38 lines
992 B
C
38 lines
992 B
C
// motor_driver.h
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#ifndef __MOTOR_DRIVER_H
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#define __MOTOR_DRIVER_H
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#include "stm32f4xx.h"
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#include "stm32f4xx_gpio.h"
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#include "stm32f4xx_rcc.h"
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#include "stm32f4xx_tim.h"
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// 引脚定义
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#define MOTOR_IN1_GPIO_PORT GPIOE
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#define MOTOR_IN1_GPIO_PIN GPIO_Pin_9
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#define MOTOR_IN1_GPIO_CLK RCC_AHB1Periph_GPIOE
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#define MOTOR_IN2_GPIO_PORT GPIOE
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#define MOTOR_IN2_GPIO_PIN GPIO_Pin_13
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#define MOTOR_IN2_GPIO_CLK RCC_AHB1Periph_GPIOE
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#define MOTOR_FAULT_GPIO_PORT GPIOE
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#define MOTOR_FAULT_GPIO_PIN GPIO_Pin_4
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#define MOTOR_FAULT_GPIO_CLK RCC_AHB1Periph_GPIOE
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// 电机状态
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typedef enum {
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MOTOR_STOP = 0, // 停止（滑行）
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MOTOR_FORWARD, // 正转
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MOTOR_REVERSE, // 反转
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MOTOR_BRAKE // 刹车
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} MotorState;
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// 函数声明
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void DRV8832_Init(void);
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void Motor_Control(MotorState state);
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uint8_t Motor_GetFaultStatus(void);
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void Motor_SetSpeed(uint8_t speed, MotorState direction);
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void PWM_Timer_Init(void);
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#endif /* __MOTOR_DRIVER_H */ |