44 lines
1.4 KiB
C
44 lines
1.4 KiB
C
/*
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* @Author: jiejie
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* @Github: https://github.com/jiejieTop
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* @Date: 2020-02-16 00:02:40
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* @LastEditTime : 2020-02-16 00:31:10
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* @Description: the code belongs to jiejie, please keep the author information and source code according to the license.
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*/
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#ifndef _BSP_MOTOR_H
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#define _BSP_MOTOR_H
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#include "stm32f1xx_hal.h"
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#define MOTOR_FORWARD_PORT GPIOB
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#define MOTOR_FORWARD_PIN GPIO_PIN_4
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#define MOTOR_FORWARD_CHANNEL TIM_CHANNEL_1
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#define MOTOR_REVERSE_PORT GPIOB
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#define MOTOR_REVERSE_PIN GPIO_PIN_5
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#define MOTOR_REVERSE_CHANNEL TIM_CHANNEL_2
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#define MOTOR_TIM TIM3
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#define MOTOR_TIM_RCC_CLK_ENABLE() __HAL_RCC_TIM3_CLK_ENABLE()
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#define MOTOR_TIM_AFIO_REMAP() __HAL_AFIO_REMAP_TIM3_PARTIAL()
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#define MOTOR_TIM_RCC_CLK_DISABLE() __HAL_RCC_TIM3_CLK_DISABLE()
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#define MOTOR_TIM_GPIO_RCC_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE();
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//72M/72=1M的计数频率，自动重装载为500，那么PWM频率为1M/250=4kHZ
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#define MOTOR_PRESCALER 71 //定时器预分频
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#define MOTOR_PERIOD 249 // 定时器重装载值
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#define MOTOR_MAX_DUTY 100 // 最大占空比
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typedef enum motor_mode {
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MOTOR_STOP = 0,
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MOTOR_FORWARD = 1,
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MOTOR_REVERSE = 2
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} motor_mode_t;
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void motor_init(void);
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void motor_set_speed(motor_mode_t s, uint8_t pwm);
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#endif /* _BSP_MOTOR_H */
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