From 26db5e14522173c274ac954c867d2ebe5d8ca3ac Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 18 十一月 2025 19:43:53 +0800
Subject: [PATCH] python和STM32数据双向调通，准备下一阶段GPS测试。

---
 STM32H743/FML/pwm_ctrol.h |   13 +++++++++++++
 1 files changed, 13 insertions(+), 0 deletions(-)

diff --git a/STM32H743/FML/pwm_ctrol.h b/STM32H743/FML/pwm_ctrol.h
index 5ed74fb..ad2ee04 100644
--- a/STM32H743/FML/pwm_ctrol.h
+++ b/STM32H743/FML/pwm_ctrol.h
@@ -16,10 +16,23 @@
 /*******************************************************************************
  *                                  Macro                                      *
  *******************************************************************************/
+// PWM 锟斤拷锟酵拷锟斤拷甓拷澹拷锟斤拷锟斤拷锟斤拷锟接诧拷锟斤拷锟斤拷锟斤拷薷模锟�
+#define MOTOR_TIM          htim3
+#define STEERING_TIM       htim3
+
+#define MOTOR_CHANNEL      TIM_CHANNEL_1   // 锟斤拷 TIM3_CH1
+#define STEERING_CHANNEL   TIM_CHANNEL_2   // 锟斤拷 TIM3_CH2
 
 void set_all_pwm(uint16_t duty);
 void set_pwm_left();
 void set_pwm_right();
+void Set_Steering_PWM(int16_t steer) ;
+uint32_t Map(int16_t input, int16_t in_min, int16_t in_max, uint32_t out_min, uint32_t out_max);
+void Set_Motor_PWM(int16_t speed) ;
+void SBUS_Control_PWM(void);
+// 鐩存帴璁剧疆鑴夊锛堝井绉掞級锛岀敤浜� failsafe 鎴栧閮ㄧ洿鎺ユ帶鍒�
+void Set_Steering_Pulse(uint32_t pulse_us);
+void Set_Motor_Pulse(uint32_t pulse_us);
 
 
 #endif

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