wip

2025-12-06 23:49:34 +01:00
parent 0471607dd4
commit 9fd653ebcc
258 changed files with 161631 additions and 69041 deletions
--- a/workspace/AUTOM10/Core/Src/pwm.c
+++ b/workspace/AUTOM10/Core/Src/pwm.c
@@ -0,0 +1,137 @@
+/*
+ * pwm.c
+ *
+ *  Created on: Dec 6, 2025
+ *      Author: user
+ */
+
+
+#include "stm32f1xx_hal.h"
+#include "main.h"
+#include "pwm.h"
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim4;
+
+bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
+{
+    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
+
+    return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
+}
+
+void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
+	HAL_TIM_PWM_Stop(htim, Channel);
+}
+
+void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+	HAL_TIM_PWM_Start(htim, Channel);
+}
+
+void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
+	__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
+}
+
+void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
+	switch(mot){
+	case 1:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot1,FWMot1);
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot1, FWMot1)){
+				SetMotPwm(timMot1,FWMot1,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
+				StartMot(timMot1,FWMot1,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot1,BWMot1);
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot1, BWMot1)){
+				SetMotPwm(timMot1,BWMot1,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
+				StartMot(timMot1,BWMot1,pwmval);
+
+			}
+		}
+		break;
+	case 2:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot2,FWMot2);
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot2, FWMot2)){
+				SetMotPwm(timMot2,FWMot2,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
+				StartMot(timMot2,FWMot2,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot2,BWMot2);
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot2, BWMot2)){
+				SetMotPwm(timMot2,BWMot2,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
+				StartMot(timMot2,BWMot2,pwmval);
+			}
+		}
+		break;
+	case 3:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot3,FWMot3);
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot3, FWMot3)){
+				SetMotPwm(timMot3,FWMot3,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
+				StartMot(timMot3,FWMot3,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot3,BWMot3);
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot3, BWMot3)){
+				SetMotPwm(timMot3,BWMot3,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
+				StartMot(timMot3,BWMot3,pwmval);
+			}
+		}
+		break;
+	case 4:
+		if(dir==FW){
+			if(pwmval==0){
+				StopMot(timMot4,FWMot4);
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot4, FWMot4)){
+				SetMotPwm(timMot4,FWMot4,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
+				StartMot(timMot4,FWMot4,pwmval);
+			}
+		}else{
+			if(pwmval==0){
+				StopMot(timMot4,BWMot4);
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
+			}else if(IsPwmRunning(timMot4, BWMot4)){
+				SetMotPwm(timMot4,BWMot4,pwmval);
+			}else{
+				HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
+				StartMot(timMot4,BWMot4,pwmval);
+			}
+		}
+		break;
+	default:
+		break;
+	}
+
+}