diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index 60ea73e..55e63ea 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -157,7 +157,7 @@
0
0
- 291
+ 346
1
4146
0
@@ -168,23 +168,7 @@
1
..\source\Module\dc_motor\dc_motor.c
- \\BombSensor\../source/Module/dc_motor/dc_motor.c\291
-
-
- 1
- 0
- 343
- 1
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- ..\source\Module\dc_motor\dc_motor.c
-
-
+ \\BombSensor\../source/Module/dc_motor/dc_motor.c\346
@@ -283,6 +267,21 @@
1
g_motor_data
+
+ 19
+ 1
+ g_motorSpeed,0x0A
+
+
+ 20
+ 1
+ DcMotorDispEn
+
+
+ 21
+ 1
+ (500u) - g_motorSpeed,0x0A
+
0
@@ -290,7 +289,7 @@
0
1
- 0
+ 1
0
0
0
@@ -326,6 +325,12 @@
+
+
+ System Viewer\TMR41
+ 35905
+
+
1
0
diff --git a/Project/HC32F460/source/Module/dc_motor/dc_motor.c b/Project/HC32F460/source/Module/dc_motor/dc_motor.c
index f2e52ca..1d97698 100644
--- a/Project/HC32F460/source/Module/dc_motor/dc_motor.c
+++ b/Project/HC32F460/source/Module/dc_motor/dc_motor.c
@@ -65,6 +65,9 @@ void DCMOTORDBGOnOff(uint8_t OnOff)
#define TIMER4_PWM_H_PIN (Pin09)
#define TIMER4_PWM_L_PORT (PortB) /* TIM4_1_OUL_B:PE8 TIM4_1_OVL_B:PE10 TIM4_1_OWL_B:PE12 */
#define TIMER4_PWM_L_PIN (Pin14)
+
+en_timer4_oco_ch_t enOcoLowCh = (en_timer4_oco_ch_t)(TIMER4_OCO_HIGH_CH + 1);
+
#endif
@@ -375,7 +378,7 @@ void AdcLoopHander(void)
-
+#if(0)
void Timer41_Init(uint8_t dir)
{
uint8_t E_OC_Port = 0;
@@ -516,9 +519,131 @@ void Timer41_Init(uint8_t dir)
TIMER4_CNT_Start(TIMER4_UNIT);
}
+#endif
+#if(1)
+void Timer41_Init(void)
+{
+ stc_timer4_cnt_init_t stcCntInit;
+ stc_timer4_oco_init_t stcOcoInit;
+ stc_timer4_pwm_init_t stcPwmInit;
+ stc_oco_low_ch_compare_mode_t stcLowChCmpMode;
+ stc_oco_high_ch_compare_mode_t stcHighChCmpMode;
+ uint16_t u8OcoOccrVal = TIMER4_CNT_CYCLE_VAL/10u;
+ en_timer4_oco_ch_t enOcoLowCh = (en_timer4_oco_ch_t)(TIMER4_OCO_HIGH_CH + 1);
+
+ /* Clear structures */
+ MEM_ZERO_STRUCT(stcCntInit);
+ MEM_ZERO_STRUCT(stcOcoInit);
+ MEM_ZERO_STRUCT(stcLowChCmpMode);
+ MEM_ZERO_STRUCT(stcHighChCmpMode);
+ MEM_ZERO_STRUCT(stcPwmInit);
+
+ /* Enable peripheral clock */
+ PWC_Fcg2PeriphClockCmd(PWC_FCG2_PERIPH_TIM41, Enable);
+
+ /* Timer4 CNT : Initialize CNT configuration structure */
+ stcCntInit.enBufferCmd = Disable;
+ stcCntInit.enClk = Timer4CntPclk;
+ stcCntInit.enClkDiv = Timer4CntPclkDiv4; /* CNT clock divide */
+ stcCntInit.u16Cycle = TIMER4_CNT_CYCLE_VAL;
+// stcCntInit.enCntMode = Timer4CntSawtoothWave; //锯齿波模式
+ stcCntInit.enCntMode = Timer4CntTriangularWave; //三角波模式Timer4CntTriangularWave
+ stcCntInit.enZeroIntCmd = Disable;
+ stcCntInit.enPeakIntCmd = Disable;
+ stcCntInit.enZeroIntMsk = Timer4CntIntMask0;
+ stcCntInit.enPeakIntMsk = Timer4CntIntMask0;
+ TIMER4_CNT_Init(TIMER4_UNIT, &stcCntInit); /* Initialize CNT */
+
+ /* Timer4 OCO : Initialize OCO configuration structure */
+ stcOcoInit.enOccrBufMode = OccrBufDisable;
+ stcOcoInit.enOcmrBufMode = OcmrBufDisable;
+ stcOcoInit.enPortLevel = OcPortLevelHigh; /*输出高电平到OC端口*/
+ stcOcoInit.enOcoIntCmd = Disable;
