128 lines
4.0 KiB
C
128 lines
4.0 KiB
C
#include "bsp_motor.h"
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#include "tim.h"
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/**
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* @file bsp_motor.c
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* @brief AT8236-MS 电机驱动实现 (PWM)
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*
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* AT8236-MS 驱动逻辑参考：
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* - IN1 (PWM) / IN2 (L) -> 正转
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* - IN1 (L) / IN2 (PWM) -> 反转
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* - IN1 (L) / IN2 (L) -> 停止/刹车 (视具体芯片配置而定)
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*/
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/**
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* @brief 初始化电机相关外设
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*/
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void motor_init(void)
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{
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/* 1. 开启 PWM 定时器硬件通道 (TIM1 用于 M1, M2) */
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
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/* --- 关键修改：强制使能 TIM1 的主输出 (仅高级定时器需要) --- */
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__HAL_TIM_MOE_ENABLE(&htim1);
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/* 2. 开启 PWM 定时器硬件通道 (TIM2 用于 M3, M4) */
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
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/* 3. 初始状态设置为停止 */
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motor_stop(MOTOR_1);
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motor_stop(MOTOR_2);
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motor_stop(MOTOR_3);
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motor_stop(MOTOR_4);
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}
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/**
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* @brief 设置电机PWM速度和方向
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* @param motor_id 电机 ID (MOTOR_1 到 MOTOR_4)
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* @param speed 速度值 (-3599 到 3599，正数正转，负数反转)
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*/
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void motor_set_speed(motor_id_t motor_id, int16_t speed)
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{
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TIM_HandleTypeDef* htim_w = NULL;
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uint32_t channel_w = 0;
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TIM_HandleTypeDef* htim_s = NULL;
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uint32_t channel_s = 0;
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/* 获取对应电机的 定时器句柄和通道 (根据 tim.c GPIO 复用定义) */
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switch (motor_id) {
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case MOTOR_1: // PE9->TIM1_CH1, PE11->TIM1_CH2
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htim_w = &htim1; channel_w = TIM_CHANNEL_1;
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htim_s = &htim1; channel_s = TIM_CHANNEL_2;
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break;
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case MOTOR_2: // PE13->TIM1_CH3, PE14->TIM1_CH4
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htim_w = &htim1; channel_w = TIM_CHANNEL_3;
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htim_s = &htim1; channel_s = TIM_CHANNEL_4;
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break;
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case MOTOR_3: // PA15->TIM2_CH1, PB3->TIM2_CH2
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htim_w = &htim2; channel_w = TIM_CHANNEL_1;
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htim_s = &htim2; channel_s = TIM_CHANNEL_2;
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break;
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case MOTOR_4: // PA2->TIM2_CH3, PA3->TIM2_CH4
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htim_w = &htim2; channel_w = TIM_CHANNEL_3;
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htim_s = &htim2; channel_s = TIM_CHANNEL_4;
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break;
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default: return;
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}
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/* 纠正左右电机物理方向差异 */
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if (motor_id == MOTOR_3 || motor_id == MOTOR_4) {
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speed = -speed;
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}
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/* 限制速度范围 (ARR=3599) */
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if (speed > 3599) speed = 3599;
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if (speed < -3599) speed = -3599;
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/* 计算绝对值速度 */
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uint16_t pwm_val = (speed < 0) ? (uint16_t)(-speed) : (uint16_t)speed;
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/* 根据速度判断方向 */
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if (speed > 0) {
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/* 正转：W 输出 PWM, S 输出低电平 (占空比 0) */
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__HAL_TIM_SET_COMPARE(htim_w, channel_w, pwm_val);
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__HAL_TIM_SET_COMPARE(htim_s, channel_s, 0);
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} else if (speed < 0) {
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/* 反转：W 输出低电平 (占空比 0), S 输出 PWM */
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__HAL_TIM_SET_COMPARE(htim_w, channel_w, 0);
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__HAL_TIM_SET_COMPARE(htim_s, channel_s, pwm_val);
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} else {
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motor_stop(motor_id);
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}
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}
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/**
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* @brief 停止电机
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* @param motor_id 电机 ID
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*/
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void motor_stop(motor_id_t motor_id)
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{
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/* 设置对应通道占空比均为 0 以刹车/停止 */
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switch (motor_id) {
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case MOTOR_1:
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 0);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 0);
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break;
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case MOTOR_2:
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, 0);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_4, 0);
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break;
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case MOTOR_3:
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 0);
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 0);
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break;
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case MOTOR_4:
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, 0);
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__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0);
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break;
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default: break;
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}
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}
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