LW21-01B/BSP/Driver/full_bridge/full_bridge.c

////////////////////////////////////////////////////////////////////////////////

/// FULL_BRIDGE<47>ļ<EFBFBD>
///
///
/// <20><><EFBFBD><EFBFBD>hall<6C><6C><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// @file    full_bridge.c 
/// @author  LH
/// @date    2022-07-19
/// @version v1.0 

////////////////////////////////////////////////////////////////////////////////

#include "full_bridge.h"
#include "ptz_struct.h"
#include "gd32f4xx_it.h"
#include "rotate_bldc.h"
#include "rotate_plan.h"
#include "device_adc_collect.h"
#include "gd32f4xx_timer.h"
#include "speed_to_bldc.h"


#ifdef Full_bridge

typedef void(*pctr) (void);

pctr h_six_step_commu[6];
pctr v_six_step_commu[6];


HALL_State H_Hall_state;
HALL_State V_Hall_state;


/*
********************************<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>***********************************/
static unsigned int h_pwm_duty;
static unsigned int v_pwm_duty;
/*!
    \brief      none pwmռ<6D>ձ<EFBFBD><D5B1><EFBFBD><EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.10.11
*/
//ˮƽ
void h_pwm_duty_change(unsigned int pwm_duty)
{
  h_pwm_duty = pwm_duty;
  
}
//<2F><>ֱ
void v_pwm_duty_change(unsigned int pwm_duty)
{
  v_pwm_duty = pwm_duty;
  
}


/*!
    \brief      hall״̬<D7B4><CCAC>ȡ
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.19
*/
unsigned char h_hall_senser_value_get()
{
  unsigned char hall_value;
  H_Hall_state.Hall_H1_state = gpio_input_bit_get(GPIOE, GPIO_PIN_10);
  H_Hall_state.Hall_H2_state = gpio_input_bit_get(GPIOE, GPIO_PIN_11);
  H_Hall_state.Hall_H3_state = gpio_input_bit_get(GPIOE, GPIO_PIN_12);
  
  hall_value = H_Hall_state.Hall_H1_state 
               |(H_Hall_state.Hall_H2_state << 1)
               |(H_Hall_state.Hall_H3_state << 2);
  return hall_value;
}

unsigned char v_hall_senser_value_get()
{
  unsigned char hall_value;
  V_Hall_state.Hall_H1_state = gpio_input_bit_get(GPIOE, GPIO_PIN_13);
  V_Hall_state.Hall_H2_state = gpio_input_bit_get(GPIOE, GPIO_PIN_14);
  V_Hall_state.Hall_H3_state = gpio_input_bit_get(GPIOE, GPIO_PIN_15);
  
  hall_value = V_Hall_state.Hall_H1_state 
               |(V_Hall_state.Hall_H2_state << 1)
               |(V_Hall_state.Hall_H3_state << 2);
  return hall_value;
}



/*!
    \brief      none U<><55><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><56><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_uh_vl()
{
  H_EN1_OFF;//U
  H_EN2_ON;//V
  H_EN3_OFF;//W
  TIMER_CH0CV(TIMER2) = h_pwm_duty;//U199;//
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = 0;//W
}


/*!
    \brief      none W<><57><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><56><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_wh_vl()
{
  H_EN1_OFF;//U
  H_EN2_ON;//V
  H_EN3_OFF;//W
  TIMER_CH0CV(TIMER2) = 0;//U
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = h_pwm_duty;//W199;//
}


/*!
    \brief      none W<><57><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><55><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_wh_ul()
{
  H_EN1_ON;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
  TIMER_CH0CV(TIMER2) = 0;//U
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = h_pwm_duty;//W199;//
}


/*!
    \brief      none V<><56><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><55><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_vh_ul()
{
  H_EN1_ON;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
  TIMER_CH0CV(TIMER2) = 0;//U
  TIMER_CH1CV(TIMER2) = h_pwm_duty;//V199;//
  TIMER_CH2CV(TIMER2) = 0;//W
}


/*!
    \brief      none V<><56><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><57><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_vh_wl()
{
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_ON;//W
  TIMER_CH0CV(TIMER2) = 0;//U
  TIMER_CH1CV(TIMER2) = h_pwm_duty;//V199;//
  TIMER_CH2CV(TIMER2) = 0;//W
}


/*!
    \brief      none U<><55><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><57><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_uh_wl()
{
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_ON;//W
  TIMER_CH0CV(TIMER2) = h_pwm_duty;//U199;//
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = 0;//W
}

/*!
    \brief      none <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>򣬶<EFBFBD><F2A3ACB6><EFBFBD>120<32><30>hall<6C><6C><EFBFBD><EFBFBD>ת˳<D7AA><CBB3>Ϊ546231<33><31><EFBFBD><EFBFBD>ת˳<D7AA><CBB3>Ϊ<EFBFBD><CEAA>7-<2D><>ת˳<D7AA><CBB3>,,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ټ<EFBFBD>1<EFBFBD><31>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
pctr h_six_step_commu[6] =
{
  &h_uh_wl, &h_vh_ul, &h_vh_wl, &h_wh_vl, &h_uh_vl, &h_wh_ul
};






/*!
    \brief      none U<><55><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><56><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_uh_vl()
{
  V_EN1_OFF;//U
  V_EN2_ON;//V
  V_EN3_OFF;//W
  TIMER_CH0CV(TIMER3) = v_pwm_duty;//U199;//
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = 0;//W
}


