sensor_2026/HARDWARE/MOTOR/motor_driver.c

// motor_driver.c
#include "motor_driver.h"
#include "delay.h"
// ȫ<>ֱ<EFBFBD><D6B1><EFBFBD>
static uint8_t L_pwm_duty = 0;      // PWMռ<4D>ձ<EFBFBD> 0-100
static uint8_t M_pwm_duty = 0;      // PWMռ<4D>ձ<EFBFBD> 0-100
static uint8_t R_pwm_duty = 0;      // PWMռ<4D>ձ<EFBFBD> 0-100
static MotorState L_motor_dir = MOTOR_STOP;
static MotorState M_motor_dir = MOTOR_STOP;
static MotorState R_motor_dir = MOTOR_STOP;
// GPIO<49><4F>ʼ<EFBFBD><CABC>
void DRV8832_GPIO_Init(void) {
    GPIO_InitTypeDef GPIO_InitStructure;
    
	  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ų<EFBFBD>ʼ<EFBFBD><CABC>
    // ʹ<><CAB9>GPIOEʱ<45><CAB1>
    RCC_AHB1PeriphClockCmd(L_MOTOR_IN1_GPIO_CLK, ENABLE);
    
    // <20><><EFBFBD><EFBFBD>IN1 (PE9) <20><> IN2 (PE13) Ϊ<><CEAA><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Pin = L_MOTOR_IN1_GPIO_PIN | L_MOTOR_IN2_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(L_MOTOR_IN1_GPIO_PORT, &GPIO_InitStructure);
    
    // <20><><EFBFBD><EFBFBD>FAULTN (PE4) Ϊ<><CEAA><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Pin = L_MOTOR_FAULT_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;  // <20><><EFBFBD><EFBFBD>
    GPIO_Init(L_MOTOR_FAULT_GPIO_PORT, &GPIO_InitStructure);
    
    // <20><>ʼ״̬<D7B4><CCAC>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>
    GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
    GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
		
		//===========================================================================
		//<2F>е<EFBFBD><D0B5><EFBFBD> <20><><EFBFBD>ų<EFBFBD>ʼ<EFBFBD><CABC>
		// ʹ<><CAB9>GPIOEʱ<45><CAB1>
    RCC_AHB1PeriphClockCmd(M_MOTOR_IN1_GPIO_CLK, ENABLE);
		// <20><><EFBFBD><EFBFBD>IN1 (PB3)
    GPIO_InitStructure.GPIO_Pin = M_MOTOR_IN1_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(M_MOTOR_IN1_GPIO_PORT, &GPIO_InitStructure);
		
    // <20><><EFBFBD><EFBFBD> IN2 (PE14) Ϊ<><CEAA><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Pin = M_MOTOR_IN2_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(M_MOTOR_IN2_GPIO_PORT, &GPIO_InitStructure);
    
    // <20><><EFBFBD><EFBFBD>FAULTN (PE5) Ϊ<><CEAA><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Pin = M_MOTOR_FAULT_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;  // <20><><EFBFBD><EFBFBD>
    GPIO_Init(M_MOTOR_FAULT_GPIO_PORT, &GPIO_InitStructure);
    
    // <20><>ʼ״̬<D7B4><CCAC>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>
    GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
    GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
		//===========================================================================
		//<2F>ҵ<EFBFBD><D2B5><EFBFBD> <20><><EFBFBD>ų<EFBFBD>ʼ<EFBFBD><CABC>
		// ʹ<><CAB9>GPIOEʱ<45><CAB1>
    RCC_AHB1PeriphClockCmd(R_MOTOR_IN1_GPIO_CLK, ENABLE);
		// <20><><EFBFBD><EFBFBD>IN1 (PD15)
    GPIO_InitStructure.GPIO_Pin = R_MOTOR_IN1_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(R_MOTOR_IN1_GPIO_PORT, &GPIO_InitStructure);
		
    // <20><><EFBFBD><EFBFBD> IN2 (PE15) Ϊ<><CEAA><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Pin = R_MOTOR_IN2_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(R_MOTOR_IN2_GPIO_PORT, &GPIO_InitStructure);
    
