电机驱动.c

#include "gpio.h"
#include "common.h"
#include "uart.h"
#include "dma.h"
#include "ftm.h"
#include "uart.h"

void turn(int angel){
    int pwm = (int)((angel/180.0 + 1) * 500);  //90度是1.5ms，0度是1ms，180度是2ms
    FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH3, pwm);
}
#define DRIVER_PWM_WIDTH 5000
void initDriver(){
    printf("initPWM\r\n");
    for(int i=0;i<8;i++)
        GPIO_QuickInit(HW_GPIOC, i, kGPIO_Mode_OPP);

    //初始化所有引脚为输出，其中
    /*
        C0----INH
        C1----OUT1
        C2----OUT2
        C3----OUT3
        C4----OUT4
        C5----LED1
        C6----LED2
        C7----LED3
    */
    //FTM_PWM_QuickInit(FTM0_CH3_PA06, kPWM_EdgeAligned, 50);     //设置频率50HZ，20ms脉宽，边沿对齐模式
    //FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH3, 750);              //设置初始占空比750/10000*100% = 7.5% = 1.5ms
    //初始化舵机

    FTM_PWM_QuickInit(FTM0_CH0_PC01, kPWM_EdgeAligned, DRIVER_PWM_WIDTH);
    FTM_PWM_QuickInit(FTM0_CH1_PC02, kPWM_EdgeAligned, DRIVER_PWM_WIDTH);
    FTM_PWM_QuickInit(FTM0_CH2_PC03, kPWM_EdgeAligned, DRIVER_PWM_WIDTH);
    FTM_PWM_QuickInit(FTM0_CH3_PC04, kPWM_EdgeAligned, DRIVER_PWM_WIDTH);
    //初始化电机PWM输出
}


void setLeftSpeed(int spd){
    if(spd>0){
        FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH1, spd);
        FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH0, 0);
    }else
    {
        FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH1, 0);
        FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH0, -spd);
    }
}

void setRightSpeed(int spd){
    if(spd>0){
        FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH2, spd);
        FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH3, 0);
    }else
    {
        FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH2, 0);
        FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH3, -spd);
    }
}

void delay(){
    DelayMs(500);
}

//串口接收中断
void UART_RX_ISR(uint16_t byteRec){
#define spd 1000
    switch(byteRec){
    case 'w':
        setLeftSpeed(spd);
        setRightSpeed(spd);
        break;
    case 's':
        setLeftSpeed(-spd);
        setRightSpeed(-spd);
        break;
    case 'a':
        //turn(60);
        break;
    case 'd':
        //turn(120);
        break;
    default:
        setLeftSpeed(0);
        setRightSpeed(0);
        break;
    }
}

int main(void)
{

    DelayInit();
    /* 打印串口及小灯 */

    GPIO_QuickInit(HW_GPIOC, 3, kGPIO_Mode_OPP);
    UART_QuickInit(UART0_RX_PB16_TX_PB17, 115200);

    /* 注册中断回调函数 */
    UART_CallbackRxInstall(HW_UART0, UART_RX_ISR);

    /* 开启UART Rx中断 */
    UART_ITDMAConfig(HW_UART0, kUART_IT_Rx, true);

    initDriver();
    PCout(0)=1;

    while(1)
    {

    }
}