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feat: add real time follow mode

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This commit is contained in:
lgv 2026-04-27 10:33:16 +08:00
parent 5c2df72aa9
commit 0fd28b70ac
27 changed files with 488 additions and 230 deletions
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3
.config
View File

@ -1531,6 +1531,9 @@ CONFIG_BSP_UART3_TX_BUFSIZE=512
CONFIG_BSP_USING_PWM=y
CONFIG_BSP_USING_PWM1=y
CONFIG_BSP_USING_PWM1_CH1=y
CONFIG_BSP_USING_PWM1_CH2=y
CONFIG_BSP_USING_PWM1_CH3=y
CONFIG_BSP_USING_PWM1_CH4=y
CONFIG_BSP_USING_QSPI=y
CONFIG_BSP_USING_ADC=y
CONFIG_BSP_USING_ADC1=y

96
CMakeLists.txt
View File

@ -105,10 +105,10 @@ ADD_DEFINITIONS(
# Library source files
SET(RT_APP_ERPC_SOURCES
applications/erpc/service/src/servo_service_impl.cpp
applications/erpc/proto/generated/servo_service_server.cpp
applications/erpc/common/src/erpc_error_handler.cpp
applications/erpc/proto/generated/servo_service_server.cpp
applications/erpc/proto/generated/servo_service_interface.cpp
applications/erpc/service/src/servo_service_impl.cpp
applications/erpc/service/src/erpc_server_main.cpp
)
@ -118,12 +118,12 @@ SET(RT_APPLICATIONS_SOURCES
SET(RT_CHERRYUSB_SOURCES
rt-thread/components/drivers/usb/cherryusb/core/usbd_core.c
rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_msh.c
rt-thread/components/drivers/usb/cherryusb/osal/usb_osal_rtthread.c
rt-thread/components/drivers/usb/cherryusb/class/cdc/usbd_cdc_acm.c
rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_check.c
rt-thread/components/drivers/usb/cherryusb/port/dwc2/usb_glue_st.c
rt-thread/components/drivers/usb/cherryusb/port/dwc2/usb_dc_dwc2.c
rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_check.c
rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_msh.c
rt-thread/components/drivers/usb/cherryusb/port/dwc2/usb_glue_st.c
)
SET(RT_COMMON_SOURCES
@ -147,8 +147,8 @@ SET(RT_CONTROLLER_SOURCES
)
SET(RT_CPP_SOURCES
rt-thread/components/libc/cplusplus/cxx_crt_init.c
rt-thread/components/libc/cplusplus/cxx_crt.cpp
rt-thread/components/libc/cplusplus/cxx_crt_init.c
)
SET(RT_DEVICEDRIVERS_SOURCES
@ -188,30 +188,30 @@ SET(RT_DRIVERS_SOURCES
)
SET(RT_ERPC_SOURCES
packages/erpc-1.14.0/erpc_c/infra/erpc_message_loggers.cpp
packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
packages/erpc-1.14.0/erpc_c/port/erpc_threading_pthreads.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_server.cpp
packages/erpc-1.14.0/erpc_c/port/erpc_port_rtt.cpp
packages/erpc-1.14.0/erpc_c/setup/erpc_server_setup.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_simple_server.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_framed_transport.cpp
packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_static.cpp
packages/erpc-1.14.0/erpc_c/transports/erpc_usb_cdc_transport.cpp
packages/erpc-1.14.0/erpc_c/setup/erpc_setup_usb_cdc.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_transport_arbitrator.cpp
packages/erpc-1.14.0/erpc_c/transports/erpc_inter_thread_buffer_transport.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_crc16.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_basic_codec.cpp
packages/erpc-1.14.0/erpc_c/transports/erpc_usb_cdc_transport.cpp
packages/erpc-1.14.0/erpc_c/port/erpc_port_rtt.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_message_loggers.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_server.cpp
packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_static.cpp
packages/erpc-1.14.0/erpc_c/setup/erpc_setup_usb_cdc.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_simple_server.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_message_buffer.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_transport_arbitrator.cpp
packages/erpc-1.14.0/erpc_c/setup/erpc_server_setup.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_framed_transport.cpp
packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_basic_codec.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_crc16.cpp
packages/erpc-1.14.0/erpc_c/port/erpc_threading_pthreads.cpp
packages/erpc-1.14.0/erpc_c/infra/erpc_pre_post_action.cpp
)
SET(RT_FINSH_SOURCES
rt-thread/components/finsh/cmd.c
rt-thread/components/finsh/shell.c
rt-thread/components/finsh/msh_parse.c
rt-thread/components/finsh/msh.c
rt-thread/components/finsh/msh_parse.c
rt-thread/components/finsh/shell.c
)
SET(RT_KERNEL_SOURCES
@ -234,14 +234,14 @@ SET(RT_KERNEL_SOURCES
SET(RT_KLIBC_SOURCES
rt-thread/src/klibc/rt_vsscanf.c
rt-thread/src/klibc/kstdio.c
rt-thread/src/klibc/kstring.c
rt-thread/src/klibc/kerrno.c
rt-thread/src/klibc/kstdio.c
)
SET(RT_KTIME_SOURCES
rt-thread/components/drivers/ktime/src/boottime.c
rt-thread/components/drivers/ktime/src/hrtimer.c
rt-thread/components/drivers/ktime/src/boottime.c
rt-thread/components/drivers/ktime/src/cputimer.c
)
@ -255,35 +255,35 @@ SET(RT_LIBCPU_SOURCES
)
SET(RT_LIBRARIES_SOURCES
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_sram.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_lptim.c
libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rng.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_comp.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp_ex.c
libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cec.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_lptim.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_comp.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_sram.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp.c
libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c
)
SET(RT_POSIX_SOURCES
@ -301,9 +301,9 @@ SET(RT_POSIX_SOURCES
)
SET(RT_SERVO_CONTROL_SOURCES
applications/servo_manager/src/servo_control.cpp
applications/servo_manager/src/servo_manager.cpp
applications/servo_manager/src/servo_driver.cpp
applications/servo_manager/src/servo_control.cpp
)
SET(RT_UTC_UTEST_SOURCES

