From 7dc8f7c6d7ab54f818bf55f954318c6f3f68a8b5 Mon Sep 17 00:00:00 2001 From: YuanHongbin <975559679@qq.com> Date: Sun, 14 Sep 2025 18:54:54 +0800 Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E4=BB=A3=E7=A0=81=E5=A4=87=E4=BB=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Project/HC32F460/MDK/HC32F460.uvoptx | 60 +- Project/HC32F460/MDK/HC32F460.uvprojx | 46 +- .../HC32F460/MDK/RTE/_Debug/RTE_Components.h | 3 +- .../source/Module/dc_motor/dc_motor.c | 553 ++++++++++++++++++ .../source/Module/dc_motor/dc_motor.h | 92 +++ Project/HC32F460/source/User/Inc/ddl_config.h | 6 +- Project/HC32F460/source/User/Src/main.c | 27 +- driver/inc/hc32f460_timer6.h | 3 + driver/src/hc32f460_timer6.c | 33 ++ 9 files changed, 780 insertions(+), 43 deletions(-) create mode 100644 Project/HC32F460/source/Module/dc_motor/dc_motor.c create mode 100644 Project/HC32F460/source/Module/dc_motor/dc_motor.h diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx index 8a1f3d6..2db777c 100644 --- a/Project/HC32F460/MDK/HC32F460.uvoptx +++ b/Project/HC32F460/MDK/HC32F460.uvoptx @@ -101,9 +101,7 @@ 0 0 1 - 0 - 0 - 6 + 2 @@ -114,9 +112,14 @@ - Segger\JL2CM3.dll + BIN\CMSIS_AGDI.dll + + 0 + CMSIS_AGDI + -X"" -O206 -S0 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JEUA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JEUA$FlashARM\HC32F460_otp.FLM) + 0 ARMRTXEVENTFLAGS @@ -205,6 +208,26 @@ 1 App.ADTrack.RightLow_Org_AdZero,0x0A + + 11 + 1 + LeftSlopeSum,0x0A + + + 12 + 1 + RightSlopeSum,0x0A + + + 13 + 1 + LeftDiffSum,0x0A + + + 14 + 1 + RightDiffSum,0x0A + 0 @@ -250,7 +273,6 @@ 1 - 1 0 2 1000000 @@ -338,8 +360,6 @@ 0 0 1 - 0 - 0 -1 @@ -401,7 +421,7 @@ common - 0 + 1 0 0 0 @@ -421,7 +441,7 @@ 1 2 1 - 0 + 1 0 0 ..\..\..\mcu\common\system_hc32f460.c @@ -433,7 +453,7 @@ driver - 0 + 1 0 0 0 @@ -1067,6 +1087,26 @@ + + dc_motor + 1 + 0 + 0 + 0 + + 5 + 54 + 1 + 0 + 0 + 0 + ..\source\Module\dc_motor\dc_motor.c + dc_motor.c + 0 + 0 + + + Readme 0 diff --git a/Project/HC32F460/MDK/HC32F460.uvprojx b/Project/HC32F460/MDK/HC32F460.uvprojx index 7b4f278..4fcfdad 100644 --- a/Project/HC32F460/MDK/HC32F460.uvprojx +++ b/Project/HC32F460/MDK/HC32F460.uvprojx @@ -10,7 +10,7 @@ Debug 0x4 ARM-ADS - 5060960::V5.06 update 7 (build 960)::ARMCC + 5060528::V5.06 update 5 (build 528)::ARMCC 0 @@ -184,9 +184,6 @@ 0 0 1 - 0 - 0 - 0 1 1 8 @@ -327,7 +324,6 @@ 0 0 1 - 0 0 3 5 @@ -340,7 +336,7 @@ __DEBUG,HC32F460,USE_DEVICE_DRIVER_LIB,JEUA - ..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237 + ..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237;..\source\Module\dc_motor @@ -353,7 +349,7 @@ 0 0 0 - 4 + 0 @@ -666,6 +662,16 @@ + + dc_motor + + + dc_motor.c + 1 + ..\source\Module\dc_motor\dc_motor.c + + + Readme @@ -852,9 +858,6 @@ 0 0 1 - 0 - 0 - 0 1 1 8 @@ -995,7 +998,6 @@ 0 0 1 - 0 0 0 0 @@ -1021,7 +1023,7 @@ 0 0 0 - 1 + 0 @@ -1334,6 +1336,16 @@ + + dc_motor + + + dc_motor.c + 1 + ..\source\Module\dc_motor\dc_motor.c + + + Readme @@ -1358,14 +1370,4 @@ - - - - HC32F460 - 0 - 1 - - - - diff --git a/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h b/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h index 14a0fac..c0360b3 100644 --- a/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h +++ b/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h @@ -1,6 +1,6 @@ /* - * Auto generated Run-Time-Environment Configuration File + * Auto generated Run-Time-Environment Component Configuration File * *** Do not modify ! *** * * Project: 'HC32F460' @@ -17,5 +17,4 @@ #define CMSIS_device_header "HC32F460JEUA.h" - #endif /* RTE_COMPONENTS_H */ diff --git a/Project/HC32F460/source/Module/dc_motor/dc_motor.c