    // <20><><EFBFBD><EFBFBD>FAULTN (PE6) Ϊ<><CEAA><EFBFBD><EFBFBD>
    GPIO_InitStructure.GPIO_Pin = R_MOTOR_FAULT_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;  // <20><><EFBFBD><EFBFBD>
    GPIO_Init(R_MOTOR_FAULT_GPIO_PORT, &GPIO_InitStructure);
    
    // <20><>ʼ״̬<D7B4><CCAC>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>
    GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
    GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
		
		
		
}

// <20><>ʼ<EFBFBD><CABC>DRV8832
void DRV8832_Init(void) {
    DRV8832_GPIO_Init();
}




// ʹ<><CAB9>TIM2ʵ<32><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWM
#define PWM_FREQUENCY    20000   // 20kHz PWMƵ<4D><C6B5>
#define PWM_RESOLUTION   100     // 100<30><30><EFBFBD><EFBFBD><EFBFBD>ٷֱ<D9B7><D6B1><EFBFBD>

static uint8_t L_pwm_counter = 0;  // PWM<57><4D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static uint8_t M_pwm_counter = 0;  // PWM<57><4D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static uint8_t R_pwm_counter = 0;  // PWM<57><4D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
void PWM_Timer_Init(void) {
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    
    // ʹ<><CAB9>TIM2ʱ<32><CAB1>
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    
    // <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    TIM_TimeBaseStructure.TIM_Period = (SystemCoreClock / (2 * PWM_FREQUENCY)) - 1;  // 168MHz/2/20kHz
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
    
    // ʹ<>ܶ<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    
    // <20><><EFBFBD><EFBFBD>NVIC
    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
    TIM_Cmd(TIM2, ENABLE);
}

// <20><>ʱ<EFBFBD><CAB1><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void TIM2_IRQHandler(void) 
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) 
	{
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
			
			
			
     {   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
        L_pwm_counter++;
        if (L_pwm_counter >= PWM_RESOLUTION) 
			 {
            L_pwm_counter = 0;
        }
        
        // <20><><EFBFBD><EFBFBD>ռ<EFBFBD>ձȺͷ<C8BA><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>
        if (L_motor_dir == MOTOR_FORWARD) {
            if (L_pwm_counter < L_pwm_duty) {
                // <20><>ת<EFBFBD><D7AA>IN1=1, IN2=0
                GPIO_SetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
            } else {
                // ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>
                GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
            }
        } 
        else if (L_motor_dir == MOTOR_REVERSE) {
            if (L_pwm_counter < L_pwm_duty) {
                // <20><>ת<EFBFBD><D7AA>IN1=0, IN2=1
                GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
                GPIO_SetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
            } else {
                // ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>
                GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
            }
        }
        else {
            // ֹͣ״̬
            GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
        }
		  }
		 //--------------------------------------------------------------------------------
			{   //<2F>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
        M_pwm_counter++;
        if (M_pwm_counter >= PWM_RESOLUTION) 
				{
            M_pwm_counter = 0;
        }
        
        // <20><><EFBFBD><EFBFBD>ռ<EFBFBD>ձȺͷ<C8BA><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>
        if (M_motor_dir == MOTOR_FORWARD) {
            if (M_pwm_counter < M_pwm_duty) {
                // <20><>ת<EFBFBD><D7AA>IN1=1, IN2=0
                GPIO_SetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
            } else {
                // ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>
                GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
            }
        } 
        else if (M_motor_dir == MOTOR_REVERSE) {
            if (M_pwm_counter < M_pwm_duty) {
                // <20><>ת<EFBFBD><D7AA>IN1=0, IN2=1
                GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
                GPIO_SetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
            } else {
                // ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>
                GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
            }
        }
        else {
            // ֹͣ״̬
            GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
        }
		  }
			
		 //--------------------------------------------------------------------------------
      {   //<2F>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
        R_pwm_counter++;
        if (R_pwm_counter >= PWM_RESOLUTION) 
				{
            R_pwm_counter = 0;
        }
        
