From 3865a9ec37dd7d2991672ed479646755fb2625fc Mon Sep 17 00:00:00 2001
From: liuzhigang <15608060653@163.com>
Date: 星期四, 13 十一月 2025 11:09:49 +0800
Subject: [PATCH] 新增PWM控制，蓝牙功能
---
STM32H743/FML/pwm_ctrol.c | 157 +++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 153 insertions(+), 4 deletions(-)
diff --git a/STM32H743/FML/pwm_ctrol.c b/STM32H743/FML/pwm_ctrol.c
index a28c8b3..fefdff0 100644
--- a/STM32H743/FML/pwm_ctrol.c
+++ b/STM32H743/FML/pwm_ctrol.c
@@ -2,15 +2,28 @@
#include "stdarg.h"
#include "string.h"
#include "pwm_ctrol.h"
-#include "mainex.h"
#include "bluetooth.h"
+#include "stm32h7xx_it.h"
+#include "stm32h7xx_hal.h"
+#include "main.h"
+#include "mainex.h"
+#include "DBG.h"
+#include "Uart.h"
+#include "HIDO_Util.h"
+#define STATE_WAIT_RISING 0
+#define STATE_WAIT_FALLING 1
+uint32_t rising_time = 0;
+uint32_t falling_time = 0;
+uint32_t pulse_width_us = 0;
+uint8_t capture_state = STATE_WAIT_RISING;;
// 设置所有电机到指定占空比
-void set_all_pwm(uint16_t duty) {
+void set_all_pwm(uint16_t duty)
+{
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, duty);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, duty);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, duty);
@@ -22,7 +35,8 @@
}
// 向左：前轮左转，后轮右转
-void set_pwm_left() {
+void set_pwm_left()
+{
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 1000); // 前左
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 2000); // 前右
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 2000); // 后左
@@ -30,9 +44,144 @@
}
// 向右：前轮右转，后轮左转
-void set_pwm_right() {
+void set_pwm_right()
+{
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 2000); // 前左
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 1000); // 前右
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 1000); // 后左
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 2000); // 后右
}
+
+
+// 映射函数：将 [-100,100] 映射到 [1000,2000]
+uint32_t Map(int16_t input, int16_t in_min, int16_t in_max, uint32_t out_min, uint32_t out_max)
+{
+ return (input - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+// 设置电机 PWM（前进/后退）
+void Set_Motor_PWM(int16_t speed)
+{
+ static HIDO_UINT8 l_Motor[50];
+ uint32_t pulse = Map(speed, -100, 100, 1000, 2000); // -100~100 → 1000~2000
+ __HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL, pulse);
+ HIDO_UtilSnprintf((HIDO_CHAR *)l_Motor, sizeof(l_Motor), "Motor cortrol:speed=%d,pulse=%d\r\n", speed,pulse);
+ Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_Motor, strlen(l_Motor));
+}
+
+// 设置转向 PWM（左转/右转）
+void Set_Steering_PWM(int16_t steer)
+{
+ static HIDO_UINT8 l_Steering[50];
+ uint32_t pulse = Map(steer, -100, 100, 1000, 2000); // -100~100 → 1000~2000
+ __HAL_TIM_SetCompare(&STEERING_TIM, STEERING_CHANNEL, pulse);
+ HIDO_UtilSnprintf((HIDO_CHAR *)l_Steering, sizeof(l_Steering), "Steering cortrol:steer=%d,pulse=%d\r\n", steer,pulse);
+ Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_Steering, strlen(l_Steering));
+
+}
+
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
+{
+ static HIDO_UINT8 l_pulse_width[20];
+
+ if (htim->Instance == TIM4)
+ {
+ uint32_t current_time = htim->Instance->CCR1;
+
+ if (capture_state == STATE_WAIT_RISING)
+ {
+ // 当前是上升沿 → 记录并切换到等待下降沿
+ rising_time = current_time;
+ // 切换为下降沿触发
+ htim->Instance->CCER &= ~TIM_CCER_CC1P; // 上升沿
+ htim->Instance->CCER |= TIM_CCER_CC1NP; // 加上 NP 表示非反相？实际应使用极性控制函数
+
+ // 更推荐使用 HAL 函数设置极性
+ __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);
+
+ capture_state = STATE_WAIT_FALLING;
+ }
+ else if (capture_state == STATE_WAIT_FALLING)
+ {
+ // 当前是下降沿 → 计算高电平宽度
+ uint32_t pulse_width = current_time - rising_time;
+
+ if (pulse_width > 65535) // 超过最大合理值
+ {
+ pulse_width = 0; // 或者标记为无效
+ }
+
+ //printf("High Pulse Width: %lu μs\n", pulse_width);
+ HIDO_UtilSnprintf((HIDO_CHAR *)l_pulse_width, sizeof(l_pulse_width), "pulse_width=%d\r\n", pulse_width);
+ Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_pulse_width, strlen(l_pulse_width));
+ // 切回上升沿触发
+ __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
+ capture_state = STATE_WAIT_RISING;
+ }
+
+ // 清除中断标志
+ __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC1);
+ }
+}
+
+#if 0
+/**
+ * @brief Update Callback (for overflow protection)
+ */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+ if (htim->Instance == TIM4)
+ {
+ // 只在长时间无响应时才重置状态
+ static uint32_t last_reset_ms = 0;
+
+ if (HAL_GetTick() - last_reset_ms > 100) // 100ms 超时
+ {
+ capture_state = 0;
+ __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
+ last_reset_ms = HAL_Get_Tick();
+ printf("TIM4 Overflow Reset (timeout)\r\n");
+ }
+ }
+}
+
+#endif
+#if 0
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
+{
+ if (htim->Instance == TIM4 && htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
+ {
+ uint32_t current_value = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
+
+ if (capture_state == 0)
+ {
+ // 上升沿：记录起始时间
+ rising_time = current_value;
+ printf("Rising Edge: %lu\r\n", rising_time);
+
+ // 切换为下降沿检测
+ __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);
+ capture_state = 1;
+ }
+ else if (capture_state == 1)
+ {
+ // 下降沿：计算脉宽
+ falling_time = current_value;
+ pulse_width_us = falling_time - rising_time;
+
+ // 防止负数（防止溢出）
+ if (pulse_width_us > 65535) // 超过最大合理值
+ {
+ pulse_width_us = 0; // 或者标记为无效
+ }
+
+ printf("Falling Edge: %lu\r\n", falling_time);
+ printf("Pulse Width: %lu μs\r\n", pulse_width_us);
+
+ // 重新设置为上升沿，等待下一个周期
+ __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
+ capture_state = 0;
+ }
+ }
+}
+#endif
+
--
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