TuxMonkey/bf_original_balance_chassis
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添加了遥控器的离线检测和daemone的说明文档

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NeoZng
2023-01-04 21:26:11 +08:00
parent 48370d4411
commit 3db2a20a0e
14 changed files with 135 additions and 41 deletions
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7
bsp/pwm/bsp_pwm.c
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@@ -14,7 +14,6 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
{
if (pwm_instance[i]->callback) // 如果有回调函数
pwm_instance[i]->callback(pwm_instance[i]);
return; // 一次只能有一个通道的中断,所以直接返回
}
}
@@ -34,9 +33,9 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config)
pwm->pulse = config->pulse;
pwm->callback = config->callback;
pwm->id = config->id;
HAL_TIM_PWM_Start(pwm->htim, pwm->channel); // 启动PWM
__HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse); // 设置占空比,初始为0
// 启动PWM
HAL_TIM_PWM_Start(pwm->htim, pwm->channel);
__HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse); // 设置占空比
pwm_instance[idx++] = pwm;
return pwm;