From 945ba42f7550d5a203e43d82b43ed82dc981d9e9 Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Wed, 30 Jun 2021 22:05:52 +0800
Subject: [PATCH] 霍尔输入中断正常，需要调试马达转动

---
 USR/INC/motor.h |   38 +++++++++++++++++++++++++++++---------
 1 files changed, 29 insertions(+), 9 deletions(-)

diff --git a/USR/INC/motor.h b/USR/INC/motor.h
index 0ca8444..701ee7c 100644
--- a/USR/INC/motor.h
+++ b/USR/INC/motor.h
@@ -1,6 +1,7 @@
 #ifndef MOTOR_H
 #define MOTOR_H
-#include ""
+#include "gpio.h"
+#include "gd32e23x_exti.h"
 /* �������תʵ�ֽṹ�� */
 
 #define SPEED_FILTER_NUM 30 // �ٶ��˲�����
@@ -16,16 +17,35 @@
 /* �ۼ� TIM_Period�������һ�����»����ж�		
 	����ʱ����0������65535����Ϊ65535�Σ�Ϊһ���������� */
 #define HALL_PERIOD_COUNT (0xFFFF)
-
-/* ͨ�ÿ��ƶ�ʱ��ʱ��ԴTIMxCLK = HCLK = 72MHz
-	 �趨��ʱ��Ƶ��Ϊ = TIMxCLK / (PWM_PRESCALER_COUNT) / PWM_PERIOD_COUNT = 9.987Hz
-   ���� T = 100ms */
+#define SPEED_PRESCALER_COUNT (4800u)
+#define SPEED_PERIOD_COUNT (30000u)
+/* ͨ�ÿ��ƶ�ʱ��ʱ��ԴTIMxCLK = HCLK = 64MHz
+	 �趨��ʱ��Ƶ��Ϊ = TIMxCLK / (SPEED_PRESCALER_COUNT) / SPEED_PERIOD_COUNT = 33.333Hz 
+   ���� T = 30ms */
 #define HALL_PRESCALER_COUNT (110)
 
 #define HALL_A_EXTI (EXTI_4)
-#define HALL_B_EXTI (EXTI_5)
-#define HALL_C_EXTI (EXTI_15)
+#define HALL_C_EXTI (EXTI_5)
+#define HALL_B_EXTI (EXTI_15)
+
+#define MOTOR_OUT_CH_U (TIMER_CH_1)
+#define MOTOR_OUT_CH_V (TIMER_CH_0)
+#define MOTOR_OUT_CH_W (TIMER_CH_2)
+
+#define MOTOR_U_L_ENABLE (gpio_bit_write(PWM_LIN2_PORT, PWM_LIN2_PIN, SET))
+#define MOTOR_U_L_DISABLE (gpio_bit_write(PWM_LIN2_PORT, PWM_LIN2_PIN, RESET))
+
+#define MOTOR_V_L_ENABLE (gpio_bit_write(PWM_LIN3_PORT, PWM_LIN3_PIN, SET))
+#define MOTOR_V_L_DISABLE (gpio_bit_write(PWM_LIN3_PORT, PWM_LIN3_PIN, RESET))
+
+#define MOTOR_W_L_ENABLE (gpio_bit_write(PWM_LIN1_PORT, PWM_LIN1_PIN, SET))
+#define MOTOR_W_L_DISABLE (gpio_bit_write(PWM_LIN1_PORT, PWM_LIN1_PIN, RESET))
 
 extern void HAL_HallExti_TriggerCallback(void);
-
-#endif
\ No newline at end of file
+extern void BLDC_SpeedAndPID(void);
+extern float get_motor_speed(void);
+void hall_enable(void);
+void hall_disable(void);
+void set_pwm_pulse(uint16_t pulse);
+extern void Motor_Init(void);
+#endif

--
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