129 lines
3.6 KiB
C
129 lines
3.6 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file motor_driver.c
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* @brief 电机驱动实现 - 双路AT8236-MS H桥驱动
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "motor_driver.h"
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#include "elog.h"
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#include "stm32f1xx_hal.h"
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#include "stm32f1xx_hal_tim.h"
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#include "cmsis_os.h"
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#include "tim.h"
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/* Private defines -----------------------------------------------------------*/
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/* TIM4自动重装载值是99 (100-1)，所以PWM值范围是0-99 */
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/* Private function prototypes -----------------------------------------------*/
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/* PWM parameters */
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#define PWM_ARR 99
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#define PWM_STEPS (PWM_ARR + 1)
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/* 三档占空比（百分比），索引为 0..2 对应 档位 1..3（档位0为停止） */
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static const uint8_t gears_percent[3] = {75, 80, 85};
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/* current_gear: 0 = 停止, 1 = 低, 2 = 中, 3 = 高 */
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static uint8_t current_gear = 0; /* 0..3 */
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static inline uint32_t percent_to_compare(uint8_t percent) {
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return ((uint32_t)percent * PWM_STEPS) / 100U;
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}
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/* 将两个电机都设置为指定占空比（只使用 TIM4_CH2, TIM4_CH4 输出，CH1/CH3 停止以保持单方向） */
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static void set_both_motors_percent(uint8_t percent) {
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uint32_t cmp = percent_to_compare(percent);
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/* 停止并关闭 CH1、使用 CH2 输出 */
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HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_1);
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__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_2, (uint16_t)cmp);
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/* 停止并关闭 CH3、使用 CH4 输出 */
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HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
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__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, (uint16_t)cmp);
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}
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/* 启动时短暂提升到 90% 并保持 500ms，然后降到一档（档位1） */
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void Motor_StartupBoost(void) {
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set_both_motors_percent(90);
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osDelay(1500);
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current_gear = 1; /* 启动后回到档位1（最低速） */
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set_both_motors_percent(gears_percent[current_gear - 1]);
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}
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/* 设置挡位（0..3），0=停止 */
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void Motor_SetGear(uint8_t gear) {
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if (gear > 3) gear = 3;
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current_gear = gear;
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if (current_gear == 0) {
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set_both_motors_percent(0);
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} else {
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set_both_motors_percent(gears_percent[current_gear - 1]);
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}
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}
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/* 切换到下一档（0->1->2->3->0 循环） */
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void Motor_NextGear(void) {
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current_gear++;
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if (current_gear > 3) current_gear = 0;
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if (current_gear == 0) {
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set_both_motors_percent(0);
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} else {
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set_both_motors_percent(gears_percent[current_gear - 1]);
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}
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}
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/* 向上加档（与按键配合使用） */
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void Motor_GearUp(void) {
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Motor_NextGear();
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}
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/* 向下减档（循环） */
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void Motor_GearDown(void) {
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if (current_gear == 0) {
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current_gear = 3;
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} else {
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current_gear--;
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}
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if (current_gear == 0) {
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set_both_motors_percent(0);
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} else {
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set_both_motors_percent(gears_percent[current_gear - 1]);
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}
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}
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uint8_t Motor_GetGear(void) {
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return current_gear;
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}
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief 电机驱动初始化
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*/
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void Motor_Init(void) {
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/* 启动TIM4 PWM输出 */
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HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
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HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
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// 初始完全停止电机
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Motor_Stop();
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}
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void Motor_Stop(void) {
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// 所有引脚输出0 - 完全停止
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__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, 0);
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__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_2, 0);
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__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 0);
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__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, 0);
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}
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