8
applications/common/type/servo_types.h
View File

@ -4,10 +4,12 @@
#ifndef RTTHREAD_SERVO_TYPES_H
#define RTTHREAD_SERVO_TYPES_H
enum class MotionMode
{
Immediate, // 直接到达
SCurve // S 曲线
Immediate,
SCurve,
Follow
};
#endif //RTTHREAD_SERVO_TYPES_H
#endif // RTTHREAD_SERVO_TYPES_H

10
applications/erpc/proto/generated/c_servo_service_client.cpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -28,6 +28,14 @@ bool setConstraints(const char * id, float max_velocity_rad, float max_accelerat
return result;
}
bool setPositionGain(const char * id, float position_gain)
{
bool result;
result = s_servo_service_client->setPositionGain(id, position_gain);
return result;
}
bool setMode(RpcMotionMode mode)
{
bool result;

13
applications/erpc/proto/generated/c_servo_service_client.h
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -25,16 +25,19 @@ enum _servo_service_ids
{
kservo_service_service_id = 1,
kservo_service_setConstraints_id = 1,
kservo_service_setMode_id = 2,
kservo_service_setUpdatePeriodMs_id = 3,
kservo_service_move_id = 4,
kservo_service_moveJ_id = 5,
kservo_service_setPositionGain_id = 2,
kservo_service_setMode_id = 3,
kservo_service_setUpdatePeriodMs_id = 4,
kservo_service_move_id = 5,
kservo_service_moveJ_id = 6,
};
//! @name servo_service
//@{
bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
bool setPositionGain(const char * id, float position_gain);
bool setMode(RpcMotionMode mode);
bool setUpdatePeriodMs(uint32_t ms);

10
applications/erpc/proto/generated/c_servo_service_server.cpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -29,6 +29,14 @@ class servo_service_server: public servo_service_interface
return result;
}
bool setPositionGain(const char * id, float position_gain)
{
bool result;
result = ::setPositionGain(id, position_gain);
return result;
}
bool setMode(RpcMotionMode mode)
{
bool result;

13
applications/erpc/proto/generated/c_servo_service_server.h
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -26,16 +26,19 @@ enum _servo_service_ids
{
kservo_service_service_id = 1,
kservo_service_setConstraints_id = 1,
kservo_service_setMode_id = 2,
kservo_service_setUpdatePeriodMs_id = 3,
kservo_service_move_id = 4,
kservo_service_moveJ_id = 5,
kservo_service_setPositionGain_id = 2,
kservo_service_setMode_id = 3,
kservo_service_setUpdatePeriodMs_id = 4,
kservo_service_move_id = 5,
kservo_service_moveJ_id = 6,
};
//! @name servo_service
//@{
bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
bool setPositionGain(const char * id, float position_gain);
bool setMode(RpcMotionMode mode);
bool setUpdatePeriodMs(uint32_t ms);

