1、增加引脚定义适配新版本（V2.1）电路。
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cui635
@@ -30,8 +30,8 @@ void DCMOTORDBGOnOff(uint8_t OnOff)
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DBG_LOG("\r\nDcMotor Display Disable!\r\n");
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}
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#if(MCU == HC32F460JETA)
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#if(0) //旧版本PCB
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/* Timer4 CNT */
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#define TIMER4_UNIT (M4_TMR41)
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#define TIMER4_CNT_CYCLE_VAL (500u) /* Timer4 counter cycle value */
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@@ -47,10 +47,24 @@ void DCMOTORDBGOnOff(uint8_t OnOff)
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#define TIMER4_PWM_H_PIN (Pin08)
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#define TIMER4_PWM_L_PORT (PortB) /* TIM4_1_OUL_B:PE8 TIM4_1_OVL_B:PE10 TIM4_1_OWL_B:PE12 */
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#define TIMER4_PWM_L_PIN (Pin13)
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#endif
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#if(1) //V2.1版本PCB
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/* Timer4 CNT */
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#define TIMER4_UNIT (M4_TMR41)
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#define TIMER4_CNT_CYCLE_VAL (500u) /* Timer4 counter cycle value */
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/* Timer4 OCO */
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#define TIMER4_OCO_HIGH_CH (Timer4OcoOvh) /* only Timer4OcoOuh Timer4OcoOvh Timer4OcoOwh */
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/* Timer4 PWM */
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#define TIMER4_PWM_CH (Timer4PwmV) /* only Timer4PwmU Timer4PwmV Timer4PwmW */
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#define TIMER4_PWM_H_PORT (PortA) /* TIM4_1_OUH_B:PE9 TIM4_1_OVH_B:PE11 TIM4_1_OWH_B:PE13 */
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#define TIMER4_PWM_H_PIN (Pin09)
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#define TIMER4_PWM_L_PORT (PortB) /* TIM4_1_OUL_B:PE8 TIM4_1_OVL_B:PE10 TIM4_1_OWL_B:PE12 */
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#define TIMER4_PWM_L_PIN (Pin14)
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#endif
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void Timer41_Init(uint8_t dir)
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@@ -86,7 +100,7 @@ void Timer41_Init(uint8_t dir)
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/* Enable peripheral clock */
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PWC_Fcg2PeriphClockCmd(PWC_FCG2_PERIPH_TIM41 | PWC_FCG2_PERIPH_TIM42 | PWC_FCG2_PERIPH_TIM43, Enable);
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PWC_Fcg2PeriphClockCmd(PWC_FCG2_PERIPH_TIM41, Enable);
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/* Timer4 CNT : Initialize CNT configuration structure */
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stcCntInit.enBufferCmd = Disable;
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@@ -178,10 +192,14 @@ void Timer41_Init(uint8_t dir)
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PORT_SetFunc(TIMER4_PWM_L_PORT, TIMER4_PWM_L_PIN, Func_Tim4, Disable);
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/* Timer4 PWM: Initialize PWM configuration structure */
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//重载定时器中断
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stcPwmInit.enRtIntMaskCmd = Enable;
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stcPwmInit.enClkDiv = PwmPlckDiv1;
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stcPwmInit.enOutputState = E_PWM_OS; /*输出PWMH信号不改变电平，输出PWML信号反转*/
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stcPwmInit.enMode = PwmThroughMode;
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//计数时钟分频
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stcPwmInit.enClkDiv = PwmPlckDiv1; /*滤波计数器和死区计数器的计数时钟分频*/
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//PWM输出极性控制
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stcPwmInit.enOutputState = E_PWM_OS; /*输出PWMH信号不改变电平，输出PWML信号反转*/
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//PWM输出模式
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stcPwmInit.enMode = PwmThroughMode; /*直通模式*/
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TIMER4_PWM_Init(TIMER4_UNIT, TIMER4_PWM_CH, &stcPwmInit); /* Initialize timer4 pwm */
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/* Clear && Start CNT */
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@@ -360,14 +378,14 @@ void dcmotor_init(void)
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PORT_Init(SHUTDOWN1_GPIO_Port, SHUTDOWN1_Pin, &stcPortInit);
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PORT_SetBits(SHUTDOWN1_GPIO_Port, SHUTDOWN1_Pin);
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PORT_Init(PortA, Pin03, &stcPortInit);
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PORT_SetBits(PortA, Pin03);
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/* SD拉低，关闭输出 */
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dcmotor_stop(); /* 停止电机 */
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dcmotor_dir(0); /* 设置正转 */
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dcmotor_speed(0); /* 速度设置为0 */
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dcmotor_start(); /* 开启电机 */
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// PORT_Init(PortA, Pin03, &stcPortInit);
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// PORT_SetBits(PortA, Pin03);
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// /* SD拉低，关闭输出 */
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//
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// dcmotor_stop(); /* 停止电机 */
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// dcmotor_dir(0); /* 设置正转 */
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// dcmotor_speed(0); /* 速度设置为0 */
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// dcmotor_start(); /* 开启电机 */
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}
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/**
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@@ -493,6 +511,8 @@ void dcmotor_speed(uint16_t para)
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}
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}
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#endif
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/**
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* @brief 电机控制
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* @param para: pwm比较值 ,正数电机为正转，负数为反转
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@@ -2,19 +2,29 @@
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#ifndef __DCMOTOR_H
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#define __DCMOTOR_H
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#include "hc32_ddl.h"
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#define HC32F170 (0u) //HC32F170JATA
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#define HC32L170 (1u) //HC32L170JATA
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#define HC32F460JETA (2u) //HC32F460JETA
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#define MCU HC32F460JETA
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#if(MCU == HC32F460JETA)
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#include "hc32_ddl.h"
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#define TIMER4 0
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#define TIMER6 1
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#define TIMER TIMER4
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#define TIMER TIMER4 //HC32F460单片机PWM输出控制定时器选择
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#endif
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// 电机控制参数
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#define PWM_PERIOD TIM_PERIOD // PWM周期值 (ARR)
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#define MAX_SPEED 480 // 最大速度(PWM占空比)
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#define ACCEL_STEP 10 // 加速步进值
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#define DECEL_STEP 10 // 减速步进值
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#define ACCEL_INTERVAL 10 // 加减速间隔(ms)
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#define ACCEL_INTERVAL 2 // 加减速间隔(ms)
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@@ -46,17 +56,18 @@ typedef enum {
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/* 停止引脚操作宏定义
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* 此引脚控制H桥是否生效以达到开启和关闭电机的效果
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*/
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#define SHUTDOWN1_Pin Pin12
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#define SHUTDOWN1_Pin Pin07
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#define SHUTDOWN1_GPIO_Port PortB
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//#define SHUTDOWN2_Pin GPIO_PIN_2
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//#define SHUTDOWN2_GPIO_Port GPIOF
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#define SHUTDOWN_GPIO_CLK_ENABLE() do{ __HAL_RCC_GPIOF_CLK_ENABLE(); }while(0) /* PF口时钟使能 */
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#if(MCU == HC32F460JETA)
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/* 电机停止引脚定义 这里默认是接口1 */
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#define ENABLE_MOTOR PORT_SetBits(SHUTDOWN1_GPIO_Port,SHUTDOWN1_Pin)
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#define DISABLE_MOTOR PORT_ResetBits(SHUTDOWN1_GPIO_Port,SHUTDOWN1_Pin)
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#endif
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/******************************************************************************************/
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void dcmotor_init(void); /* 直流有刷电机初始化 */
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