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57 lines
929 B
57 lines
929 B
1 day ago
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/*
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* dmk.c
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*
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* Created on: Jan 14, 2026
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* Author: akeguo
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*/
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#include "dmk.h"
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#include "main.h"
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#include "dma.h"
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#include "iwdg.h"
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#include "tim.h"
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#include "usart.h"
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#include "gpio.h"
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uint16_t Is_First_Run = 0;
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void handle_dmk_motor(uint16_t velocity, int state) {
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// if (Is_First_Run <= 5) {
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// HAL_Delay(50);
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// MB_WriteHoldingReg(1, 0, 4);//设置模式为0
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// HAL_Delay(100);
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// Is_First_Run++;;
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// return;
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// }
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char ms_100_state = HAL_GetTick() / 300 % 3;
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switch (ms_100_state) {
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case 1: {
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MB_WriteHoldingReg(1, 0x06a, velocity);
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break;
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}
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case 2: {
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if (state == 1) {
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//正转
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MB_WriteHoldingReg(1, 0x033, 0x01);
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} else if (state == 0) {
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//stop
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MB_WriteHoldingReg(1, 0x033, 0x0);
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} else if (state == 2) {
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//reverse
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MB_WriteHoldingReg(1, 0x033, 0x14);
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}
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break;
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}
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case 0: {
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MB_WriteHoldingReg(1, 0, 0);//设置模式为0
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break;
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}
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}
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//HAL_Delay(80);
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}
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