71
applications/erpc/proto/generated/servo_service_client.cpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -162,6 +162,75 @@ bool servo_service_client::setConstraints(const char * id, float max_velocity_ra
return result;
}
// servo_service interface setPositionGain function client shim.
bool servo_service_client::setPositionGain(const char * id, float position_gain)
{
erpc_status_t err = kErpcStatus_Success;
bool result;
#if ERPC_PRE_POST_ACTION
pre_post_action_cb preCB = m_clientManager->getPreCB();
if (preCB)
{
preCB();
}
#endif
// Get a new request.
RequestContext request = m_clientManager->createRequest(false);
// Encode the request.
Codec * codec = request.getCodec();
if (codec == NULL)
{
err = kErpcStatus_MemoryError;
}
else
{
codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setPositionGainId, request.getSequence());
{
uint32_t id_len = strlen((const char*)id);
codec->writeString(id_len, (const char*)id);
}
codec->write(position_gain);
// Send message to server
// Codec status is checked inside this function.
m_clientManager->performRequest(request);
codec->read(result);
err = codec->getStatus();
}
// Dispose of the request.
m_clientManager->releaseRequest(request);
// Invoke error handler callback function
m_clientManager->callErrorHandler(err, m_setPositionGainId);
#if ERPC_PRE_POST_ACTION
pre_post_action_cb postCB = m_clientManager->getPostCB();
if (postCB)
{
postCB();
}
#endif
if (err != kErpcStatus_Success)
{
result = false;
}
return result;
}
// servo_service interface setMode function client shim.
bool servo_service_client::setMode(RpcMotionMode mode)
{

4
applications/erpc/proto/generated/servo_service_client.hpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -24,6 +24,8 @@ class servo_service_client: public servo_service_interface
virtual bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
virtual bool setPositionGain(const char * id, float position_gain);
virtual bool setMode(RpcMotionMode mode);
virtual bool setUpdatePeriodMs(uint32_t ms);

5
applications/erpc/proto/generated/servo_service_common.h
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -31,7 +31,8 @@ extern "C"
typedef enum RpcMotionMode
{
RpcMotionModeImmediate = 0,
RpcMotionModeSCurve = 1
RpcMotionModeSCurve = 1,
RpcMotionModeFollow = 2
} RpcMotionMode;
// Aliases data types declarations

5
applications/erpc/proto/generated/servo_service_common.hpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -26,7 +26,8 @@
typedef enum RpcMotionMode
{
RpcMotionModeImmediate = 0,
RpcMotionModeSCurve = 1
RpcMotionModeSCurve = 1,
RpcMotionModeFollow = 2
} RpcMotionMode;
// Aliases data types declarations

2
applications/erpc/proto/generated/servo_service_interface.cpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/

13
applications/erpc/proto/generated/servo_service_interface.hpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -20,15 +20,18 @@ class servo_service_interface
public:
static const uint8_t m_serviceId = 1;
static const uint8_t m_setConstraintsId = 1;
static const uint8_t m_setModeId = 2;
static const uint8_t m_setUpdatePeriodMsId = 3;
static const uint8_t m_moveId = 4;
static const uint8_t m_moveJId = 5;
static const uint8_t m_setPositionGainId = 2;
static const uint8_t m_setModeId = 3;
static const uint8_t m_setUpdatePeriodMsId = 4;
static const uint8_t m_moveId = 5;
static const uint8_t m_moveJId = 6;
virtual ~servo_service_interface(void);
virtual bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad) = 0;
virtual bool setPositionGain(const char * id, float position_gain) = 0;
virtual bool setMode(RpcMotionMode mode) = 0;
virtual bool setUpdatePeriodMs(uint32_t ms) = 0;

