OpenHarmony轻量系统开发【13】鸿蒙小车开发 原创 精华

void pwm_init(void)
{
	IoTGpioInit(IO_NAME_GPIO_0);
	IoTGpioInit(IO_NAME_GPIO_1);
	IoTGpioInit(IO_NAME_GPIO_9);
	IoTGpioInit(IO_NAME_GPIO_10);

	//寮曡剼澶嶇敤
	//hi_io_set_func(IO_NAME_GPIO_0, 0); 
    //hi_io_set_func(IO_NAME_GPIO_1, 0); 	
	//hi_io_set_func(IO_NAME_GPIO_9, 0); 
    //hi_io_set_func(IO_NAME_GPIO_10, 0); 
}

//鍋滄
void pwm_stop(void)
{
	//鍏堝仠姝WM
    gpio_control(GPIO0, IOT_GPIO_VALUE1);
    gpio_control(GPIO1, IOT_GPIO_VALUE1);
    gpio_control(GPIO9, IOT_GPIO_VALUE1);
    gpio_control(GPIO10, IOT_GPIO_VALUE1);
}
void car_stop(void)
{
	car_info.cur_status = car_info.go_status;

	printf("pwm_stop \r\n");

	pwm_stop();
}

//鍓嶈繘
void pwm_forward(void)
{
	//鍏堝仠姝WM
    gpio_control(GPIO0, IOT_GPIO_VALUE1);
    gpio_control(GPIO1, IOT_GPIO_VALUE0);
    gpio_control(GPIO9, IOT_GPIO_VALUE1);
    gpio_control(GPIO10, IOT_GPIO_VALUE0);

	//鍚姩A璺疨WM
	//左轮
	//IoTPwmStart(PWM_PORT_PWM3, 64000, 64000);
	//右轮
	//IoTPwmStart(PWM_PORT_PWM0, 64000, 64000);
}
void car_forward(void)
{
	if(car_info.go_status != CAR_STATUS_FORWARD)
	{
		//鐩存帴閫€鍑?
		return ;
	}
	if(car_info.cur_status == car_info.go_status)
	{
		//鐘舵€佹病鏈夊彉鍖栵紝鐩存帴鎺ㄥ嚭
		return;
	}

	car_info.cur_status = car_info.go_status;

	printf("pwm_forward \r\n");

	pwm_forward();

	step_count_update();
}

//鍚庨€€
void pwm_backward(void)
{
	//鍏堝仠姝WM
    gpio_control(GPIO0, IOT_GPIO_VALUE0);
    gpio_control(GPIO1, IOT_GPIO_VALUE1);
    gpio_control(GPIO9, IOT_GPIO_VALUE0);
    gpio_control(GPIO10, IOT_GPIO_VALUE1);

	//鍚姩A璺疨WM
	//IoTPwmStart(PWM_PORT_PWM4, 64000, 64000);
	//IoTPwmStart(PWM_PORT_PWM1, 64000, 64000);
}
void car_backward(void)
{
	if(car_info.go_status != CAR_STATUS_BACKWARD)
	{
		//鐩存帴閫€鍑?
		return ;
	}
	if(car_info.cur_status == car_info.go_status)
	{
		//鐘舵€佹病鏈夊彉鍖栵紝鐩存帴鎺ㄥ嚭
		return;
	}

	car_info.cur_status = car_info.go_status;

	printf("pwm_backward \r\n");

	pwm_backward();

	step_count_update();
}

//宸﹁浆
void pwm_left(void)
{
	//鍏堝仠姝WM
    gpio_control(GPIO0, IOT_GPIO_VALUE0);
    gpio_control(GPIO1, IOT_GPIO_VALUE0);
    gpio_control(GPIO9, IOT_GPIO_VALUE1);
    gpio_control(GPIO10, IOT_GPIO_VALUE0);

	//鍚姩A璺疨WM
	//IoTPwmStart(PWM_PORT_PWM0, 64000, 64000);


}
void car_left(void)
{
	if(car_info.go_status != CAR_STATUS_LEFT)
	{
		//鐩存帴閫€鍑?
		return ;
	}
	if(car_info.cur_status == car_info.go_status)
	{
		//鐘舵€佹病鏈夊彉鍖栵紝鐩存帴鎺ㄥ嚭
		return;
	}

	car_info.cur_status = car_info.go_status;

	printf("pwm_left \r\n");

	pwm_left();

	step_count_update();
}

//鍙宠浆
void pwm_right(void)
{
	//鍏堝仠姝WM
    gpio_control(GPIO0, IOT_GPIO_VALUE1);
    gpio_control(GPIO1, IOT_GPIO_VALUE0);
    gpio_control(GPIO9, IOT_GPIO_VALUE0);
    gpio_control(GPIO10, IOT_GPIO_VALUE0);

	//鍚姩A璺疨WM
	//IoTPwmStart(PWM_PORT_PWM3, 64000, 64000);
}
void car_right(void)
{
	if(car_info.go_status != CAR_STATUS_RIGHT)
	{
		//鐩存帴閫€鍑?
		return ;
	}
	if(car_info.cur_status == car_info.go_status)
	{
		//鐘舵€佹病鏈夊彉鍖栵紝鐩存帴鎺ㄥ嚭
		return;
	}

	car_info.cur_status = car_info.go_status;

	printf("pwm_right \r\n");

	pwm_right();

	step_count_update();
}

CONFIG_PWM_SUPPORT=y

CONFIG_PWM_HOLD_AFTER_REBOOT=y