        // <20><><EFBFBD><EFBFBD>ռ<EFBFBD>ձȺͷ<C8BA><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>
        if (R_motor_dir == MOTOR_FORWARD) 
				{
            if (R_pwm_counter < R_pwm_duty) {
                // <20><>ת<EFBFBD><D7AA>IN1=1, IN2=0
                GPIO_SetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
            } else {
                // ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>
                GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
            }
        } 
        else if (R_motor_dir == MOTOR_REVERSE) 
					{
            if (R_pwm_counter < R_pwm_duty) {
                // <20><>ת<EFBFBD><D7AA>IN1=0, IN2=1
                GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
                GPIO_SetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
            } else {
                // ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>
                GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
                GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
            }
        }
        else {
            // ֹͣ״̬
            GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
        }
		  }			
		//---------------------------------------------------------------------------------	
			
    }
}

//=========<3D><><EFBFBD><EFBFBD><EFBFBD>ٶȺͷ<C8BA><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>================================================
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȺͷ<C8BA><CDB7><EFBFBD>
void L_Motor_SetSpeed(uint8_t speed, MotorState direction) 
{
    // <20><><EFBFBD><EFBFBD><EFBFBD>ٶȷ<D9B6>Χ
    if (speed > 100) speed = 100;
    
    // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>Ϊ0<CEAA><30>100%<25><>ֱ<EFBFBD><D6B1>ʹ<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    if (speed == 0) {
        L_motor_dir = MOTOR_STOP;
        L_pwm_duty = 0;
        L_Motor_Control(MOTOR_STOP);
    } 
    else if (speed == 100) {
        L_motor_dir = direction;
        L_pwm_duty = 100;
        L_Motor_Control(direction);
    }
    else {
        // <20><><EFBFBD><EFBFBD>PWM<57><4D><EFBFBD><EFBFBD>
        L_motor_dir = direction;
        L_pwm_duty = speed;  // ֱ<><D6B1>ʹ<EFBFBD>ðٷֱ<D9B7>
    }
}

// <20><><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD>ٶȺͷ<C8BA><CDB7><EFBFBD>
void M_Motor_SetSpeed(uint8_t speed, MotorState direction) 
{
    // <20><><EFBFBD><EFBFBD><EFBFBD>ٶȷ<D9B6>Χ
    if (speed > 100) speed = 100;
    
    // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>Ϊ0<CEAA><30>100%<25><>ֱ<EFBFBD><D6B1>ʹ<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    if (speed == 0) {
        M_motor_dir = MOTOR_STOP;
        M_pwm_duty = 0;
        M_Motor_Control(MOTOR_STOP);
    } 
    else if (speed == 100) {
        M_motor_dir = direction;
        M_pwm_duty = 100;
        M_Motor_Control(direction);
    }
    else {
        // <20><><EFBFBD><EFBFBD>PWM<57><4D><EFBFBD><EFBFBD>
        M_motor_dir = direction;
        M_pwm_duty = speed;  // ֱ<><D6B1>ʹ<EFBFBD>ðٷֱ<D9B7>
    }
}

// <20><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD>ٶȺͷ<C8BA><CDB7><EFBFBD>
void R_Motor_SetSpeed(uint8_t speed, MotorState direction) 
{
    // <20><><EFBFBD><EFBFBD><EFBFBD>ٶȷ<D9B6>Χ
    if (speed > 100) speed = 100;
    
    // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>Ϊ0<CEAA><30>100%<25><>ֱ<EFBFBD><D6B1>ʹ<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    if (speed == 0) {
        R_motor_dir = MOTOR_STOP;
        R_pwm_duty = 0;
        R_Motor_Control(MOTOR_STOP);
    } 
    else if (speed == 100) {
        R_motor_dir = direction;
        R_pwm_duty = 100;
        R_Motor_Control(direction);
    }
    else {
        // <20><><EFBFBD><EFBFBD>PWM<57><4D><EFBFBD><EFBFBD>
        R_motor_dir = direction;
        R_pwm_duty = speed;  // ֱ<><D6B1>ʹ<EFBFBD>ðٷֱ<D9B7>
    }
}
//=====================<3D><><EFBFBD><EFBFBD>ֱ<EFBFBD>ӿ<EFBFBD><D3BF><EFBFBD>================================================================
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƺ<EFBFBD><C6BA><EFBFBD>
void L_Motor_Control(MotorState state) 
	{
    switch(state) {
        case MOTOR_STOP:    // IN1=0, IN2=0
            GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_FORWARD: // IN1=1, IN2=0
            GPIO_SetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_REVERSE: // IN1=0, IN2=1
            GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
            GPIO_SetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_BRAKE:   // IN1=1, IN2=1
            GPIO_SetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN);
            GPIO_SetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN);
            break;
    }
}
	