b/Project/HC32F460/source/Module/dc_motor/dc_motor.c new file mode 100644 index 0000000..f1d056d --- /dev/null +++ b/Project/HC32F460/source/Module/dc_motor/dc_motor.c @@ -0,0 +1,553 @@ +#include "dc_motor.h" +#include "hc32_ddl.h" +#include "Debug.h" + + + +// 全局变量 +volatile MotorState g_motorState = MOTOR_STOPPED; +volatile MotorCommand g_motorCmd = MOTOR_CMD_STOP; +volatile MotorDirection g_motorDirection = DIR_STOPPED; // 新增运行方向标志位 +volatile uint16_t g_motorSpeed = 0; +volatile uint16_t g_accelTimer = 0; + +static uint16_t accelCounter = 0; + + +static uint8_t DcMotorDispEn = true; + +#define DCMOTOR_DBG_LOG(...) { if(DcMotorDispEn) DBG_LOG(__VA_ARGS__);} +#define DCMOTOR_DBG_ARRAY(ARRAY, SIZE) { if(DcMotorDispEn) {DBG_ARRAY(ARRAY,SIZE)}} + + + +void DCMOTORDBGOnOff(uint8_t OnOff) +{ + DcMotorDispEn = OnOff; + if(OnOff) + DBG_LOG("\r\nKey Display Enable!\r\n"); + else + DBG_LOG("\r\nKey Display Disable!\r\n"); +} + + +void Timer61A_Init(void) +{ + uint16_t u16Period; +// uint16_t u16Compare; + stc_timer6_basecnt_cfg_t stcTIM6BaseCntCfg; + stc_timer6_port_output_cfg_t stcTIM6PWMxCfg; + stc_timer6_gcmp_buf_cfg_t stcGCMPBufCfg; + stc_port_init_t stcPortInit; + stc_irq_regi_conf_t stcIrqRegiConf; + stc_timer6_deadtime_cfg_t stcDeadTimeCfg; + + MEM_ZERO_STRUCT(stcTIM6BaseCntCfg); + MEM_ZERO_STRUCT(stcTIM6PWMxCfg); + MEM_ZERO_STRUCT(stcGCMPBufCfg); + MEM_ZERO_STRUCT(stcPortInit); + MEM_ZERO_STRUCT(stcIrqRegiConf); + MEM_ZERO_STRUCT(stcDeadTimeCfg); + + /* Initialize Clock */ +// BSP_CLK_Init(); + + PWC_Fcg2PeriphClockCmd(PWC_FCG2_PERIPH_TIM61, Enable); + + PORT_SetFunc(PortA, Pin08, Func_Tim6, Disable); //Timer61 PWMA + PORT_SetFunc(PortB, Pin13, Func_Tim6, Disable); //Timer61 PWMB + + stcTIM6BaseCntCfg.enCntMode = Timer6CntTriangularModeA; //Triangular wave mode + stcTIM6BaseCntCfg.enCntDir = Timer6CntDirUp; //Counter counting up + stcTIM6BaseCntCfg.enCntClkDiv = Timer6PclkDiv1; //Count clock: pclk + Timer6_Init(M4_TMR61, &stcTIM6BaseCntCfg); //timer6 PWM frequency, count mode and clk config + + u16Period = 10000u; + Timer6_SetPeriod(M4_TMR61, Timer6PeriodA, u16Period); //period set + +// u16Compare = 3000u; +// Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, u16Compare); //Set General Compare RegisterA Value +// Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, u16Compare); //Set General Compare RegisterC Value as buffer register of GCMAR + + + /*PWMA/PWMB output buf config*/ + stcGCMPBufCfg.bEnGcmpTransBuf = true; + stcGCMPBufCfg.enGcmpBufTransType = Timer6GcmpPrdSingleBuf; //Single buffer transfer + Timer6_SetGeneralBuf(M4_TMR61, Timer6PWMA, &stcGCMPBufCfg); //GCMAR buffer transfer set + Timer6_SetGeneralBuf(M4_TMR61, Timer6PWMB, &stcGCMPBufCfg); //GCMBR buffer transfer set + + stcTIM6PWMxCfg.bOutEn = true; //Output enable + stcTIM6PWMxCfg.enPerc = Timer6PWMxCompareKeep; //PWMA port output keep former level when CNTER value match PERAR + stcTIM6PWMxCfg.enCmpc = Timer6PWMxCompareInv; //PWMA port output inverse level when CNTER value match with GCMAR + stcTIM6PWMxCfg.enStaStp = Timer6PWMxStateSelSS; //PWMA output status is decide by STACA STPCA when CNTER start and stop + stcTIM6PWMxCfg.enStaOut = Timer6PWMxPortOutLow; //PWMA port output set low level when CNTER start + stcTIM6PWMxCfg.enStpOut = Timer6PWMxPortOutLow; //PWMA port output set low level when CNTER stop + stcTIM6PWMxCfg.enDisVal = Timer6PWMxDisValLow; + Timer6_PortOutputConfig(M4_TMR61, Timer6PWMA, &stcTIM6PWMxCfg); + Timer6_SetFunc(M4_TMR61, Timer6PWMA, Timer6ModeCompareOutput); //Compare output function + + stcTIM6PWMxCfg.bOutEn = true; //Output enable + stcTIM6PWMxCfg.enPerc = Timer6PWMxCompareKeep; //PWMB