335 lines
12 KiB
C
335 lines
12 KiB
C
// SPDX-License-Identifier: GPL-3.0-only
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/*
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* Copyright (c) 2008-2023 100askTeam : Dongshan WEI <weidongshan@qq.com>
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* Discourse: https://forums.100ask.net
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*/
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/* Copyright (C) 2008-2023 深圳百问网科技有限公司
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* All rights reserved
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*
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*
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* 免责声明: 百问网编写的文档，仅供学员学习使用，可以转发或引用(请保留作者信息)，禁止用于商业用途！
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* 免责声明: 百问网编写的程序，可以用于商业用途，但百问网不承担任何后果！
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*
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*
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* 本程序遵循GPL V3协议，使用请遵循协议许可
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* 本程序所用的开发板： DShanMCU-F103
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* 百问网嵌入式学习平台：https://www.100ask.net
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* 百问网技术交流社区： https://forums.100ask.net
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* 百问网官方B站： https://space.bilibili.com/275908810
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* 百问网官方淘宝： https://100ask.taobao.com
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* 联系我们(E-mail)： weidongshan@qq.com
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*
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* 版权所有，盗版必究。
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*
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* 修改历史 版本号 作者 修改内容
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*-----------------------------------------------------
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* 2023.08.04 v01 百问科技 创建文件
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*-----------------------------------------------------
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*/
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#include "driver_motor.h"
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#include "driver_lcd.h"
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#include "driver_timer.h"
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#include "stm32f1xx_hal.h"
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#include "tim.h"
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#define MOTOR_A_IN1_GPIO_GROUP GPIOA
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#define MOTOR_A_IN1_GPIO_PIN GPIO_PIN_4
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#define MOTOR_A_IN2_GPIO_GROUP GPIOA
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#define MOTOR_A_IN2_GPIO_PIN GPIO_PIN_0
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#define MOTOR_B_IN1_GPIO_GROUP GPIOB
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#define MOTOR_B_IN1_GPIO_PIN GPIO_PIN_4
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#define MOTOR_B_IN2_GPIO_GROUP GPIOB
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#define MOTOR_B_IN2_GPIO_PIN GPIO_PIN_15
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#define MOTOR_B_IN1_CHANNEL TIM_CHANNEL_1
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#define MOTOR_B_IN2_CHANNEL TIM_CHANNEL_3
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extern TIM_HandleTypeDef htim3;
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static TIM_HandleTypeDef *g_HPWM_BIN1 = &htim3;
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//extern TIM_HandleTypeDef htim1;
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//static TIM_HandleTypeDef *g_HPWM_BIN2 = &htim1;
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/**********************************************************************
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* 函数名：Motor_PWM_SetDuty
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* 功能描述：初始化Motor
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* 输入参数：channel - MOTOR_A 或 MOTOR_B
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* 输出参数：无
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* 返回值：无
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* 修改日期 版本号 修改人 修改内容
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* -----------------------------------------------
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* 2023/08/05 V1.0 韦东山 创建
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***********************************************************************/
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static void Motor_PWM_SetSpeed(int32_t speed)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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TIM_OC_InitTypeDef sConfig = {0};
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if (speed == 0)
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{
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(MOTOR_B_IN1_GPIO_GROUP, MOTOR_B_IN1_GPIO_PIN, GPIO_PIN_SET);
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HAL_GPIO_WritePin(MOTOR_B_IN2_GPIO_GROUP, MOTOR_B_IN2_GPIO_PIN, GPIO_PIN_SET);
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/*Configure GPIO pins*/
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GPIO_InitStruct.Pin = MOTOR_B_IN1_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_B_IN1_GPIO_GROUP, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = MOTOR_B_IN2_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_B_IN2_GPIO_GROUP, &GPIO_InitStruct);
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}
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else if (speed > 0)
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{
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/* B_IN1 设置为PWM, B_IN2设置为输出并且输出0 */
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/* B_IN1 */
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/* 配置B_IN1为 PWM引脚 */
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GPIO_InitStruct.Pin = MOTOR_B_IN1_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_B_IN1_GPIO_GROUP, &GPIO_InitStruct);
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/* 配置B_IN1的PWM占空比 */
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sConfig.OCMode = TIM_OCMODE_PWM1; // PWM 输出的两种模式:PWM1 当极性为低,CCR<CNT,输出低电平,反之高电平
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sConfig.OCPolarity = TIM_OCPOLARITY_HIGH; // 设置极性为高(硬件上BIN1为高,BIN2为低电平让motor正转)
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sConfig.OCFastMode = TIM_OCFAST_DISABLE; // 输出比较快速使能禁止(仅在 PWM1 和 PWM2 可设置)