// <20>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƺ<EFBFBD><C6BA><EFBFBD>
void M_Motor_Control(MotorState state) 
	{
    switch(state) {
        case MOTOR_STOP:    // IN1=0, IN2=0
            GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_FORWARD: // IN1=1, IN2=0
            GPIO_SetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_REVERSE: // IN1=0, IN2=1
            GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
            GPIO_SetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_BRAKE:   // IN1=1, IN2=1
            GPIO_SetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN);
            GPIO_SetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN);
            break;
    }
}
	
// <20>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƺ<EFBFBD><C6BA><EFBFBD>
void R_Motor_Control(MotorState state) 
	{
    switch(state) {
        case MOTOR_STOP:    // IN1=0, IN2=0
            GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_FORWARD: // IN1=1, IN2=0
            GPIO_SetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
            GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_REVERSE: // IN1=0, IN2=1
            GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
            GPIO_SetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
            break;
            
        case MOTOR_BRAKE:   // IN1=1, IN2=1
            GPIO_SetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN);
            GPIO_SetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN);
            break;
    }
}
//--------------------------------------------------------------------------------------------
// <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>״̬
uint8_t L_Motor_GetFaultStatus(void) {
    // FAULTN<54><4E><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽʱ<C6BD><CAB1>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
    if (GPIO_ReadInputDataBit(L_MOTOR_FAULT_GPIO_PORT, L_MOTOR_FAULT_GPIO_PIN) == Bit_RESET) {
        return 1;  // <20><><EFBFBD><EFBFBD>
    }
    return 0;      // <20><><EFBFBD><EFBFBD>
}

// <20><>ȫ<EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void L_Motor_SafeDirectionChange(MotorState new_direction) {
    // <20><>ɲ<EFBFBD><C9B2>
    L_Motor_Control(MOTOR_BRAKE);
    delay_ms(5);  // 5ms<6D>ӳ<EFBFBD>
    
    // <20><><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD>
    L_Motor_Control(new_direction);
}


// <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>״̬
uint8_t M_Motor_GetFaultStatus(void) {
    // FAULTN<54><4E><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽʱ<C6BD><CAB1>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
    if (GPIO_ReadInputDataBit(M_MOTOR_FAULT_GPIO_PORT, M_MOTOR_FAULT_GPIO_PIN) == Bit_RESET) {
        return 1;  // <20><><EFBFBD><EFBFBD>
    }
    return 0;      // <20><><EFBFBD><EFBFBD>
}

// <20><>ȫ<EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void M_Motor_SafeDirectionChange(MotorState new_direction) {
    // <20><>ɲ<EFBFBD><C9B2>
    M_Motor_Control(MOTOR_BRAKE);
    delay_ms(5);  // 5ms<6D>ӳ<EFBFBD>
    
    // <20><><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD>
    M_Motor_Control(new_direction);
}

// <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>״̬
uint8_t R_Motor_GetFaultStatus(void) {
    // FAULTN<54><4E><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽʱ<C6BD><CAB1>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
    if (GPIO_ReadInputDataBit(R_MOTOR_FAULT_GPIO_PORT, R_MOTOR_FAULT_GPIO_PIN) == Bit_RESET) {
        return 1;  // <20><><EFBFBD><EFBFBD>
    }
    return 0;      // <20><><EFBFBD><EFBFBD>
}

// <20><>ȫ<EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void R_Motor_SafeDirectionChange(MotorState new_direction) {
    // <20><>ɲ<EFBFBD><C9B2>
    R_Motor_Control(MOTOR_BRAKE);
    delay_ms(5);  // 5ms<6D>ӳ<EFBFBD>
    
    // <20><><EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD>
    R_Motor_Control(new_direction);
}