        bool "Enable PWM0-PORT0 output pwm"
        default n
    endif
menuconfig BSP_USING_PWM0_CH3
    bool "Enable PWM0 channel3"
    default n
    if BSP_USING_PWM0_CH3
        config BSP_USING_PWM0_PORT11
        bool "Enable PWM0-PORT11 output pwm"
        default n
    endif

4.RT_thread设置

打开RT-thread settings，进入硬件，选中下列PWM项，保存退出

此时rtconfig.h中会出现

#define BSP_USING_PWM0
#define BSP_USING_PWM0_PORT0
#define BSP_USING_PWM0_CH1
#define BSP_USING_PWM0_CH3
#define BSP_USING_PWM0_PORT11

同时libraries/HAL_Drivers下会出现drv_pwm.h和drv_pwm.c

5.修改drv_pwm.h

仿照其他内容新增如下项

#ifndef PWM0_CH1_PORT0_CONFIG
#define PWM0_CH1_PORT0_CONFIG       \
    {                               \
        .name = "pwm0",             \
        .channel = 1,               \
        .gpio = GET_PIN(0, 2),      \
    }
#endif /* PWM0_CH1_PORT0_CONFIG */

#ifndef PWM0_CH3_PORT11_CONFIG
#define PWM0_CH3_PORT11_CONFIG       \
    {                               \
        .name = "pwm0",             \
        .channel = 3,               \
        .gpio = GET_PIN(11, 4),      \
    }
#endif /* PWM0_CH3_PORT11_CONFIG */

6.修改drv_pwm.c

新增第32行中的static struct ifx_pwm ifx_pwm_obj[]项如下：

#ifdef BSP_USING_PWM0_PORT0
    PWM0_CH0_PORT0_CONFIG,
    PWM0_CH1_PORT0_CONFIG,
#endif
    
#ifdef BSP_USING_PWM0_PORT11
    PWM0_CH3_PORT11_CONFIG,
#endif

7.相关rt_thread函数介绍

使用到的rt_thread函数介绍：

rt_device_find(const char* name)

       应用程序通过该接口查找到设备，然后使用I/O设备管理接口来访问硬件

rt_pwm_set(struct rt_device_pwm *device,

                int channel,

                rt_uint32_t period,

                rt_uint32_t  pulse);

       设置PWM周期和脉冲宽度

rt_pwm_enable(struct rt_device_pwm *device, int channel);

        使能PWM设备

8.PWM命令驱动两轮

#define PWM_DEV_NAME "pwm0"
#define PWM_DEV_CHANNEL 3
#define PWM1_DEV_NAME "pwm0"
#define PWM1_DEV_CHANNEL 1

struct rt_device_pwm *pwm_dev;
struct rt_device_pwm *pwm1_dev;

int pwm_init(void)
{
    rt_uint32_t period, pulse, dir;

    period = 1 * 1000 * 1000;
    dir = 1;
    pulse = 0;

    pwm_dev = (struct rt_device_pwm *)rt_device_find(PWM_DEV_NAME);
    pwm1_dev = (struct rt_device_pwm *)rt_device_find(PWM1_DEV_NAME);

    if (pwm_dev == RT_NULL)
    {
        rt_kprintf("pwm sample run failed! can't find %s device!\n", PWM_DEV_NAME);
        return -RT_ERROR;
    }

    rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period, pulse);
    rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL);
    rt_pwm_set(pwm1_dev, PWM1_DEV_CHANNEL, period, pulse);
    rt_pwm_enable(pwm1_dev, PWM1_DEV_CHANNEL);

    rt_kprintf("Now PWM[%s] Channel[%d] Period[%d] Pulse[%d]\n", PWM_DEV_NAME, PWM_DEV_CHANNEL, period, pulse);

    while (1)
    {
        rt_thread_mdelay(50);

        if (dir)
        {
            pulse += 100000;
        }
        else
        {
            pulse -= 100000;
        }

        if (pulse >= period)
        {
            dir = 0;
        }

        if (0 == pulse)
        {
            dir = 1;
        }

        rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period, pulse);
        rt_pwm_set(pwm1_dev, PWM1_DEV_CHANNEL, period, pulse);
    }
}

9.L298N初始化

#define IN1         GET_PIN(11, 5)
#define IN2         GET_PIN(5, 6)
#define IN3         GET_PIN(5, 7)
#define IN4         GET_PIN(0, 5)
#define left_run    {rt_pin_write(IN2, PIN_LOW);rt_pin_write(IN1, PIN_HIGH);}
#define right_run    {rt_pin_write(IN4, PIN_LOW);rt_pin_write(IN3, PIN_HIGH);}
#define left_back    {rt_pin_write(IN1, PIN_LOW);rt_pin_write(IN2, PIN_HIGH);}
#define right_back    {rt_pin_write(IN3, PIN_LOW);rt_pin_write(IN4, PIN_HIGH);}
#define left_stop       {rt_pin_write(IN2, PIN_LOW);rt_pin_write(IN1, PIN_LOW);}
#define right_stop      {rt_pin_write(IN4, PIN_LOW);rt_pin_write(IN3, PIN_LOW);}

void sys_init(void)
{
    rt_pin_mode(IN1, PIN_MODE_OUTPUT);
    rt_pin_mode(IN2, PIN_MODE_OUTPUT);
    rt_pin_mode(IN3, PIN_MODE_OUTPUT);
    rt_pin_mode(IN4, PIN_MODE_OUTPUT);
}

void run(void){
    left_run;
    right_run;
}

void back(void){
    left_back;
    right_back;
}

void stop(void){
    left_stop;
    right_stop;
}

 10.加入main函数中

int main(void)
{
    rt_pin_mode(LED_PIN, PIN_MODE_OUTPUT);
    sys_init();
    run();
    for (;;)
    {
        rt_pin_write(LED_PIN, PIN_HIGH);
        rt_thread_mdelay(500);
        pwm_init();
        rt_pin_write(LED_PIN, PIN_LOW);
        rt_thread_mdelay(500);
    }
}