+ TIMER4_OCO_Init(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, &stcOcoInit); /* Initialize OCO high channel */
+ TIMER4_OCO_Init(TIMER4_UNIT, enOcoLowCh, &stcOcoInit); /* Initialize OCO low channel */
+
+ if (!(TIMER4_OCO_HIGH_CH % 2))
+ {
+ /* ocmr[15:0] = 0x225F */
+ stcHighChCmpMode.enCntZeroNotMatchOpState = OcoOpOutputHold; ///< b15~b14
+ stcHighChCmpMode.enCntPeakNotMatchOpState = OcoOpOutputLow; ///< b13~b12
+ stcHighChCmpMode.enCntZeroMatchOpState = OcoOpOutputHold; ///< b11~b10
+ stcHighChCmpMode.enCntUpCntMatchOpState = OcoOpOutputLow; ///< b9~b8
+ stcHighChCmpMode.enCntPeakMatchOpState = OcoOpOutputHigh; ///< b7~b6
+ stcHighChCmpMode.enCntDownCntMatchOpState = OcoOpOutputHigh; ///< b5~b4
+
+ stcHighChCmpMode.enCntZeroMatchOcfState = OcoOcfSet; ///< b3
+ stcHighChCmpMode.enCntUpCntMatchOcfState = OcoOcfSet; ///< b2
+ stcHighChCmpMode.enCntPeakMatchOcfState = OcoOcfSet; ///< b1
+ stcHighChCmpMode.enCntDownCntMatchOcfState = OcoOcfSet; ///< b0
+
+ stcHighChCmpMode.enMatchConditionExtendCmd = Disable;
+
+ TIMER4_OCO_SetHighChCompareMode(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, &stcHighChCmpMode); /* Set OCO high channel compare mode */
+ }
+
+ /*************Timer4 OCO ocmr1[31:0] = 0x0FF0 0FFF*****************************/
+ if (enOcoLowCh % 2)
+ {
+ /* OCMR[31:0] Ox 2250 225F 0000 1111 1111 0000 0000 1111 1111 1111 */
+ stcLowChCmpMode.enCntZeroLowMatchHighMatchLowChOpState = OcoOpOutputHold; /* bit[27:26] 00 */
+ stcLowChCmpMode.enCntZeroLowMatchHighNotMatchLowChOpState = OcoOpOutputHold; /* bit[11:10] 00 */
+ stcLowChCmpMode.enCntZeroLowNotMatchHighMatchLowChOpState = OcoOpOutputHold; /* bit[31:30] 00 */
+ stcLowChCmpMode.enCntZeroLowNotMatchHighNotMatchLowChOpState = OcoOpOutputHold; /* bit[15:14] 00 */
+
+ stcLowChCmpMode.enCntUpCntLowMatchHighMatchLowChOpState = OcoOpOutputLow; /* bit[25:24] 10 */
+ stcLowChCmpMode.enCntUpCntLowMatchHighNotMatchLowChOpState = OcoOpOutputLow; /* bit[9:8] 10 */
+ stcLowChCmpMode.enCntUpCntLowNotMatchHighMatchLowChOpState = OcoOpOutputHold; /* bit[19:18] 00 */
+
+ stcLowChCmpMode.enCntPeakLowMatchHighMatchLowChOpState = OcoOpOutputHigh; /* bit[23:22] 01 */
+ stcLowChCmpMode.enCntPeakLowMatchHighNotMatchLowChOpState = OcoOpOutputHigh; /* bit[7:6] 01 */
+ stcLowChCmpMode.enCntPeakLowNotMatchHighMatchLowChOpState = OcoOpOutputLow; /* bit[29:28] 10 */
+ stcLowChCmpMode.enCntPeakLowNotMatchHighNotMatchLowChOpState = OcoOpOutputLow; /* bit[13:12] 10 */
+
+ stcLowChCmpMode.enCntDownLowMatchHighMatchLowChOpState = OcoOpOutputHigh; /* bit[21:20] 01 */
+ stcLowChCmpMode.enCntDownLowMatchHighNotMatchLowChOpState = OcoOpOutputHigh; /* bit[5:4] 01 */
+ stcLowChCmpMode.enCntDownLowNotMatchHighMatchLowChOpState = OcoOpOutputHold; /* bit[17:16] 00 */
+
+ stcLowChCmpMode.enCntZeroMatchOcfState = OcoOcfSet; /* bit[3] 1 */
+ stcLowChCmpMode.enCntUpCntMatchOcfState = OcoOcfSet; /* bit[2] 1 */
+ stcLowChCmpMode.enCntPeakMatchOcfState = OcoOcfSet; /* bit[1] 1 */
