1、代码备份

Project/HC32F460/MDK/HC32F460.uvoptx

@@ -101,9 +101,7 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
-        <bSchkAxf>0</bSchkAxf>
+        <nTsel>2</nTsel>
-        <bTchkAxf>0</bTchkAxf>
-        <nTsel>6</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,9 +112,14 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>Segger\JL2CM3.dll</pMon>
+        <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-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)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
@@ -205,6 +208,26 @@
           <WinNumber>1</WinNumber>
           <ItemText>App.ADTrack.RightLow_Org_AdZero,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>LeftSlopeSum,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>RightSlopeSum,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>13</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>LeftDiffSum,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>14</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>RightDiffSum,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -250,7 +273,6 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
-        <EnableFlashSeq>1</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>1000000</DbgClock>
@@ -338,8 +360,6 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
-        <bSchkAxf>0</bSchkAxf>
-        <bTchkAxf>0</bTchkAxf>
         <nTsel>-1</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
@@ -401,7 +421,7 @@
 
   <Group>
     <GroupName>common</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -421,7 +441,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>2</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\..\..\mcu\common\system_hc32f460.c</PathWithFileName>
@@ -433,7 +453,7 @@
 
   <Group>
     <GroupName>driver</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1067,6 +1087,26 @@
     </File>
   </Group>
 
+  <Group>
+    <GroupName>dc_motor</GroupName>
+    <tvExp>1</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>54</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\source\Module\dc_motor\dc_motor.c</PathWithFileName>
+      <FilenameWithoutPath>dc_motor.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
   <Group>
     <GroupName>Readme</GroupName>
     <tvExp>0</tvExp>

Project/HC32F460/MDK/HC32F460.uvprojx

@@ -10,7 +10,7 @@
       <TargetName>Debug</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
+      <pCCUsed>5060528::V5.06 update 5 (build 528)::ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
@@ -184,9 +184,6 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>1</RvdsVP>
-            <RvdsMve>0</RvdsMve>
-            <RvdsCdeCp>0</RvdsCdeCp>
-            <nBranchProt>0</nBranchProt>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>1</hadIROM2>
             <StupSel>8</StupSel>
@@ -327,7 +324,6 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
-            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>3</v6Lang>
             <v6LangP>5</v6LangP>
@@ -340,7 +336,7 @@
               <MiscControls></MiscControls>
               <Define>__DEBUG,HC32F460,USE_DEVICE_DRIVER_LIB,JEUA</Define>
               <Undefine></Undefine>
-              <IncludePath>..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237</IncludePath>
+              <IncludePath>..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237;..\source\Module\dc_motor</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -353,7 +349,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <ClangAsOpt>4</ClangAsOpt>
+            <uClangAs>0</uClangAs>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -666,6 +662,16 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>dc_motor</GroupName>
+          <Files>
+            <File>
+              <FileName>dc_motor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\source\Module\dc_motor\dc_motor.c</FilePath>
+            </File>
+          </Files>
+        </Group>
         <Group>
           <GroupName>Readme</GroupName>
         </Group>
@@ -852,9 +858,6 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>1</RvdsVP>
-            <RvdsMve>0</RvdsMve>
-            <RvdsCdeCp>0</RvdsCdeCp>
-            <nBranchProt>0</nBranchProt>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>1</hadIROM2>
             <StupSel>8</StupSel>
@@ -995,7 +998,6 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
-            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>0</v6Lang>
             <v6LangP>0</v6LangP>
@@ -1021,7 +1023,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <ClangAsOpt>1</ClangAsOpt>
+            <uClangAs>0</uClangAs>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -1334,6 +1336,16 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>dc_motor</GroupName>
+          <Files>
+            <File>
+              <FileName>dc_motor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\source\Module\dc_motor\dc_motor.c</FilePath>
+            </File>
+          </Files>
+        </Group>
         <Group>
           <GroupName>Readme</GroupName>
         </Group>
@@ -1358,14 +1370,4 @@
     <files/>
   </RTE>
 
-  <LayerInfo>
-    <Layers>
-      <Layer>
-        <LayName>HC32F460</LayName>
-        <LayTarg>0</LayTarg>
-        <LayPrjMark>1</LayPrjMark>
-      </Layer>
-    </Layers>
-  </LayerInfo>
-
 </Project>

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 */

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
+}

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
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

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_SDIOC_ENABLE                            (DDL_OFF)
-#define DDL_SPI_ENABLE                              (DDL_ON)
+#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)

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 LeftDiffSum = abs(lu_diff[0]) + abs(ll_diff[0]);
-			uint32_t RightDiffSum = abs(ru_ad[0]) + abs(rl_ad[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;
+				Motor_Control(MOTOR_CMD_STOP);
-					App.DownFlag = false;
+				App.StopFlag = true;
-					App.UpFlag = false;
+				App.DownFlag = false;
-					App.StopCollDelay1mSCnt = 1000;
+				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();
 }
 
 /*****************************************************************************************

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 */

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
  *