Falling_jasmine/FDR-Core
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This commit is contained in:
nitiantuhao
2026-03-28 18:55:41 +08:00
parent 1bc1f7a87c
commit f13d7eb686
1 changed files with 38 additions and 36 deletions
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74
Core/Src/motor.c
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@@ -119,6 +119,7 @@ void Set_Motor_Output(Motor_ID_t id, int16_t control_out)
int32_t hw_command = (int32_t)control_out; int32_t hw_command = (int32_t)control_out;
bool forward; bool forward;
uint16_t pwm_val; uint16_t pwm_val;
uint16_t in1_pwm, in2_pwm;
if ((id == MOTOR_FL) || (id == MOTOR_RL)) if ((id == MOTOR_FL) || (id == MOTOR_RL))
{ {
@@ -128,50 +129,50 @@ void Set_Motor_Output(Motor_ID_t id, int16_t control_out)
forward = (hw_command < 0); forward = (hw_command < 0);
pwm_val = Motor_ClampAbsToPwm(hw_command); pwm_val = Motor_ClampAbsToPwm(hw_command);
/*
* --- 慢衰减 (Slow Decay) 实现 ---
* 正转：IN1 = 100% (常高), IN2 = 100% - PWM
* 反转：IN1 = 100% - PWM, IN2 = 100% (常高)
* 此时 PWM 关断期间的状态均为 IN1=1, IN2=1 (短接刹车)
*/
if (forward)
{
in1_pwm = MAX_PWM_DUTY;
in2_pwm = MAX_PWM_DUTY - pwm_val;
}
else
{
in1_pwm = MAX_PWM_DUTY - pwm_val;
in2_pwm = MAX_PWM_DUTY;
}
/*
* 选配：如果希望目标速度为 0 时芯片进入低功耗待机(Standby)让电机自由滑行，
* 可以取消下面这段注释。如果不取消，速度为 0 时电机将被死死刹住。
*/
/*
if (pwm_val == 0) {
in1_pwm = 0U;
in2_pwm = 0U;
}
*/
switch (id) switch (id)
{ {
case MOTOR_FL: case MOTOR_FL:
if (forward) Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, in1_pwm, in2_pwm);
{
Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, pwm_val, 0U);
}
else
{
Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, pwm_val);
}
break; break;
case MOTOR_RL: case MOTOR_RL:
if (forward) Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, in1_pwm, in2_pwm);
{
Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, pwm_val, 0U);
}
else
{
Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, pwm_val);
}
break; break;
case MOTOR_FR: case MOTOR_FR:
if (forward) Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, in1_pwm, in2_pwm);
{
Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, pwm_val, 0U);
}
else
{
Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, pwm_val);
}
break; break;
case MOTOR_RR: case MOTOR_RR:
if (forward) Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, in1_pwm, in2_pwm);
{
Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, pwm_val, 0U);
}
else
{
Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, pwm_val);
}
break; break;
default: default:
@@ -181,10 +182,11 @@ void Set_Motor_Output(Motor_ID_t id, int16_t control_out)
void Motor_Brake_All(void) void Motor_Brake_All(void)
{ {
Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, 0U); /* AT8236 的主动刹车 (慢衰减) 逻辑为 IN1=1, IN2=1，因此传入最大占空比 */
Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, 0U); Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, MAX_PWM_DUTY, MAX_PWM_DUTY);
Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, 0U); Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, MAX_PWM_DUTY, MAX_PWM_DUTY);
Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, 0U); Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, MAX_PWM_DUTY, MAX_PWM_DUTY);
Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, MAX_PWM_DUTY, MAX_PWM_DUTY);
} }
void Motor_Update_RPM(float dt_s) void Motor_Update_RPM(float dt_s)