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sConfig.Pulse = speed*10; // 周期是1000, speed取值0~99
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HAL_TIM_PWM_Stop(g_HPWM_BIN1, MOTOR_B_IN1_CHANNEL);
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HAL_TIM_PWM_ConfigChannel(g_HPWM_BIN1, &sConfig, MOTOR_B_IN1_CHANNEL);
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HAL_TIM_PWM_Start(g_HPWM_BIN1, MOTOR_B_IN1_CHANNEL);
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/* B_IN2 */
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HAL_GPIO_WritePin(MOTOR_B_IN2_GPIO_GROUP, MOTOR_B_IN2_GPIO_PIN, GPIO_PIN_RESET);
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GPIO_InitStruct.Pin = MOTOR_B_IN2_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_B_IN2_GPIO_GROUP, &GPIO_InitStruct);
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}
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else
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{
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speed = 0 - speed;
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/* B_IN1 设置为PWM, B_IN2设置为输出并且输出1 */
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/* B_IN1 */
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/* 配置B_IN1为 PWM引脚 */
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GPIO_InitStruct.Pin = MOTOR_B_IN1_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_B_IN1_GPIO_GROUP, &GPIO_InitStruct);
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/* 配置B_IN1的PWM占空比 */
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sConfig.OCMode = TIM_OCMODE_PWM1; // PWM 输出的两种模式:PWM1 当极性为低,CCR<CNT,输出低电平,反之高电平
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sConfig.OCPolarity = TIM_OCPOLARITY_HIGH; // 设置极性为高(硬件上BIN2为高,BIN1为低电平让motor反转)
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sConfig.OCFastMode = TIM_OCFAST_DISABLE; // 输出比较快速使能禁止(仅在 PWM1 和 PWM2 可设置)
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sConfig.Pulse = (99 - speed)*10; // 周期是1000, speed取值0~99
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HAL_TIM_PWM_Stop(g_HPWM_BIN1, MOTOR_B_IN1_CHANNEL);
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HAL_TIM_PWM_ConfigChannel(g_HPWM_BIN1, &sConfig, MOTOR_B_IN1_CHANNEL);
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HAL_TIM_PWM_Start(g_HPWM_BIN1, MOTOR_B_IN1_CHANNEL);
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/* B_IN2 */
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HAL_GPIO_WritePin(MOTOR_B_IN2_GPIO_GROUP, MOTOR_B_IN2_GPIO_PIN, GPIO_PIN_SET);
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GPIO_InitStruct.Pin = MOTOR_B_IN2_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_B_IN2_GPIO_GROUP, &GPIO_InitStruct);
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}
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}
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/**********************************************************************
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* 函数名：Motor_Init
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* 功能描述：初始化Motor
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* 输入参数：channel - MOTOR_A 或 MOTOR_B
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* 输出参数：无
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* 返回值：无
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* 修改日期 版本号 修改人 修改内容
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* -----------------------------------------------
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* 2023/08/05 V1.0 韦东山 创建
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***********************************************************************/
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void Motor_Init(int32_t channel)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if (MOTOR_A == channel)
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{
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(MOTOR_A_IN1_GPIO_GROUP, MOTOR_A_IN1_GPIO_PIN, GPIO_PIN_SET);
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HAL_GPIO_WritePin(MOTOR_A_IN2_GPIO_GROUP, MOTOR_A_IN2_GPIO_PIN, GPIO_PIN_SET);
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/*Configure GPIO pins*/
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GPIO_InitStruct.Pin = MOTOR_A_IN1_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_A_IN1_GPIO_GROUP, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = MOTOR_A_IN2_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_A_IN2_GPIO_GROUP, &GPIO_InitStruct);
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}
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if (MOTOR_B == channel)
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{
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(MOTOR_B_IN1_GPIO_GROUP, MOTOR_B_IN1_GPIO_PIN, GPIO_PIN_SET);
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HAL_GPIO_WritePin(MOTOR_B_IN2_GPIO_GROUP, MOTOR_B_IN2_GPIO_PIN, GPIO_PIN_SET);
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/*Configure GPIO pins*/
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GPIO_InitStruct.Pin = MOTOR_B_IN1_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_B_IN1_GPIO_GROUP, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = MOTOR_B_IN2_GPIO_PIN;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(MOTOR_B_IN2_GPIO_GROUP, &GPIO_InitStruct);
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}
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}
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/**********************************************************************
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* 函数名：Motor_SetPpeed
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* 功能描述：设置马达速度
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* 输入参数：channel - MOTOR_A 或 MOTOR_B
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* speed - 取值(-100~100),
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* 0表示停止,
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* 正数表示顺时针旋转速度,
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* 负数表示逆时钟旋转速度
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* 输出参数：无
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* 返回值：无
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* 修改日期 版本号 修改人 修改内容
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* -----------------------------------------------
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* 2023/08/05 V1.0 韦东山 创建
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***********************************************************************/
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void Motor_SetSpeed(int32_t channel, int32_t speed)
