修改 pwm 频率为 uint16_t

sfxfs · Oct 9, 2023 · 2f21403 · 2f21403
1 parent 57f6dbd
commit 2f21403
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Showing 6 changed files with 9 additions and 36 deletions.
diff --git a/user/config/config.c b/user/config/config.c
@@ -28,11 +28,8 @@ static void rov_info_write_initial_value(struct rov_info* info)
     memset(info, 0, sizeof(rov_info_t));//变量初始化
 
     propeller_params_all_init(&info->propeller);
-
     rocket_ratio_params_all_init(&info->rocket);
-
     pid_ctl_params_all_init(&info->pidScale);
-
     dev_ctl_params_all_init(&info->devCtl);
 }
 

diff --git a/user/config/parameters/propeller.c b/user/config/parameters/propeller.c
@@ -25,11 +25,11 @@ cJSON* propeller_params_add_to_root(struct propeller_parameters *params)
     return node;
 }
 
-void propeller_freq_read_from_root(double *freq, cJSON *node)
+void propeller_freq_read_from_root(uint16_t *freq, cJSON *node)
 {
     if (node == NULL)
         return;
-    *freq = node->valuedouble;
+    *freq = node->valueint;
 }
 
 /**
@@ -54,7 +54,7 @@ void propeller_params_read_from_root(struct propeller_parameters *params, cJSON
  * @brief 单个推进器频率初始化（默认50 HZ ）
  * @param params 推进器PWM频率参数（propeller.pwm_freq_calibration）
  */
-void propeller_params_init_freq(double *params)
+void propeller_params_init_freq(uint16_t *params)
 {
     *params = 50;
 }

diff --git a/user/config/parameters/propeller.h b/user/config/parameters/propeller.h
@@ -9,9 +9,9 @@
 #include "data_define.h"
 
 cJSON* propeller_params_add_to_root(struct propeller_parameters *params);
-void propeller_freq_read_from_root(double *freq, cJSON *node);
+void propeller_freq_read_from_root(uint16_t *freq, cJSON *node);
 void propeller_params_read_from_root(struct propeller_parameters *params, cJSON *node);
-void propeller_params_init_freq(double *params);
+void propeller_params_init_freq(uint16_t *params);
 void propeller_params_init(struct propeller_parameters *params);
 
 void propeller_params_all_init(propeller_t *params);

diff --git a/user/data-type/propeller.h b/user/data-type/propeller.h
@@ -19,7 +19,7 @@ struct propeller_parameters
 
 typedef struct propeller
 {
-    double pwm_freq_calibration;
+    uint16_t pwm_freq_calibration;
     struct propeller_parameters front_left;
     struct propeller_parameters front_right;
     struct propeller_parameters center_left;

diff --git a/user/server/handler/control.c b/user/server/handler/control.c
@@ -1,20 +1,8 @@
+#include "config/parameters/utils.h"
 #include "data_define.h"
 
 #include "control.h"
 
-static double cjson_value_analysis_double(cJSON *params,const char *str)
-{
-    cJSON* cjson_temp = NULL;
-    double value;
-    cjson_temp = cJSON_GetObjectItem(params, str);
-    if (cjson_temp != NULL)      //如果没收到则返回
-    {
-        value = cjson_temp->valuedouble;
-    }
-    else value = 0;
-    return value;
-}
-
 static cJSON *move_analysis(cJSON* params, struct rov_info* info, move_mode_t mode)
 {
     if (params == NULL)

diff --git a/user/server/handler/debug.c b/user/server/handler/debug.c
@@ -1,25 +1,13 @@
 #include "config/parameters/pid_ctl.h"
 #include "config/parameters/propeller.h"
 #include "device/application/pwm_controller.h"
+#include "config/parameters/utils.h"
 
 #include "config/config.h"
 #include "data_define.h"
 
 #include "debug.h"
 
-static int cjson_value_analysis_int(cJSON *params, const char *str)
-{
-    cJSON* cjson_temp = NULL;
-    int value;
-    cjson_temp = cJSON_GetObjectItem(params, str);
-    if (cjson_temp != NULL)      //如果没收到则返回
-    {
-        value = cjson_temp->valueint;
-    }
-    else value = 0;
-    return value;
-}
-
 cJSON *set_debug_mode_enabled_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
 {
     if (params == NULL)
@@ -32,7 +20,7 @@ cJSON *set_propeller_pwm_freq_calibration_handler(jrpc_context *ctx, cJSON *para
 {
     if (params == NULL)
         return cJSON_CreateNull();
-    pwm_controller_set_freq((uint16_t)params->child->valuedouble);
+    pwm_controller_set_freq((uint16_t)params->child->valueint);
     return cJSON_CreateNull();
 }