71
applications/erpc/proto/generated/servo_service_server.cpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -166,6 +166,12 @@ erpc_status_t servo_service_service::handleInvocation(uint32_t methodId, uint32_
break;
}
case servo_service_interface::m_setPositionGainId:
{
erpcStatus = setPositionGain_shim(codec, messageFactory, transport, sequence);
break;
}
case servo_service_interface::m_setModeId:
{
erpcStatus = setMode_shim(codec, messageFactory, transport, sequence);
@ -269,6 +275,69 @@ erpc_status_t servo_service_service::setConstraints_shim(Codec * codec, MessageB
return err;
}
// Server shim for setPositionGain of servo_service interface.
erpc_status_t servo_service_service::setPositionGain_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
{
erpc_status_t err = kErpcStatus_Success;
char * id = NULL;
float position_gain;
bool result;
// startReadMessage() was already called before this shim was invoked.
{
uint32_t id_len;
char * id_local;
codec->readString(id_len, &id_local);
id = (char*) erpc_malloc((id_len + 1) * sizeof(char));
if ((id == NULL) || (id_local == NULL))
{
codec->updateStatus(kErpcStatus_MemoryError);
}
else
{
memcpy(id, id_local, id_len);
(id)[id_len] = 0;
}
}
codec->read(position_gain);
err = codec->getStatus();
if (err == kErpcStatus_Success)
{
// Invoke the actual served function.
#if ERPC_NESTED_CALLS_DETECTION
nestingDetection = true;
#endif
result = m_handler->setPositionGain(id, position_gain);
#if ERPC_NESTED_CALLS_DETECTION
nestingDetection = false;
#endif
// preparing MessageBuffer for serializing data
err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
}
if (err == kErpcStatus_Success)
{
// preparing codec for serializing data
codec->reset(transport->reserveHeaderSize());
// Build response message.
codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setPositionGainId, sequence);
codec->write(result);
err = codec->getStatus();
}
erpc_free(id);
return err;
}
// Server shim for setMode of servo_service interface.
erpc_status_t servo_service_service::setMode_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
{

5
applications/erpc/proto/generated/servo_service_server.hpp
View File

@ -1,5 +1,5 @@
/*
* Generated by erpcgen 1.14.0 on Wed Apr 22 16:48:46 2026.
* Generated by erpcgen 1.14.0 on Thu Apr 23 10:54:10 2026.
*
* AUTOGENERATED - DO NOT EDIT
*/
@ -42,6 +42,9 @@ private:
/*! @brief Server shim for setConstraints of servo_service interface. */
erpc_status_t setConstraints_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
/*! @brief Server shim for setPositionGain of servo_service interface. */
erpc_status_t setPositionGain_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
/*! @brief Server shim for setMode of servo_service interface. */
erpc_status_t setMode_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);

6
applications/erpc/proto/servo_service.erpc
View File

@ -2,12 +2,14 @@
// Generator examples:
// .\erpcgen.exe -o .\generated\ -g c .\servo_service.erpc
// .\erpcgen.exe -g py .\servo_service.erpc
// 注意：interface 客户端和服务端erpc里面的函数顺序一定要一样
program servo_service
enum RpcMotionMode {
RpcMotionModeImmediate = 0,
RpcMotionModeSCurve = 1
RpcMotionModeSCurve = 1,
RpcMotionModeFollow = 2
}
struct ServoCmd {
string id
@ -19,6 +21,8 @@ interface servo_service
float max_velocity_rad,
float max_acceleration_rad,
float max_jerk_rad) -> bool
setPositionGain(string id,
float position_gain) -> bool
setMode(RpcMotionMode mode)->bool
setUpdatePeriodMs(uint32 ms) -> bool

2
applications/erpc/service/include/servo_service_impl.h
View File

@ -25,6 +25,8 @@ public:
float max_velocity_rad,
float max_acceleration_rad,
float max_jerk_rad) override;
bool setPositionGain(const char* id,
float position_gain) override;
bool setMode(RpcMotionMode mode) override;
bool setUpdatePeriodMs(uint32_t ms) override;
int32_t move(const list_ServoCmd_1_t* cmds) override;