port output keep former level when CNTER value match PERAR + stcTIM6PWMxCfg.enCmpc = Timer6PWMxCompareHigh; //PWMB port output inverse level when CNTER value match with GCMBR + stcTIM6PWMxCfg.enStaStp = Timer6PWMxStateSelSS; //PWMB output status is decide by STACB STPCB when CNTER start and stop + stcTIM6PWMxCfg.enStaOut = Timer6PWMxPortOutLow; //PWMB port output set high level when CNTER start + stcTIM6PWMxCfg.enStpOut = Timer6PWMxPortOutLow; //PWMB port output set low level when CNTER stop + stcTIM6PWMxCfg.enDisVal = Timer6PWMxDisValLow; + Timer6_PortOutputConfig(M4_TMR61, Timer6PWMB, &stcTIM6PWMxCfg); + Timer6_SetFunc(M4_TMR61, Timer6PWMB, Timer6ModeCompareOutput); //Compare output function + + Timer6_SetDeadTimeValue(M4_TMR61, Timer6DeadTimUpAR, 10u); // Set dead time value (up count) + + stcDeadTimeCfg.bEnDeadtime = true; //Enable Hardware DeadTime + stcDeadTimeCfg.bEnDtBufUp = false; //Disable buffer transfer + stcDeadTimeCfg.bEnDtBufDwn = false; //Disable buffer transfer + stcDeadTimeCfg.bEnDtEqualUpDwn = true; //Make the down count dead time value equal to the up count dead time setting + Timer6_ConfigDeadTime(M4_TMR61, &stcDeadTimeCfg); // Hardware dead time function config +} + + +void Timer61B_Init(void) +{ + uint16_t u16Period; +// uint16_t u16Compare; + stc_timer6_basecnt_cfg_t stcTIM6BaseCntCfg; + stc_timer6_port_output_cfg_t stcTIM6PWMxCfg; + stc_timer6_gcmp_buf_cfg_t stcGCMPBufCfg; + stc_port_init_t stcPortInit; + stc_irq_regi_conf_t stcIrqRegiConf; + stc_timer6_deadtime_cfg_t stcDeadTimeCfg; + + MEM_ZERO_STRUCT(stcTIM6BaseCntCfg); + MEM_ZERO_STRUCT(stcTIM6PWMxCfg); + MEM_ZERO_STRUCT(stcGCMPBufCfg); + MEM_ZERO_STRUCT(stcPortInit); + MEM_ZERO_STRUCT(stcIrqRegiConf); + MEM_ZERO_STRUCT(stcDeadTimeCfg); + + + PWC_Fcg2PeriphClockCmd(PWC_FCG2_PERIPH_TIM61, Enable); + + PORT_SetFunc(PortA, Pin08, Func_Tim6, Disable); //Timer61 PWMA + PORT_SetFunc(PortB, Pin13, Func_Tim6, Disable); //Timer61 PWMB + + stcTIM6BaseCntCfg.enCntMode = Timer6CntTriangularModeA; //Triangular wave mode + stcTIM6BaseCntCfg.enCntDir = Timer6CntDirUp; //Counter counting up + stcTIM6BaseCntCfg.enCntClkDiv = Timer6PclkDiv1; //Count clock: pclk + Timer6_Init(M4_TMR61, &stcTIM6BaseCntCfg); //timer6 PWM frequency, count mode and clk config + + u16Period = 10000u; + Timer6_SetPeriod(M4_TMR61, Timer6PeriodA, u16Period); //period set + +// u16Compare = 3000u; +// Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, u16Compare); //Set General Compare RegisterA Value +// Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, u16Compare); //Set General Compare RegisterC Value as buffer register of GCMAR + + + /*PWMA/PWMB output buf config*/ + stcGCMPBufCfg.bEnGcmpTransBuf = true; + stcGCMPBufCfg.enGcmpBufTransType = Timer6GcmpPrdSingleBuf; //Single buffer transfer + Timer6_SetGeneralBuf(M4_TMR61, Timer6PWMA, &stcGCMPBufCfg); //GCMAR buffer transfer set + Timer6_SetGeneralBuf(M4_TMR61, Timer6PWMB, &stcGCMPBufCfg); //GCMBR buffer transfer set + + stcTIM6PWMxCfg.bOutEn = true; //Output enable + stcTIM6PWMxCfg.enPerc = Timer6PWMxCompareKeep; //PWMA port output keep former level when CNTER value match PERAR + stcTIM6PWMxCfg.enCmpc = Timer6PWMxCompareHigh; //PWMA port output inverse level when CNTER value match with GCMAR + stcTIM6PWMxCfg.enStaStp = Timer6PWMxStateSelSS; //PWMA output status is decide by STACA STPCA when CNTER start and stop + stcTIM6PWMxCfg.enStaOut = Timer6PWMxPortOutLow; //PWMA port output set low level when CNTER start + stcTIM6PWMxCfg.enStpOut = Timer6PWMxPortOutLow; //PWMA port output set low level when CNTER stop + stcTIM6PWMxCfg.enDisVal = Timer6PWMxDisValLow; + Timer6_PortOutputConfig(M4_TMR61, Timer6PWMA, &stcTIM6PWMxCfg); + Timer6_SetFunc(M4_TMR61, Timer6PWMA, Timer6ModeCompareOutput); //Compare output function + + stcTIM6PWMxCfg.bOutEn = true; //Output enable + stcTIM6PWMxCfg.enPerc = Timer6PWMxCompareKeep; //PWMB port output keep former level when CNTER value match PERAR + stcTIM6PWMxCfg.enCmpc = Timer6PWMxCompareInv; //PWMB port output inverse level when CNTER value match with GCMBR + stcTIM6PWMxCfg.enStaStp = Timer6PWMxStateSelSS; //PWMB output status is decide by STACB STPCB when CNTER start and stop + stcTIM6PWMxCfg.enStaOut = Timer6PWMxPortOutLow; //PWMB port output set high level when CNTER start + stcTIM6PWMxCfg.enStpOut = Timer6PWMxPortOutLow; //PWMB port output set low level when CNTER stop + stcTIM6PWMxCfg.enDisVal = Timer6PWMxDisValLow; + Timer6_PortOutputConfig(M4_TMR61, Timer6PWMB, &stcTIM6PWMxCfg); + Timer6_SetFunc(M4_TMR61, Timer6PWMB, Timer6ModeCompareOutput); //Compare output function + + Timer6_SetDeadTimeValue(M4_TMR61, Timer6DeadTimUpAR, 10u); // Set dead time value (up count) + + stcDeadTimeCfg.bEnDeadtime = true; //Enable Hardware DeadTime + stcDeadTimeCfg.bEnDtBufUp = false; //Disable buffer transfer + stcDeadTimeCfg.bEnDtBufDwn = false; //Disable buffer transfer + stcDeadTimeCfg.bEnDtEqualUpDwn = true; //Make the down count dead time value equal to the up count dead time setting + Timer6_ConfigDeadTime(M4_TMR61, &stcDeadTimeCfg); // Hardware dead time function config +} + + + +/** + * @brief 电机初始化 + * @param 无 + * @retval 无 + */ +void dcmotor_init(void) +{ + stc_port_init_t stcPortInit; + + + stcPortInit.enPinMode = Pin_Mode_Out; + stcPortInit.enPinOType = Pin_OType_Cmos; + stcPortInit.enPinDrv = Pin_Drv_H; + stcPortInit.enPullUp = Disable; + + PORT_Init(SHUTDOWN1_GPIO_Port, SHUTDOWN1_Pin, &stcPortInit); + PORT_SetBits(SHUTDOWN1_GPIO_Port, SHUTDOWN1_Pin); + + PORT_Init(PortA, Pin03, &stcPortInit); + PORT_SetBits(PortA, Pin03); + /* SD拉低，关闭输出 */ + + dcmotor_stop(); /* 停止电机 */ + dcmotor_dir(0); /* 设置正转 */ + dcmotor_speed(0); /* 速度设置为0 */ + dcmotor_start(); /* 开启电机 */ +} + +/** + * @brief 电机开启 + * @param 无 + * @retval 无 + */ +void dcmotor_start(void) +{ + ENABLE_MOTOR; /* 拉高SD引脚，开启电机 */ +} + +/** + * @brief 电机停止 + * @param 无 + * @retval 无 + */ +void dcmotor_stop(void) +{ + Timer6_StopCount(M4_TMR61); +} + +/** + * @brief 电机旋转方向设置 + * @param para:方向 0正转，1反转 + * @note 以电机正面，顺时针方向旋转为正转 + * @retval 无 + */ +void dcmotor_dir(uint8_t para) +{ + Timer6_StopCount(M4_TMR61); + Timer6_DeInit(M4_TMR61); + + if (para == 0) /* 正转 */ + { + + + Timer61A_Init(); + + } + else if (para == 1) /* 反转 */ + { + Timer61B_Init(); + } + dcmotor_start(); + Timer6_StartCount(M4_TMR61); + +} + +/** + * @brief 电机速度设置 + * @param para:比较寄存器值 + * @retval 无 + */ +void dcmotor_speed(uint16_t para) +{ + g_motorSpeed = (para > MAX_SPEED) ? MAX_SPEED : para; + + if (g_motorSpeed == 0) { + g_motorDirection = DIR_STOPPED; + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed); + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed); + dcmotor_stop(); + return; + } + + if(Motor_GetDirection() == DIR_REVERSE) //反转 + { + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed); //Set General Compare RegisterA Value + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed); //Set General Compare RegisterC Value as buffer register of GCMAR + DBG_LOG("REVERSE\tnewSpeed = %d\r\n", g_motorSpeed); + } + else if(Motor_GetDirection() == DIR_FORWARD) //正转 + { + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, 10000-g_motorSpeed); //Set General Compare RegisterA Value + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, 10000-g_motorSpeed); //Set General Compare RegisterC Value