+ stcLowChCmpMode.enCntDownCntMatchOcfState = OcoOcfSet; /* bit[0] 1 */
+
+ TIMER4_OCO_SetLowChCompareMode(TIMER4_UNIT, enOcoLowCh, &stcLowChCmpMode); /* Set OCO low channel compare mode */
+ }
+
+// /* Set OCO compare value */
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0);
+
+ /* Enable OCO */
+
+ TIMER4_OCO_OutputCompareCmd(TIMER4_UNIT, enOcoLowCh, Enable);
+ TIMER4_OCO_OutputCompareCmd(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, Enable);
+
+ /* Initialize PWM I/O */
+ PORT_SetFunc(TIMER4_PWM_H_PORT, TIMER4_PWM_H_PIN, Func_Tim4, Disable);
+ PORT_SetFunc(TIMER4_PWM_L_PORT, TIMER4_PWM_L_PIN, Func_Tim4, Disable);
+
+ /* Timer4 PWM: Initialize PWM configuration structure */
+ //重载定时器中断
+ stcPwmInit.enRtIntMaskCmd = Enable;
+ //计数时钟分频
+ stcPwmInit.enClkDiv = PwmPlckDiv1; /*滤波计数器和死区计数器的计数时钟分频*/
+ //PWM输出极性控制
+ stcPwmInit.enOutputState = PwmHPwmLReverse; /*输出PWMH信号不改变电平，输出PWML信号反转*/
+ //PWM输出模式
+ stcPwmInit.enMode = PwmThroughMode; /*直通模式*/
+ TIMER4_PWM_Init(TIMER4_UNIT, TIMER4_PWM_CH, &stcPwmInit); /* Initialize timer4 pwm */
+
+ /* Clear && Start CNT */
+ TIMER4_CNT_Start(TIMER4_UNIT);
+}
+
+#endif
void Timer61A_Init(void)
{
@@ -691,10 +816,12 @@ void dcmotor_init(void)
// 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 */
+ Timer41_Init();
+
+ 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 */
}
/**
@@ -719,7 +846,10 @@ void dcmotor_stop(void)
#endif
#if(TIMER == TIMER4)
- TIMER4_CNT_Stop(TIMER4_UNIT);
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
+ DISABLE_MOTOR;
+
#endif
}
@@ -751,17 +881,19 @@ void dcmotor_dir(uint8_t para)
#endif
#if(TIMER == TIMER4)
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
if (para == 0) /* 正转 */
{
-
-
- Timer41_Init(1);
-
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
}
else if (para == 1) /* 反转 */
{
- Timer41_Init(0);
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
}
+ dcmotor_start();
#endif
}
@@ -782,8 +914,8 @@ void dcmotor_speed(uint16_t para)
#endif
#if(TIMER == TIMER4)
- TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //正转
- TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //反转
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, g_motorSpeed); //正转
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, g_motorSpeed); //反转
#endif
dcmotor_stop();
return;
@@ -797,10 +929,7 @@ void dcmotor_speed(uint16_t para)
#endif
#if(TIMER == TIMER4)
-// TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //正转
-// TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //反转
- TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, g_motorSpeed); //反转
-
+ TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, g_motorSpeed); //反转
#endif
DCMOTOR_DBG_LOG("REVERSE\tnewSpeed = %d\r\n", g_motorSpeed);
@@ -814,7 +943,6 @@ void dcmotor_speed(uint16_t para)
#if(TIMER == TIMER4)
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, g_motorSpeed); //正转
-// TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //反转
#endif
DCMOTOR_DBG_LOG("FORWARD\tnewSpeed = %d\r\n", g_motorSpeed);
}