55
applications/erpc/service/src/servo_service_impl.cpp
View File

@ -8,6 +8,9 @@
const std::vector<ServoDriver::Config> ServoServiceImpl::kServoCfg = {
{"eye_l_up", "pwm1", 1, 20000000, 500000, 2500000, -0.5f * PI, 0.5f * PI, 0.0f},
{"eye_r_up", "pwm1", 2, 20000000, 500000, 2500000, -0.5f * PI, 0.5f * PI, 0.0f},
{"eye_l_down", "pwm1", 3, 20000000, 500000, 2500000, -0.5f * PI, 0.5f * PI, 0.0f},
{"eye_r_down", "pwm1", 4, 20000000, 500000, 2500000, -0.5f * PI, 0.5f * PI, 0.0f},
// {"eye_r_up", "pwm1", 2, 20000000, 500000, 2500000, 0.0f, kPi, 0.5f * kPi},
// ...
};
@ -31,7 +34,7 @@ ServoServiceImpl::ServoServiceImpl()
return;
}
manager_.setUpdatePeriodMs(1);
manager_.setUpdatePeriodMs(10);
for (const auto& cfg : kServoCfg) {
ServoControl* servo = manager_.get(cfg.servo_id);
@ -42,9 +45,9 @@ ServoServiceImpl::ServoServiceImpl()
}
servo->setConstraints(
3.14,
31.4,
31.4);
6.28,
100,
500);
}
init_err_ = manager_.start();
@ -103,6 +106,41 @@ bool ServoServiceImpl::setConstraints(const char* id,
return true;
}
bool ServoServiceImpl::setPositionGain(const char* id, float position_gain)
{
if (init_err_ != RT_EOK) {
rt_kprintf("[ServoService][E] setPositionGain: service not ready, init_err=%d\n",
(int)init_err_);
return false;
}
if (!id) {
rt_kprintf("[ServoService][E] setPositionGain: id is null\n");
return false;
}
if (position_gain < 0.0f) {
rt_kprintf("[ServoService][E] setPositionGain: invalid gain, id=%s gain=%.4f\n",
id,
(double)position_gain);
return false;
}
ServoControl* servo = manager_.get(std::string(id));
if (!servo) {
rt_kprintf("[ServoService][E] setPositionGain: servo not found, id=%s\n", id);
return false;
}
servo->setPositionGain(position_gain);
manager_.wake();
rt_kprintf("[ServoService] setPositionGain: id=%s gain=%.4f\n",
id,
(double)position_gain);
return true;
}
bool ServoServiceImpl::setMode(RpcMotionMode mode)
{
if (init_err_ != RT_EOK) {
@ -117,13 +155,16 @@ bool ServoServiceImpl::setMode(RpcMotionMode mode)
}
MotionMode motion_mode;
switch (mode) {
switch (static_cast<int>(mode)) {
case RpcMotionModeImmediate:
motion_mode = MotionMode::Immediate;
break;
case RpcMotionModeSCurve:
motion_mode = MotionMode::SCurve;
break;
case 2:
motion_mode = MotionMode::Follow;
break;
default:
rt_kprintf("[ServoService][E] setMode: invalid mode=%d\n", (int)mode);
return false;
@ -205,7 +246,7 @@ int32_t ServoServiceImpl::move(const list_ServoCmd_1_t* cmds)
}
}
if (motion_mode == MotionMode::SCurve) {
if (motion_mode != MotionMode::Immediate) {
manager_.wake();
}
@ -269,7 +310,7 @@ int32_t ServoServiceImpl::moveJ(const list_float_1_t* angles_rad)
}
}
if (motion_mode == MotionMode::SCurve) {
if (motion_mode != MotionMode::Immediate) {
manager_.wake();
}

83
applications/main.cpp
View File

@ -17,95 +17,12 @@
/* defined the LED0 pin: PC13 */
#define LED0_PIN GET_PIN(C, 13)
namespace
{
constexpr rt_int32_t kWarmupIterations = 10;
constexpr rt_int32_t kBenchmarkIterations = 10000;
constexpr double kBenchmarkDtSec = 0.01;
constexpr double kMaxVelocityRad = 3.14;
constexpr double kMaxAccelerationRad = 31.4;
constexpr double kMaxJerkRad = 31.4;
constexpr double kPositionGain =2.0;
constexpr double kTargetPosA = 1.35;
constexpr double kTargetPosB = 1.35;
volatile double g_planner_sink = 0.0;
void run_position_planner_benchmark(const char* label, rt_int32_t target_switch_period)
{
cmvr::SCurvePositionPlanner1D planner(
kMaxVelocityRad,
kMaxAccelerationRad,
kMaxJerkRad);
planner.setPositionGain(kPositionGain);
planner.initialize(0.0, 0.0, 0.0);
planner.setTarget(kTargetPosA);
for (rt_int32_t i = 0; i < kWarmupIterations; ++i)
{
if (target_switch_period > 0 && (i % target_switch_period) == 0)
{
const bool use_target_a = ((i / target_switch_period) & 1) == 0;
planner.setTarget(use_target_a ? kTargetPosA : kTargetPosB);
}
g_planner_sink = planner.update(kBenchmarkDtSec);
}
planner.initialize(0.0, 0.0, 0.0);
planner.setTarget(kTargetPosA);
const rt_tick_t start_tick = rt_tick_get();
for (rt_int32_t i = 0; i < kBenchmarkIterations; ++i)
{
if (target_switch_period > 0 && (i % target_switch_period) == 0)
{
const bool use_target_a = ((i / target_switch_period) & 1) == 0;
planner.setTarget(use_target_a ? kTargetPosA : kTargetPosB);
}
g_planner_sink = planner.update(kBenchmarkDtSec);
}
const rt_tick_t end_tick = rt_tick_get();
const rt_uint64_t elapsed_ticks = static_cast<rt_uint64_t>(end_tick - start_tick);
const rt_uint64_t elapsed_us =
(elapsed_ticks * 1000000ULL) / RT_TICK_PER_SECOND;
const rt_uint64_t avg_ns =
(elapsed_ticks * 1000000000ULL) /
(RT_TICK_PER_SECOND * static_cast<rt_uint64_t>(kBenchmarkIterations));
rt_kprintf(
"[PlannerBench] %s iter=%d dt=%.3fms switch=%d elapsed=%llu us avg=%llu ns pos=%.6f vel=%.6f moving=%d\n",
label,
kBenchmarkIterations,
kBenchmarkDtSec * 1000.0,
target_switch_period,
elapsed_us,
avg_ns,
planner.getPosition(),
planner.getVelocity(),
planner.isMoving() ? 1 : 0);
}
void run_planner_benchmarks()
{
rt_kprintf("[PlannerBench] start RT_TICK_PER_SECOND=%d\n", RT_TICK_PER_SECOND);
run_position_planner_benchmark("hold_target", 0);
run_position_planner_benchmark("retarget_20", 20);
run_position_planner_benchmark("retarget_5", 5);
rt_kprintf("[PlannerBench] done sink=%.6f\n", g_planner_sink);
}
} // namespace
int main(void)
{
int count = 1;
rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
run_planner_benchmarks();
while (count++)
{

