From 9dfeaf23bbfb2a721b57fb6f7ebe6c4da75bea19 Mon Sep 17 00:00:00 2001
From: MQjehovah <1421706030@qq.com>
Date: Wed, 21 Oct 2020 19:17:15 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90=E7=82=B9=E5=87=BB=E8=BD=AC?=
 =?UTF-8?q?=E5=8A=A8?=
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---
 firmware/src/Driver/motor.c | 38 +++++++++++++++++++------------------
 firmware/src/Driver/pwm.c   |  4 ++--
 firmware/src/User/main.c    |  7 ++++---
 3 files changed, 26 insertions(+), 23 deletions(-)

diff --git a/firmware/src/Driver/motor.c b/firmware/src/Driver/motor.c
index cc89976..b5ac7bc 100644
--- a/firmware/src/Driver/motor.c
+++ b/firmware/src/Driver/motor.c
@@ -9,6 +9,7 @@
 *******************************************************************************/
 /* Includes ------------------------------------------------------------------*/
 #include "motor.h"
+#include "GPIO.h"
 /* Definition ----------------------------------------------------------------*/
 motor_t motor_info;
 /* Functions -----------------------------------------------------------------*/
@@ -21,9 +22,6 @@ motor_t motor_info;
 void motor_start(void)
 {
     motor_info.state = 1;
-    TIM1->CCR1 = 0;
-    TIM1->CCR2 = 0;
-    TIM1->CCR3 = 0;
     //TODO:开启霍尔捕捉中断
     motor_info.hall_position = get_hall_position();
     motor_step();
@@ -62,17 +60,7 @@ void motor_step(void)
     u8 step = motor_info.hall_position;
     switch (step)
     {
-    case 0x01: //第一步 A+ B-
-        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
-        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
-        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
-        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
-        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
-        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
-        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
-        break;
-    case 0x02: //第二步 C+ B-
+    case 0x03: //第二步 C+ B-
         TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
         TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
         TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
@@ -82,7 +70,7 @@ void motor_step(void)
         TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
         TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
         break;
-    case 0x03: //第三步 C+ A-
+    case 0x01: //第三步 C+ A-
         TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
         TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
         TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
@@ -92,7 +80,7 @@ void motor_step(void)
         TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
         TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
         break;
-    case 0x04: //第四步 B+ A-
+    case 0x05: //第四步 B+ A-
         TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
         TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
         TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
@@ -102,7 +90,7 @@ void motor_step(void)
         TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
         TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
         break;
-    case 0x05: //第五步 B+ C-
+    case 0x04: //第五步 B+ C-
         TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
         TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
         TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
@@ -122,8 +110,22 @@ void motor_step(void)
         TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
         TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
         break;
+    case 0x02: //第一步 A+ B-
+        // GPIO_WritePin(&PB5, HIGH);
+        TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
+        TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
+        TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
+        TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
+        TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
+        TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+        TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
+        break;
+
     default:
-        motor_stop();
+    // GPIO_WritePin(&PB5, HIGH);
+        GPIO_WritePin(&PB5, LOW);
+        //motor_stop();
         break;
     }
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
diff --git a/firmware/src/Driver/pwm.c b/firmware/src/Driver/pwm.c
index 76d6dd6..0bbadc8 100644
--- a/firmware/src/Driver/pwm.c
+++ b/firmware/src/Driver/pwm.c
@@ -62,8 +62,8 @@ void PWM_Config(void)
   TIM_OCInitStructure.TIM_Pulse = 700;
   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
-  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; //TIM_OCIdleState_Set;TIM_OCIdleState_Reset
-  TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Set;
+  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //TIM_OCIdleState_Set;TIM_OCIdleState_Reset
+  TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
   TIM_OC1Init(TIM1, &TIM_OCInitStructure);
 
   TIM_OCInitStructure.TIM_Pulse = 700;
diff --git a/firmware/src/User/main.c b/firmware/src/User/main.c
index 06592c5..c742adf 100644
--- a/firmware/src/User/main.c
+++ b/firmware/src/User/main.c
@@ -61,11 +61,12 @@ int main(void)
   HALL_Config();
   PWM_Config();
   motor_start();
+
   while (1)
   {
-    GPIO_WritePin(&PB5, HIGH);
-    delay_ms(500);
-    GPIO_WritePin(&PB5, LOW);
+    // GPIO_WritePin(&PB5, HIGH);
+    // delay_ms(500);
+    // GPIO_WritePin(&PB5, LOW);
     delay_ms(500);
   }
 }