1、修改电机驱动PWM源为TIMER4 U；启用缓启动缓停止。

Project/HC32F460/source/User/Src/Debug.c

@@ -7,6 +7,7 @@
 #include "Debug.h"
 #include "main.h"
 #include "bsp.h"
+#include "dc_motor.h"
 
 #if (USE_DEBUG != 0)
 #define DEBUG_CMD_CNT					8
@@ -213,6 +214,7 @@ void DebugCmdHelp(int argc, char *argv[])
 	DBG_LOG("Debug Cmd:\r\n\
         disp task on/off -->Open the task display.\r\n\
         help\
+        dcmotor\
         ");
 }
 
@@ -265,13 +267,49 @@ void DebugCmdHelp(int argc, char *argv[])
 //    TimeSync(num);
 //}
 
+extern uint8_t KeyASta;
+extern uint8_t KeyBSta;
+extern uint8_t RunSta;
+void MotorSwitch(int argc, char *argv[])
+{
+    // 如果参数个数小于2，则返回
+    if(argc < 2)
+        return;
+    // 如果第一个参数为？，则打印帮助信息
+    if(strcmp(argv[1], "?") == 0)
+    {
+        DBG_LOG("DCMotor Cmd:\r\n\
+      motor F/R/S -->Turn the motor on or off.\r\n");
+        return;
+    }
+    // 如果第一个参数为on，则开启SonarWork
+    if(strcmp(argv[1], "R") == 0)
+    {
+        KeyASta = true;
+        Motor_Control(MOTOR_CMD_REVERSE);
+        DBG_LOG("Motor FORWARD\r\n");
+    }
+    // 如果第一个参数为off，则关闭SonarWork
+    else if(strcmp(argv[1], "F") == 0)
+    {
+        KeyBSta = true;
+        Motor_Control(MOTOR_CMD_FORWARD);
+        DBG_LOG("Motor REVERSE\r\n");
+    }
+    else if(strcmp(argv[1], "S") == 0)
+    {
+        KeyASta = false;
+        KeyBSta = false;
+        Motor_Control(MOTOR_CMD_STOP);
+        DBG_LOG("Motor OFF\r\n");
+    }
+}
 
 
 
 const DBGFunType DebugFun[DEBUG_CMD_CNT] = {
 	"help",				DebugCmdHelp,
-//	"TimeSync",         (void*)TimeSync,
-//     "SetTime",         SetTime,
+    "motor",            MotorSwitch,
 };
 
 #endif