13
applications/servo_manager/include/servo_control.h
View File

@ -8,11 +8,12 @@
#include <stdint.h>
#include <string>
#include "common/type/servo_types.h"
#include "common/curve/include/s_curve.h"
#include "servo_manager/include/servo_driver.h"
#include <rtthread.h>
#include "common/curve/include/s_curve.h"
#include "common/type/servo_types.h"
#include "planner/s_curve_planner/include/s_curve_position_planner.h"
#include "servo_manager/include/servo_driver.h"
class ServoControl
{
@ -28,6 +29,7 @@ public:
void setConstraints(double max_velocity_rad,
double max_acceleration_rad,
double max_jerk_rad);
void setPositionGain(double position_gain);
void update(rt_tick_t now_tick);
@ -44,17 +46,20 @@ private:
double ticksToSeconds(rt_tick_t delta_ticks) const;
private:
// 角度变化阈值，rad
static constexpr float ESP = 1e-4f;
ServoDriver driver_;
cmvr::SCurve curve_;
cmvr::SCurvePositionPlanner1D follow_planner_;
float current_angle_rad_;
float current_velocity_rad_per_sec_;
float target_angle_rad_;
rt_tick_t start_tick_;
rt_tick_t last_update_tick_;
uint32_t generation_;
MotionMode active_mode_;
bool active_;
bool dirty_;

2
applications/servo_manager/include/servo_manager.h
View File

@ -47,7 +47,7 @@ private:
rt_sem_t wake_sem_;
rt_thread_t thread_;
rt_uint32_t update_period_ms_{1};
rt_uint32_t update_period_ms_{10};
volatile bool running_;
};