as buffer register of GCMAR + DBG_LOG("FORWARD\tnewSpeed = %d\r\n", g_motorSpeed); + } +} + +/** + * @brief 电机控制 + * @param para: pwm比较值 ,正数电机为正转，负数为反转 + * @note 根据传入的参数控制电机的转向和速度 + * @retval 无 + */ +void motor_pwm_set(float para) +{ + int val = (int)para; + + if(val == 0) + { + dcmotor_stop(); + return; + } + + if (val > 0) + { + g_motorDirection = DIR_FORWARD; + dcmotor_dir(0); /* 正转 */ + dcmotor_speed(10000-val); + } + else + { + g_motorDirection = DIR_REVERSE; + dcmotor_dir(1); /* 反转 */ + dcmotor_speed(-val); + } + DCMOTOR_DBG_LOG("dcmotor_speed:%d\r\n", val); +} + + + + +// 设置电机方向 +void Motor_SetDirection(uint8_t dir) { + // 更新方向标志位 + if (dir == 0) { + g_motorDirection = DIR_FORWARD; +// Up(); + dcmotor_dir(0); + } else { + g_motorDirection = DIR_REVERSE; +// Down(); + dcmotor_dir(1); + } + +} + + +// 电机控制接口 +void Motor_Control(MotorCommand cmd) { + g_motorCmd = cmd; +} + +// 获取电机当前方向 +MotorDirection Motor_GetDirection(void) { + return g_motorDirection; +} + + +// 设置电机速度 +void Motor_SetSpeed(uint16_t speed) { + g_motorSpeed = (speed > MAX_SPEED) ? MAX_SPEED : speed; + + // 当速度为零时，更新方向状态为停止 + if (g_motorSpeed == 0) { + g_motorDirection = DIR_STOPPED; + } + + if(Motor_GetDirection() == DIR_REVERSE) //反转 + { +// Adt_SetCompareValue(M0P_ADTIM4, AdtCompareC, PWM_PERIOD - g_motorSpeed); +// DBG_LOG("REVERSE\tnewSpeed = %d\r\n", g_motorSpeed); + } + else if(Motor_GetDirection() == DIR_FORWARD) //正转 + { +// Adt_SetCompareValue(M0P_ADTIM5, AdtCompareC, g_motorSpeed); +// DBG_LOG("FORWARD\tnewSpeed = %d\r\n", g_motorSpeed); + } + else + { +// StopMotor(); + } + + +} + + + + + +bool Dcmotor1msStatus = false; +void Dcmotor1msRoutine(void) +{ + Dcmotor1msStatus = true; + +} + + + + +uint8_t KeyASta; +uint8_t KeyBSta; +uint8_t RunSta; +void DcmotorLoopHandler(void) +{ + +#if(1) + + + if((RunSta == false) && (KeyASta == true) && (KeyBSta == false)) + { + Motor_Control(MOTOR_CMD_REVERSE); + } + else if((RunSta == false) && (KeyASta == false) && (KeyBSta == true)) + { + Motor_Control(MOTOR_CMD_FORWARD); + } + else if((RunSta == true) && (KeyASta == false) && (KeyBSta == false)) + { + Motor_Control(MOTOR_CMD_STOP); + RunSta = false; + } + + switch (g_motorCmd) + { + case MOTOR_CMD_REVERSE: + if(RunSta == false) + { + RunSta = true; + Timer61B_Init(); + g_motorSpeed = 8000; + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed); + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed); + Timer6_StartCount(M4_TMR61); + } + + break; + case MOTOR_CMD_FORWARD: + if(RunSta == false) + { + RunSta = true; + Timer61A_Init(); + g_motorSpeed = 8000; + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed); + Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed); + Timer6_StartCount(M4_TMR61); + } + + break; + default: + Timer6_StopCount(M4_TMR61); + RunSta = false; + break; + } + +#endif + + +#if(0) + + + if((RunSta == false) && (KeyASta == true) && (KeyBSta == false)) + { + Motor_Control(MOTOR_CMD_REVERSE); + RunSta = true; + } + else if((RunSta == false) && (KeyASta == false) && (KeyBSta == true)) + { + Motor_Control(MOTOR_CMD_FORWARD); + RunSta = true; + } + else if((RunSta == true) && (KeyASta == false) && (KeyBSta == false)) + { + Motor_Control(MOTOR_CMD_STOP); + RunSta = false; + } + + if(Dcmotor1msStatus == true) + { + Dcmotor1msStatus = false; + + // 电机状态机处理 + switch (g_motorState) { + case MOTOR_STOPPED: +// Motor_SetSpeed(0); +// motor_pwm_set(0); + dcmotor_speed(0); + + // 检测新命令 + if (g_motorCmd == MOTOR_CMD_FORWARD) { + Motor_SetDirection(0); // 设置正转方向 + g_motorState = MOTOR_ACCELERATING; + accelCounter = 0; +// Motor_SetSpeed(ACCEL_STEP); // 初始速度 +// motor_pwm_set(ACCEL_STEP); + dcmotor_speed(ACCEL_STEP); + } + else