1 /* 2 * Copyright (C) 2022 HiHope Open Source Organization . 3 * Licensed under the Apache License, Version 2.0 (the "License"); 4 * you may not use this file except in compliance with the License. 5 * You may obtain a copy of the License at 6 * 7 * http://www.apache.org/licenses/LICENSE-2.0 8 * 9 * Unless required by applicable law or agreed to in writing, software 10 * distributed under the License is distributed on an "AS IS" BASIS, 11 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 * See the License for the specific language governing permissions and 13 * 14 * limitations under the License. 15 */ 16 17 #include <stdio.h> 18 #include <stdlib.h> 19 #include <memory.h> 20 21 #include "ohos_init.h" 22 #include "cmsis_os2.h" 23 #include "iot_gpio.h" 24 #include "hi_io.h" 25 #include "hi_time.h" 26 27 #define GPIO2 2 28 #define COUNT 10 29 #define TASK_STAK_SIZE (1024*10) set_angle(unsigned int duty)30void set_angle(unsigned int duty) 31 { 32 unsigned int time = 20000; 33 IoTGpioSetDir(GPIO2, IOT_GPIO_DIR_OUT); 34 IoTGpioSetOutputVal(GPIO2, IOT_GPIO_VALUE1); 35 hi_udelay(duty); 36 IoTGpioSetOutputVal(GPIO2, IOT_GPIO_VALUE0); 37 hi_udelay(time - duty); 38 } 39 40 /* Turn 45 degrees to the left of the steering gear 41 1、依据角度与脉冲的关系，设置高电平时间为1000微秒 42 2、不断地发送信号，控制舵机向左旋转45度 43 */ engine_turn_left_45(void)44void engine_turn_left_45(void) 45 { 46 unsigned int angle = 1000; 47 for (int i = 0; i < COUNT; i++) { 48 set_angle(angle); 49 } 50 } 51 52 /* Turn 90 degrees to the left of the steering gear 53 1、依据角度与脉冲的关系，设置高电平时间为500微秒 54 2、不断地发送信号，控制舵机向左旋转90度 55 */ engine_turn_left_90(void)56void engine_turn_left_90(void) 57 { 58 unsigned int angle = 500; 59 for (int i = 0; i < COUNT; i++) { 60 set_angle(angle); 61 } 62 } 63 64 /* Turn 45 degrees to the right of the steering gear 65 1、依据角度与脉冲的关系，设置高电平时间为2000微秒 66 2、不断地发送信号，控制舵机向右旋转45度 67 */ engine_turn_right_45(void)68void engine_turn_right_45(void) 69 { 70 unsigned int angle = 2000; 71 for (int i = 0; i < COUNT; i++) { 72 set_angle(angle); 73 } 74 } 75 76 /* Turn 90 degrees to the right of the steering gear 77 1、依据角度与脉冲的关系，设置高电平时间为2500微秒 78 2、不断地发送信号，控制舵机向右旋转90度 79 */ engine_turn_right_90(void)80void engine_turn_right_90(void) 81 { 82 unsigned int angle = 2500; 83 for (int i = 0; i < COUNT; i++) { 84 set_angle(angle); 85 } 86 } 87 88 /* The steering gear is centered 89 1、依据角度与脉冲的关系，设置高电平时间为1500微秒 90 2、不断地发送信号，控制舵机居中 91 */ regress_middle(void)92void regress_middle(void) 93 { 94 unsigned int angle = 1500; 95 for (int i = 0; i < COUNT; i++) { 96 set_angle(angle); 97 } 98 } 99 100 /* 任务实现 */ RobotTask(void * parame)101void RobotTask(void* parame) 102 { 103 (void)parame; 104 printf("The steering gear is centered\r\n"); 105 regress_middle(); 106 } 107 108 RobotDemo(void)109static void RobotDemo(void) 110 { 111 osThreadAttr_t attr; 112 113 attr.name = "RobotTask"; 114 attr.attr_bits = 0U; 115 attr.cb_mem = NULL; 116 attr.cb_size = 0U; 117 attr.stack_mem = NULL; 118 attr.stack_size = TASK_STAK_SIZE; 119 attr.priority = osPriorityNormal; 120 121 if (osThreadNew(RobotTask, NULL, &attr) == NULL) { 122 printf("[RobotDemo] Failed to create RobotTask!\n"); 123 } 124 } 125 126 APP_FEATURE_INIT(RobotDemo); 127