77 lines
2.4 KiB
C
77 lines
2.4 KiB
C
/***
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* @Author: shenghao.xu
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* @Date: 2023-06-13 16:58:57
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* @LastEditors: shenghao.xu
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* @LastEditTime: 2023-06-13 16:59:13
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* @Description:电机驱动模块
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* @email:545403892@qq.com
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* @Copyright (c) 2023 by shenghao.xu, All Rights Reserved.
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*/
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#ifndef __MOTOR_H
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#define __MOTOR_H
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#include "main.h"
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typedef struct MOTOR motor_t;
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typedef enum
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{
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DIR_CCW = 0, /* 逆时针旋转 */
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DIR_CW, /* 顺时针旋转 */
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} dir_e;
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typedef enum
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{
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DIRECT_CURRENT_MOTOR, // 直流电机
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STEP_MOTOR, // 步进电机
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SERVO_MOTOR, // 舵机
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} motor_type_e; // 电机类型枚举定义
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typedef struct
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{
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gpio_t *dir; // 方向
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gpio_t *en; // 使能
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} motor_gpio_t;
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// 步进接口定义
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typedef struct
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{
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void (*init)(motor_t *motor, gpio_t dir, gpio_t en, float32 min_step_angle, TIM_TypeDef *pwm_timer, uint32_t pwm_channel); // 初始化
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void (*run)(motor_t *motor, dir_e dir); // 运行
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void (*stop)(motor_t *motor); // 停止
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void (*set_angle)(motor_t *motor, uint32_t angle, dir_e dir); // 将角度转换成脉冲个数并运行
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void (*stop_cb)(motor_t *motor); // 停止回调函数,在stop中执行
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void (*set_speed)(motor_t *motor, uint32_t psc);
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} step_motor_interface_t;
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typedef struct
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{
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float32 min_step_angle; /* 最小步距角 */
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int angle; /* 设置需要旋转的角度 */
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dir_e dir; /* 方向 */
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uint8_t en; /* 使能 */
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__IO uint32_t pulse_count; /* 脉冲个数记录 */
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__IO int add_pulse_count; /* 脉冲个数累计 */
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__IO uint32_t step_angle; /* 步距 */
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} step_motor_attribute_t;
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typedef struct
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{
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motor_gpio_t gpios;
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TIM_TypeDef *pwm_timer; /* pwm定时器 */
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uint32_t pwm_channel; /* pwm通道 */
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step_motor_attribute_t attribute; /* 步进电机属性 */
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step_motor_interface_t interface; /* 步进电机接口 */
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} step_motor_t;
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struct MOTOR
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{
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motor_type_e type;
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union
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{
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step_motor_t step_motor;
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} handle;
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};
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extern motor_t *motor_create(motor_type_e motor_type);
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extern void step_motor_update(motor_t *motor);
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#endif
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