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YuanHongbin
2025-09-14 18:54:54 +08:00
parent a0f42649f4
commit 7dc8f7c6d7
9 changed files with 780 additions and 43 deletions
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Project/HC32F460/source/Module/dc_motor/dc_motor.c
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#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
}
Project/HC32F460/source/Module/dc_motor/dc_motor.h
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#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