1、修改定时器4初始化代码，修复上升下降控制速度异常BUG。

Project/HC32F460/MDK/HC32F460.uvoptx

@@ -157,7 +157,7 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>291</LineNumber>
+          <LineNumber>346</LineNumber>
           <EnabledFlag>1</EnabledFlag>
           <Address>4146</Address>
           <ByteObject>0</ByteObject>
@@ -168,23 +168,7 @@
           <BreakIfRCount>1</BreakIfRCount>
           <Filename>..\source\Module\dc_motor\dc_motor.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\BombSensor\../source/Module/dc_motor/dc_motor.c\291</Expression>
+          <Expression>\\BombSensor\../source/Module/dc_motor/dc_motor.c\346</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>343</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>..\source\Module\dc_motor\dc_motor.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>
@@ -283,6 +267,21 @@
           <WinNumber>1</WinNumber>
           <ItemText>g_motor_data</ItemText>
         </Ww>
+        <Ww>
+          <count>19</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>g_motorSpeed,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>20</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>DcMotorDispEn</ItemText>
+        </Ww>
+        <Ww>
+          <count>21</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>(500u) - g_motorSpeed,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -290,7 +289,7 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
-        <aLwin>0</aLwin>
+        <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
@@ -326,6 +325,12 @@
       <pszMrulep></pszMrulep>
       <pSingCmdsp></pSingCmdsp>
       <pMultCmdsp></pMultCmdsp>
+      <SystemViewers>
+        <Entry>
+          <Name>System Viewer\TMR41</Name>
+          <WinId>35905</WinId>
+        </Entry>
+      </SystemViewers>
       <DebugDescription>
         <Enable>1</Enable>
         <EnableFlashSeq>0</EnableFlashSeq>

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 */
+    Timer41_Init();
-//    dcmotor_dir(0);                 /* 设置正转 */
+    
-//    dcmotor_speed(0);               /* 速度设置为0 */
+    dcmotor_stop();                 /* 停止电机 */
-//    dcmotor_start();                /* 开启电机 */
+    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 */
     {
-
+        TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
-
+        TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
-        Timer41_Init(1);
-
     }
     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, TIMER4_OCO_HIGH_CH, g_motorSpeed);     //正转
-        TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, TIMER4_CNT_CYCLE_VAL - g_motorSpeed);         //反转
+        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, enOcoLowCh, g_motorSpeed);         //反转
-//        TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, TIMER4_CNT_CYCLE_VAL - g_motorSpeed);         //反转
-        TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, g_motorSpeed);         //反转
-        
         #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);
     }