84
applications/servo_manager/src/servo_control.cpp
View File

@ -6,20 +6,25 @@
#include <cmath>
ServoControl::ServoControl(const ServoDriver::Config& cfg)
: driver_(cfg),
curve_(),
follow_planner_(6.28,
100,
500),
current_angle_rad_(cfg.home_angle_rad),
current_velocity_rad_per_sec_(0.0f),
target_angle_rad_(cfg.home_angle_rad),
start_tick_(0),
last_update_tick_(0),
generation_(0),
active_mode_(MotionMode::Immediate),
active_(false),
dirty_(false),
profile_(),
mutex_(RT_NULL)
{
follow_planner_.setPositionGain(8.0);
mutex_ = rt_mutex_create("sv_ctl", RT_IPC_FLAG_PRIO);
}
@ -46,14 +51,21 @@ rt_err_t ServoControl::init(bool enable_after_init, bool go_home)
const float init_angle = go_home ? driver_.config().home_angle_rad
: driver_.config().min_angle_rad;
const rt_tick_t now_tick = rt_tick_get();
current_angle_rad_ = init_angle;
current_velocity_rad_per_sec_ = 0.0f;
target_angle_rad_ = init_angle;
start_tick_ = rt_tick_get();
start_tick_ = now_tick;
last_update_tick_ = now_tick;
generation_ = 0;
active_mode_ = MotionMode::Immediate;
active_ = false;
dirty_ = false;
profile_ = cmvr::SCurveProfile();
follow_planner_.initialize(init_angle, 0.0, 0.0);
follow_planner_.setTarget(init_angle);
rt_mutex_release(mutex_);
return RT_EOK;
@ -77,6 +89,8 @@ rt_err_t ServoControl::move(float angle_rad, MotionMode mode)
current_angle_rad_ = angle_rad;
current_velocity_rad_per_sec_ = 0.0f;
start_tick_ = now_tick;
last_update_tick_ = now_tick;
active_mode_ = MotionMode::Immediate;
active_ = false;
dirty_ = false;
@ -84,13 +98,10 @@ rt_err_t ServoControl::move(float angle_rad, MotionMode mode)
return driver_.setAngle(angle_rad);
}
if (mode != MotionMode::SCurve) {
rt_mutex_release(mutex_);
return -RT_EINVAL;
}
if (mode == MotionMode::SCurve) {
const float start_angle_rad = current_angle_rad_;
const float start_velocity_rad_per_sec = current_velocity_rad_per_sec_;
profile_ = curve_.calculateProfile(
current_angle_rad_, angle_rad, current_velocity_rad_per_sec_, 0.0);
@ -100,6 +111,8 @@ rt_err_t ServoControl::move(float angle_rad, MotionMode mode)
}
start_tick_ = now_tick;
last_update_tick_ = now_tick;
active_mode_ = MotionMode::SCurve;
if (profile_.total_time <= 0.0) {
if (std::fabs(angle_rad - start_angle_rad) > ESP) {
@ -109,8 +122,10 @@ rt_err_t ServoControl::move(float angle_rad, MotionMode mode)
(double)angle_rad,
(double)start_velocity_rad_per_sec);
}
current_angle_rad_ = angle_rad;
current_velocity_rad_per_sec_ = 0.0f;
active_mode_ = MotionMode::Immediate;
active_ = false;
dirty_ = false;
@ -131,6 +146,28 @@ rt_err_t ServoControl::move(float angle_rad, MotionMode mode)
rt_mutex_release(mutex_);
return RT_EOK;
}
if (mode == MotionMode::Follow) {
if (active_mode_ != MotionMode::Follow) {
follow_planner_.initialize(current_angle_rad_,
current_velocity_rad_per_sec_,
0.0);
}
follow_planner_.setTarget(angle_rad);
start_tick_ = now_tick;
last_update_tick_ = now_tick;
active_mode_ = MotionMode::Follow;
active_ = true;
dirty_ = false;
rt_mutex_release(mutex_);
return RT_EOK;
}
rt_mutex_release(mutex_);
return -RT_EINVAL;
}
rt_err_t ServoControl::stop()
@ -148,6 +185,8 @@ rt_err_t ServoControl::stop()
target_angle_rad_ = current_angle_rad_;
current_velocity_rad_per_sec_ = 0.0f;
start_tick_ = now_tick;
last_update_tick_ = now_tick;
active_mode_ = MotionMode::Immediate;
active_ = false;
dirty_ = false;
@ -163,11 +202,25 @@ void ServoControl::setConstraints(double max_velocity_rad,
{
if (!mutex_) {
curve_.setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
follow_planner_.setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
return;
}
rt_mutex_take(mutex_, RT_WAITING_FOREVER);
curve_.setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
follow_planner_.setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
rt_mutex_release(mutex_);
}
void ServoControl::setPositionGain(double position_gain)
{
if (!mutex_) {
follow_planner_.setPositionGain(position_gain);
return;
}
rt_mutex_take(mutex_, RT_WAITING_FOREVER);
follow_planner_.setPositionGain(position_gain);
rt_mutex_release(mutex_);
}
@ -263,6 +316,7 @@ void ServoControl::sampleStateNoLock(rt_tick_t now_tick)
return;
}
if (active_mode_ == MotionMode::SCurve) {
const double elapsed_sec = ticksToSeconds(now_tick - start_tick_);
if (elapsed_sec >= profile_.total_time) {
current_angle_rad_ = target_angle_rad_;
@ -275,6 +329,22 @@ void ServoControl::sampleStateNoLock(rt_tick_t now_tick)
curve_.getPositionAtTime(profile_, elapsed_sec));
current_velocity_rad_per_sec_ = static_cast<float>(
curve_.getVelocityAtTime(profile_, elapsed_sec));
return;
}
if (active_mode_ == MotionMode::Follow) {
const double dt = ticksToSeconds(now_tick - last_update_tick_);
if (dt <= 0.0) {
return;
}
last_update_tick_ = now_tick;
current_angle_rad_ = static_cast<float>(follow_planner_.update(dt));
current_velocity_rad_per_sec_ = static_cast<float>(follow_planner_.getVelocity());
target_angle_rad_ = static_cast<float>(follow_planner_.getTargetPosition());
active_ = follow_planner_.isMoving();
return;
}
}
double ServoControl::ticksToSeconds(rt_tick_t delta_ticks) const

