类比半导体DR703驱动

#include "main.h" #include "thread.h" #include "GPIO.H" #include "DR70X.h" #include "Drive_time.h" #include "drive_spi.h" void delay(uint16_t n) { uint32_t i = 25; while(i --); } void DR70x_Init(void) { SLEEP_LOW; delay(1000); SLEEP_HIGH; //nSleep high to power on DR70xQ MODE_LOW; //Control Interface: Mode_0: PH/EN; Mode_1:Independent PWM Control Interface; Mode_2 Hiz: Standard PWM TimePwm.Instance = 14;//PC12 IN2_EN TimePwm.Period = 0x5dc0; TimePwm.Pulse = 0x32; Timex_Init(TimePwm.Instance);//24khz 50%pulse TimePwm.Instance = 16;//PB8 IN1_PH Timex_Init(TimePwm.Instance);//24khz } /*Mode_0: Take PH/EN control (MODE_LOW) as an example. other mode, pleaes refer to Table 14/15 in datasheet*/ ////////////////////////////////////////////////////// void DR70x_Mode0_Brake(void) { TimePwm.Instance = 16;//PC12 IN2_EN TimePwm.Pulse = 0; Timex_Start(TimePwm.Instance); } void DR70x_Mode0_Reverse(uint8_t pulse) { TimePwm.Instance = 14;//PB8 IN1_EN TimePwm.Pulse = 0; Timex_Start(TimePwm.Instance); TimePwm.Instance = 16;//PC12 IN2_EN TimePwm.Pulse = pulse; Timex_Start(TimePwm.Instance); } void DR70x_Mode0_Forward(uint8_t pulse) { TimePwm.Instance = 14;//PB8 IN1_EN TimePwm.Pulse = 100; Timex_Start(TimePwm.Instance); TimePwm.Instance = 16;//PC12 IN2_EN TimePwm.Pulse = pulse; Timex_Start(TimePwm.Instance); } ////////////////////////////////////////////////////// void DR70x_Transmit(uint8_t addess, uint8_t data) { uint8_t buff[2] = {0,0},buff1[2]; buff[0] = (addess << 3); buff[1] = data; DR703_SPI_TransmitReceive(buff,buff1,2); } uint8_t DR70x_Recive(uint8_t addess) { uint8_t buff[2] = {0,0},buff1[2]; buff[0] = (addess << 3) + 0x80; DR703_SPI_TransmitReceive(buff,buff1,2); return buff1[1]; }