if (g_motorCmd == MOTOR_CMD_REVERSE) { + Motor_SetDirection(1); // 设置反转方向 + g_motorState = MOTOR_ACCELERATING; + accelCounter = 0; +// Motor_SetSpeed(ACCEL_STEP); // 初始速度 +// motor_pwm_set(ACCEL_STEP); + dcmotor_speed(ACCEL_STEP); + } + break; + + case MOTOR_ACCELERATING: + // 加速过程 + if (++accelCounter >= ACCEL_INTERVAL) { + accelCounter = 0; + uint16_t newSpeed = g_motorSpeed + ACCEL_STEP; + + if (newSpeed >= MAX_SPEED) { + newSpeed = MAX_SPEED; + g_motorState = MOTOR_RUNNING; // 达到最大速度，进入匀速 + } +// Motor_SetSpeed(newSpeed); +// motor_pwm_set(newSpeed); + dcmotor_speed(newSpeed); + } + + // 检查停止命令 + if (g_motorCmd == MOTOR_CMD_STOP) { + g_motorState = MOTOR_DECELERATING; + } + break; + + case MOTOR_RUNNING: + // 检查停止命令 + if (g_motorCmd == MOTOR_CMD_STOP) { + g_motorState = MOTOR_DECELERATING; + } + // 检查方向改变命令 + else if ((g_motorCmd == MOTOR_CMD_FORWARD && g_motorDirection != DIR_FORWARD) || + (g_motorCmd == MOTOR_CMD_REVERSE && g_motorDirection != DIR_REVERSE)) { + g_motorState = MOTOR_DECELERATING; // 需要先减速停止 + } + break; + + case MOTOR_DECELERATING: + // 减速过程 + if (++accelCounter >= ACCEL_INTERVAL) { + accelCounter = 0; +// if (g_motorSpeed > DECEL_STEP) { + if (g_motorSpeed > DECEL_STEP) { +// Motor_SetSpeed(g_motorSpeed - DECEL_STEP); +// motor_pwm_set(g_motorSpeed - DECEL_STEP); + dcmotor_speed(g_motorSpeed - DECEL_STEP); + } else { +// Motor_SetSpeed(0); +// motor_pwm_set(0); + dcmotor_speed(0); + g_motorState = MOTOR_STOPPED; // 减速完成，进入停止状态 + } + } + break; + } + } + + +#endif +} diff --git a/Project/HC32F460/source/Module/dc_motor/dc_motor.h b/Project/HC32F460/source/Module/dc_motor/dc_motor.h new file mode 100644 index 0000000..f868e8d --- /dev/null +++ b/Project/HC32F460/source/Module/dc_motor/dc_motor.h @@ -0,0 +1,92 @@ + +#ifndef __DCMOTOR_H +#define __DCMOTOR_H + +#include "hc32_ddl.h" + + +// 电机控制参数 +#define PWM_PERIOD TIM_PERIOD // PWM周期值 (ARR) +#define MAX_SPEED 9900 // 最大速度(PWM占空比) +#define ACCEL_STEP 100 // 加速步进值 +#define DECEL_STEP 100 // 减速步进值 +#define ACCEL_INTERVAL 5 // 加减速间隔(ms) + + + +// 电机控制命令 +typedef enum { + MOTOR_CMD_STOP, + MOTOR_CMD_FORWARD, + MOTOR_CMD_REVERSE +} MotorCommand; + +// 电机运行状态机 +typedef enum { + MOTOR_STOPPED, + MOTOR_ACCELERATING, + MOTOR_RUNNING, + MOTOR_DECELERATING +} MotorState; + + +// 电机转动方向 +typedef enum { + DIR_STOPPED, + DIR_FORWARD, + DIR_REVERSE +} MotorDirection; + + + +/* 停止引脚操作宏定义 + * 此引脚控制H桥是否生效以达到开启和关闭电机的效果 + */ +#define SHUTDOWN1_Pin Pin12 +#define SHUTDOWN1_GPIO_Port PortB + +//#define SHUTDOWN2_Pin GPIO_PIN_2 +//#define SHUTDOWN2_GPIO_Port GPIOF +#define SHUTDOWN_GPIO_CLK_ENABLE() do{ __HAL_RCC_GPIOF_CLK_ENABLE(); }while(0) /* PF口时钟使能 */ + +/* 电机停止引脚定义 这里默认是接口1 */ +#define ENABLE_MOTOR PORT_SetBits(SHUTDOWN1_GPIO_Port,SHUTDOWN1_Pin) +#define DISABLE_MOTOR PORT_ResetBits(SHUTDOWN1_GPIO_Port,SHUTDOWN1_Pin) + +/******************************************************************************************/ + +void dcmotor_init(void); /* 直流有刷电机初始化 */ +void dcmotor_start(void); /* 开启电机 */ +void dcmotor_stop(void); /* 关闭电机 */ +void dcmotor_dir(uint8_t para); /* 设置电机方向 */ +void dcmotor_speed(uint16_t para); /* 设置电机速度 */ +void motor_pwm_set(float para); /* 电机控制 */ + + + + +MotorDirection Motor_GetDirection(void);/* 获取电机转动方向 */ +void Motor_Control(MotorCommand cmd); /* 电机控制 */ +void Dcmotor1msRoutine(void); +void DcmotorLoopHandler(void); + + +#endif + + + + + + + + + + + + + + + + + + diff --git a/Project/HC32F460/source/User/Inc/ddl_config.h b/Project/HC32F460/source/User/Inc/ddl_config.h index d727bbd..16efb04 100644 --- a/Project/HC32F460/source/User/Inc/ddl_config.h +++ b/Project/HC32F460/source/User/Inc/ddl_config.h @@ -88,8 +88,8 @@ extern "C" #define DDL_QSPI_ENABLE (DDL_OFF) #define DDL_RMU_ENABLE (DDL_OFF) #define DDL_RTC_ENABLE (DDL_ON) -#define DDL_SDIOC_ENABLE (DDL_ON) -#define DDL_SPI_ENABLE (DDL_ON) +#define DDL_SDIOC_ENABLE (DDL_OFF) +#define DDL_SPI_ENABLE (DDL_OFF) #define DDL_SRAM_ENABLE (DDL_ON) #define DDL_SWDT_ENABLE (DDL_ON) #define DDL_TIMER0_ENABLE (DDL_OFF) @@ -98,7 +98,7 @@ extern "C" #define DDL_TIMER4_OCO_ENABLE (DDL_OFF) #define DDL_TIMER4_PWM_ENABLE (DDL_OFF) #define DDL_TIMER4_SEVT_ENABLE (DDL_OFF) -#define DDL_TIMER6_ENABLE (DDL_OFF) +#define DDL_TIMER6_ENABLE (DDL_ON) #define DDL_TIMERA_ENABLE (DDL_OFF) #define DDL_TRNG_ENABLE (DDL_OFF) #define DDL_USART_ENABLE (DDL_ON) diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c index ff458b7..029679b 100644 --- a/Project/HC32F460/source/User/Src/main.c +++ b/Project/HC32F460/source/User/Src/main.c @@ -5,6 +5,7 @@ #include "Encryption.h" #include "Debug.h" #include "Algorithm.h" +#include "dc_motor.h" #include "CS1237_LEFTUP.h" #include "CS1237_LEFTLOW.h" #include "CS1237_RIGHTUP.h" @@ -132,8 +133,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ { uint32_t LeftSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.LeftLowCS1237_SlopeArray[0]); uint32_t RightSlopeSum = abs(App.RightUpCS1237_SlopeArray[0]) + abs(App.RightLowCS1237_SlopeArray[0]); - uint32_t LeftDiffSum = abs(lu_ad[0]) + abs(ll_ad[0]); - uint32_t RightDiffSum = abs(ru_ad[0]) + abs(rl_ad[0]); + uint32_t LeftDiffSum = abs(lu_diff[0]) + abs(ll_diff[0]); + uint32_t RightDiffSum = abs(ru_diff[0]) + abs(rl_diff[0]); App.LeftRunFalg = false; App.RightRunFalg = false; @@ -154,6 +155,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && (Oll_diff3 <= -App.ADTrack.LeftLowVPT))) { //BDC_UP(); + Motor_Control(MOTOR_CMD_FORWARD); App.UpFlag = true; App.StopFlag = false; App.DownFlag = false; @@ -172,6 +174,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && (Oll_diff1 >= App.ADTrack.LeftLowVPT))) { //BDC_DOWN(); + Motor_Control(MOTOR_CMD_REVERSE); App.DownFlag = true; App.StopFlag = false; App.UpFlag = false; @@ -194,6 +197,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && (Orl_diff3 <= -App.ADTrack.RightLowVPT))) { //BDC_UP(); + Motor_Control(MOTOR_CMD_FORWARD); App.UpFlag = true; App.StopFlag = false; App.DownFlag = false; @@ -212,6 +216,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && (Orl_diff3 >= App.ADTrack.RightLowVPT))) { //BDC_DOWN(); + Motor_Control(MOTOR_CMD_REVERSE); App.DownFlag = true; App.StopFlag = false; App.UpFlag = false; @@ -227,6 +232,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && ll_slope > App.ADTrack.Slope_VPT) { //BDC_STOP(); + Motor_Control(MOTOR_CMD_STOP); App.StopFlag = true; App.DownFlag = false; App.UpFlag = false; @@ -236,6 +242,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && Oll_diff1 < (App.ADTrack.LeftLowVPT / 2)) { //BDC_STOP(); + Motor_Control(MOTOR_CMD_STOP); App.StopFlag = true; App.DownFlag = false; App.UpFlag = false; @@ -248,6 +255,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && rl_slope > App.ADTrack.Slope_VPT) { //BDC_STOP(); + Motor_Control(MOTOR_CMD_STOP); App.StopFlag = true; App.DownFlag = false; App.UpFlag = false; @@ -257,6 +265,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && Orl_diff1 < (App.ADTrack.RightLowVPT / 2)) { //BDC_STOP(); + Motor_Control(MOTOR_CMD_STOP); App.StopFlag = true; App.DownFlag = false; App.UpFlag = false; @@ -272,6 +281,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && ll_slope < -App.ADTrack.Slope_VPT) { //BDC_STOP(); + Motor_Control(MOTOR_CMD_STOP); App.StopFlag = true; App.DownFlag = false; App.UpFlag = false; @@ -281,6 +291,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && Oll_diff1 > -(App.ADTrack.LeftLowVPT / 2)) { //BDC_STOP(); + Motor_Control(MOTOR_CMD_STOP); App.StopFlag = true; App.DownFlag = false; App.UpFlag = false; @@ -293,15 +304,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ && rl_slope < -App.ADTrack.Slope_VPT) { //BDC_STOP(); - App.StopFlag = true; - App.DownFlag = false; - App.UpFlag = false; - App.StopCollDelay1mSCnt = 1000; + Motor_Control(MOTOR_CMD_STOP); + App.StopFlag = true; + App.DownFlag = false; + App.UpFlag = false; + App.StopCollDelay1mSCnt = 1000; } else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2) && Orl_diff1 > -(App.ADTrack.RightLowVPT / 2)) { //BDC_STOP(); + Motor_Control(MOTOR_CMD_STOP); App.StopFlag = true; App.DownFlag = false; App.UpFlag = false; @@ -574,6 +587,7 @@ int main(void) RIGHTUP_CS1237DataLoopCollect(); RIGHTLOW_CS1237DataLoopCollect(); ReadLoopHandler(); + DcmotorLoopHandler(); AppLoopHandler(); } } @@ -593,6 +607,7 @@ void SysTick_IrqHandler(void) LEFTLOW_CS12371mSRoutine(); RIGHTUP_CS12371mSRoutine(); RIGHTLOW_CS12371mSRoutine(); + Dcmotor1msRoutine(); } /***************************************************************************************** diff --git a/driver/inc/hc32f460_timer6.h b/driver/inc/hc32f460_timer6.h index f731e09..d25bcce 100644 --- a/driver/inc/hc32f460_timer6.h +++ b/driver/inc/hc32f460_timer6.h @@ -640,6 +640,9 @@ en_result_t Timer6_SetSpecialBuf(M4_TMR6_TypeDef *TMR6x,en_timer6_special_compar /* Timer6 unit Set valid period Value*/ en_result_t Timer6_SetValidPeriod(M4_TMR6_TypeDef *TMR6x, const stc_timer6_validper_cfg_t* pstcTimer6ValidPerCfg); +/* Config channel mode, capture or output */ +void Timer6_SetFunc(M4_TMR6_TypeDef *TMR6x, en_timer6_chx_port_t enTimer6PWMPort, en_timer6_func_mode_t enMode); + /* Config Input prot and filter function */ en_result_t Timer6_PortInputConfig(M4_TMR6_TypeDef *TMR6x, const stc_timer6_port_input_cfg_t* pstcTimer6PortInputCfg); /* Config output prot function */ diff --git a/driver/src/hc32f460_timer6.c b/driver/src/hc32f460_timer6.c index 461c25b..9c49684 100644 --- a/driver/src/hc32f460_timer6.c +++ b/driver/src/hc32f460_timer6.c @@ -92,6 +92,11 @@ ( (Timer6PWMA == (x)) || \ (Timer6PWMB == (x))) +/*!< Parameter valid check for timer6 port mode */ +#define IS_VALID_TIMER6_PORT_MODE(x) \ +( (Timer6ModeCompareOutput == (x)) || \ + (Timer6ModeCaptureInput == (x))) + /*!< Parameter valid check for timer6 input port */ #define IS_VALID_TIMER6_INPUT_PORT(x) \ ( (Timer6PWMA == (x)) || \ @@ -948,6 +953,34 @@ en_result_t Timer6_PortInputConfig(M4_TMR6_TypeDef *TMR6x, const stc_timer6_port return enRet; } +/******************************************************************************* + * \brief Set channel function + * \param [in] TMR6x Timer6 unit + * \param [in] enTimer6PWMPort Port to be configured @ref en_timer6_chx_port_t + * \param [in] enMode Channel mode @ref en_timer6_func_mode_t + * \retval None + ******************************************************************************/ +void Timer6_SetFunc(M4_TMR6_TypeDef *TMR6x, en_timer6_chx_port_t enTimer6PWMPort, en_timer6_func_mode_t enMode) +{ + DDL_ASSERT(IS_VALID_NORMAL_TIMER6_UNIT(TMR6x)); + DDL_ASSERT(IS_VALID_TIMER6_OUTPUT_PORT(enTimer6PWMPort)); + DDL_ASSERT(IS_VALID_TIMER6_PORT_MODE(enMode)); + + switch (enTimer6PWMPort) + { + case Timer6xCHA: + TMR6x->PCONR_f.CAPMDA = enMode; + break; + + case Timer6xCHB: + TMR6x->PCONR_f.CAPMDB = enMode; + break; + + default: + break; + } +} + /******************************************************************************* * \brief Timer6 Output Port config *