35
board/CubeMX_Config/CubeMX_Config.ioc
View File

@ -48,14 +48,17 @@ Mcu.Pin14=PF8
Mcu.Pin15=PF10
Mcu.Pin16=PF9
Mcu.Pin17=PE9
Mcu.Pin18=PB1
Mcu.Pin19=PD9
Mcu.Pin18=PE11
Mcu.Pin19=PB1
Mcu.Pin2=PA14 (JTCK/SWCLK)
Mcu.Pin20=PD8
Mcu.Pin21=VP_SYS_VS_Systick
Mcu.Pin22=VP_TIM1_VS_ClockSourceINT
Mcu.Pin23=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin24=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin20=PE13
Mcu.Pin21=PD9
Mcu.Pin22=PE14
Mcu.Pin23=PD8
Mcu.Pin24=VP_SYS_VS_Systick
Mcu.Pin25=VP_TIM1_VS_ClockSourceINT
Mcu.Pin26=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin27=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin3=PC15-OSC32_OUT (OSC32_OUT)
Mcu.Pin4=PC14-OSC32_IN (OSC32_IN)
Mcu.Pin5=PA13 (JTMS/SWDIO)
@ -63,7 +66,7 @@ Mcu.Pin6=PA10
Mcu.Pin7=PA9
Mcu.Pin8=PA12
Mcu.Pin9=PA11
Mcu.PinsNb=25
Mcu.PinsNb=28
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H750XBHx
@ -116,6 +119,11 @@ PD8.Signal=USART3_TX
PD9.Locked=true
PD9.Mode=Asynchronous
PD9.Signal=USART3_RX
PE11.Locked=true
PE11.Signal=S_TIM1_CH2
PE13.Locked=true
PE13.Signal=S_TIM1_CH3
PE14.Signal=S_TIM1_CH4
PE9.Locked=true
PE9.Signal=S_TIM1_CH1
PF10.Mode=Single Bank 1 2IOs
@ -262,8 +270,17 @@ SH.ADCx_INP5.0=ADC1_INP5,IN5-Single-Ended
SH.ADCx_INP5.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
SH.S_TIM1_CH4.ConfNb=1
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.IPParameters=Channel-PWM Generation1 CH1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
USART1.IPParameters=VirtualMode-Asynchronous
USART1.VirtualMode-Asynchronous=VM_ASYNC
USART2.IPParameters=VirtualMode-Asynchronous

12
board/CubeMX_Config/Src/main.c
View File

@ -348,6 +348,18 @@ static void MX_TIM1_Init(void)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;

5
board/CubeMX_Config/Src/stm32h7xx_hal_msp.c
View File

@ -294,8 +294,11 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
__HAL_RCC_GPIOE_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
PE13 ------> TIM1_CH3
PE14 ------> TIM1_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

9
board/Kconfig
View File

@ -194,6 +194,15 @@ menu "On-chip Peripheral Drivers"
config BSP_USING_PWM1_CH1
bool "Enable PWM1 channel1"
default n
config BSP_USING_PWM1_CH2
bool "Enable PWM1 channel2"
default n
config BSP_USING_PWM1_CH3
bool "Enable PWM1 channel3"
default n
config BSP_USING_PWM1_CH4
bool "Enable PWM1 channel4"
default n
endif
endif
config BSP_USING_QSPI

3
rtconfig.h
View File

@ -453,6 +453,9 @@
#define BSP_USING_PWM
#define BSP_USING_PWM1
#define BSP_USING_PWM1_CH1
#define BSP_USING_PWM1_CH2
#define BSP_USING_PWM1_CH3
#define BSP_USING_PWM1_CH4
#define BSP_USING_QSPI
#define BSP_USING_ADC
#define BSP_USING_ADC1