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{
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if (speed > 99)
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speed = 99;
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else if (speed < -99)
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speed = -99;
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if (MOTOR_A == channel)
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{
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if (0 == speed)
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{
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HAL_GPIO_WritePin(MOTOR_A_IN1_GPIO_GROUP, MOTOR_A_IN1_GPIO_PIN, GPIO_PIN_SET);
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HAL_GPIO_WritePin(MOTOR_A_IN2_GPIO_GROUP, MOTOR_A_IN2_GPIO_PIN, GPIO_PIN_SET);
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}
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else if (0 < speed)
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{
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HAL_GPIO_WritePin(MOTOR_A_IN1_GPIO_GROUP, MOTOR_A_IN1_GPIO_PIN, GPIO_PIN_SET);
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HAL_GPIO_WritePin(MOTOR_A_IN2_GPIO_GROUP, MOTOR_A_IN2_GPIO_PIN, GPIO_PIN_RESET);
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}
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else
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{
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HAL_GPIO_WritePin(MOTOR_A_IN1_GPIO_GROUP, MOTOR_A_IN1_GPIO_PIN, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(MOTOR_A_IN2_GPIO_GROUP, MOTOR_A_IN2_GPIO_PIN, GPIO_PIN_SET);
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}
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}
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if (MOTOR_B == channel)
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{
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Motor_PWM_SetSpeed(speed);
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}
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}
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/**********************************************************************
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* 函数名称： Motor_Test
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* 功能描述： Motor测试程序
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* 输入参数： 无
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* 输出参数： 无
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* 无
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* 返 回 值： 0 - 成功, 其他值 - 失败
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* 修改日期 版本号 修改人 修改内容
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* -----------------------------------------------
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* 2023/08/03 V1.0 韦东山 创建
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***********************************************************************/
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void Motor_Test(void)
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{
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int32_t speed = 0;
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int i, len;
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Motor_Init(MOTOR_A);
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Motor_Init(MOTOR_B);
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while (1)
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{
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LCD_PrintString(0, 0, "Motor Test: ");
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/* 正转 */
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speed = 0;
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for (i = 0; i < 10; i++)
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{
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len = LCD_PrintString(0, 2, "Speed:");
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len += LCD_PrintSignedVal(len, 2, speed);
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LCD_ClearLine(len, 2);
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Motor_SetSpeed(MOTOR_A, speed);
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Motor_SetSpeed(MOTOR_B, speed);
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speed += 10;
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mdelay(1000);
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}
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/* 停止 */
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speed = 0;
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Motor_SetSpeed(MOTOR_A, speed);
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Motor_SetSpeed(MOTOR_B, speed);
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len = LCD_PrintString(0, 2, "Speed:");
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len += LCD_PrintSignedVal(len, 2, speed);
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LCD_ClearLine(len, 2);
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mdelay(2000);
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/* 反转 */
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for (i = 0; i < 10; i++)
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{
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len = LCD_PrintString(0, 2, "Speed:");
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len += LCD_PrintSignedVal(len, 2, speed);
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LCD_ClearLine(len, 2);
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Motor_SetSpeed(MOTOR_A, speed);
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Motor_SetSpeed(MOTOR_B, speed);
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speed -= 10;
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mdelay(1000);
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}
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/* 停止 */
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speed = 0;
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Motor_SetSpeed(MOTOR_A, speed);
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Motor_SetSpeed(MOTOR_B, speed);
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len = LCD_PrintString(0, 2, "Speed:");
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len += LCD_PrintSignedVal(len, 2, speed);
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LCD_ClearLine(len, 2);
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mdelay(2000);
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}
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}
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