93ca37e36c
- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
64 lines
1.6 KiB
C
64 lines
1.6 KiB
C
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#ifndef __MOTOR_H
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#define __MOTOR_H
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#include "system.h"
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/*--------Motor_A control pins--------*/
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#define PWM_PORTA1 GPIOB //PWMA
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#define PWM_PIN_A1 GPIO_Pin_8 //PWMA
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#define PWMA1 TIM10->CCR1 //PWMA
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#define PWM_PORTA2 GPIOB //PWMA
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#define PWM_PIN_A2 GPIO_Pin_9 //PWMA
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#define PWMA2 TIM11->CCR1 //PWMA
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/*------------------------------------*/
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/*--------Motor_B control pins--------*/
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#define PWM_PORTB1 GPIOE //PWMB
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#define PWM_PIN_B1 GPIO_Pin_5 //PWMB
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#define PWMB1 TIM9->CCR1 //PWMB
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#define PWM_PORTB2 GPIOE //PWMB
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#define PWM_PIN_B2 GPIO_Pin_6 //PWMB
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#define PWMB2 TIM9->CCR2 //PWMB
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/*------------------------------------*/
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/*--------Motor_C control pins--------*/
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#define PWM_PORTC1 GPIOE //PWMC
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#define PWM_PIN_C1 GPIO_Pin_11 //PWMC
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#define PWMC1 TIM1->CCR2 //PWMC
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#define PWM_PORTC2 GPIOE //PWMC
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#define PWM_PIN_C2 GPIO_Pin_9 //PWMC
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#define PWMC2 TIM1->CCR1 //PWMC
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/*------------------------------------*/
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/*--------Motor_D control pins--------*/
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#define PWM_PORTD1 GPIOE //PWMD
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#define PWM_PIN_D1 GPIO_Pin_14 //PWMD
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#define PWMD1 TIM1->CCR4 //PWMD
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#define PWM_PORTD2 GPIOE //PWMD
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#define PWM_PIN_D2 GPIO_Pin_13 //PWMD
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#define PWMD2 TIM1->CCR3 //PWMD
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/*------------------------------------*/
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#define EN PDin(3)
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#define Servo_PWM TIM12->CCR2
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#define SERVO_INIT 1670 //Servo straight-ahead point (calibrated 1/R~=0) //<2F><>ֱ<EFBFBD><D6B1>ǰ<EFBFBD><C7B0>
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void Enable_Pin(void);
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void Servo_PWM_Init(u16 arr,u16 psc);
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void TIM1_PWM_Init(u16 arr,u16 psc);
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void TIM9_PWM_Init(u16 arr,u16 psc);
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void TIM10_PWM_Init(u16 arr,u16 psc);
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void TIM11_PWM_Init(u16 arr,u16 psc);
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#endif
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