/*!
    \brief      none W<><57><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><56><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_wh_vl()
{
  V_EN1_OFF;//U
  V_EN2_ON;//V
  V_EN3_OFF;//W
  TIMER_CH0CV(TIMER3) = 0;//U
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = v_pwm_duty;//W199;//
}


/*!
    \brief      none W<><57><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><55><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_wh_ul()
{
  V_EN1_ON;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
  TIMER_CH0CV(TIMER3) = 0;//U
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = v_pwm_duty;//W199;//
}


/*!
    \brief      none V<><56><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><55><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_vh_ul()
{
  V_EN1_ON;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
  TIMER_CH0CV(TIMER3) = 0;//U
  TIMER_CH1CV(TIMER3) = v_pwm_duty;//V199;//
  TIMER_CH2CV(TIMER3) = 0;//W
}


/*!
    \brief      none V<><56><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><57><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_vh_wl()
{
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_ON;//W
  TIMER_CH0CV(TIMER3) = 0;//U
  TIMER_CH1CV(TIMER3) = v_pwm_duty;//V199;//
  TIMER_CH2CV(TIMER3) = 0;//W
}


/*!
    \brief      none U<><55><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><57><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void v_uh_wl()
{
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_ON;//W
  TIMER_CH0CV(TIMER3) = v_pwm_duty;//U199;//
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = 0;//W
}

/*!
    \brief      none <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>򣬶<EFBFBD><F2A3ACB6><EFBFBD>120<32><30>hall<6C><6C><EFBFBD><EFBFBD>ת˳<D7AA><CBB3>Ϊ546231<33><31><EFBFBD><EFBFBD>ת˳<D7AA><CBB3>Ϊ<EFBFBD><CEAA>7-<2D><>ת˳<D7AA><CBB3>,,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ټ<EFBFBD>1<EFBFBD><31>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
pctr v_six_step_commu[6] =
{
  &v_uh_wl, &v_vh_ul, &v_vh_wl, &v_wh_vl, &v_uh_vl, &v_wh_ul
};


void uvw()
{
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
}

/*!
    \brief      none ˮƽֱ<C6BD><D6B1><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
//<2F>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void h_bldc_six_step()
{
//  H_ADC2_Phase_current();
  if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
  {//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
    H_Hall_state.Hall_value = h_hall_senser_value_get();
    if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1))
    {
//      if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
//      {//<2F><><EFBFBD><EFBFBD><EFBFBD>ת- 1
//        h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
//      }else{//<2F><><EFBFBD><EFBFBD><EFBFBD>ת
//        h_six_step_commu[H_Hall_state.Hall_value -1]();
//      }
      //ֱ<><D6B1><EFBFBD><EFBFBD>̨ת<CCA8><D7AA>
      if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
      {//<2F><><EFBFBD><EFBFBD><EFBFBD>ת- 1
        
        h_six_step_commu[H_Hall_state.Hall_value -1]();
      }else{//<2F><><EFBFBD><EFBFBD><EFBFBD>ת
        h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
        
      }
      
    }
  }
}
/*!
    \brief      none <20><>ֱֱ<D6B1><D6B1><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
//<2F>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void v_bldc_six_step()
{
//  V_ADC0_Phase_current();
  if((g_ptz.vert_start_stop_set == PTZ_VERT_START) && (g_ptz.vert_pid.mode == PID_ADJUST_SPEED))
  {//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
    V_Hall_state.Hall_value = v_hall_senser_value_get();
    if((V_Hall_state.Hall_value <= 6)&&(V_Hall_state.Hall_value >= 1))
    {
      if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
      {//<2F><><EFBFBD><EFBFBD><EFBFBD>ת- 1
        v_six_step_commu[V_Hall_state.Hall_value -1]();
      }else{//<2F><><EFBFBD><EFBFBD><EFBFBD>ת
        v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
      }
      
      
//      if(g_ptz.vert_pid.PidUT_float < 0)
//      {//<2F><><EFBFBD><EFBFBD>˼·<CBBC><C2B7>PID<49><44><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
//        if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
//        {//<2F><><EFBFBD><EFBFBD><EFBFBD>ת- 1
//          v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
//        }else{//<2F><><EFBFBD><EFBFBD><EFBFBD>ת
//          v_six_step_commu[V_Hall_state.Hall_value -1]();
//        }
//      }
      
    }
  }
}





/*!
    \brief      none <20><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD><D9A3><EFBFBD><EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.12.05
*/
void vert_dir_speed_start(unsigned int verf)
{
  V_EN1_OFF;//U
  V_EN2_ON;//V
  V_EN3_ON;//W
  TIMER_CH0CV(TIMER3) = verf;//U199;//
  TIMER_CH1CV(TIMER3) = 0;//V
  TIMER_CH2CV(TIMER3) = 0;//W
  
}

void vert_dir_speed_stop(void)
{
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
}


void hori_dir_speed_start(unsigned int verf)
{
  H_EN1_OFF;//U
  H_EN2_ON;//V
  H_EN3_ON;//W
  TIMER_CH0CV(TIMER2) = verf;//U199;//
  TIMER_CH1CV(TIMER2) = 0;//V
  TIMER_CH2CV(TIMER2) = 0;//W
}

void hori_dir_speed_stop(void)
{
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
}








/*!
    \brief      none <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_start_motor()
{
  //<2F><>ʱ<EFBFBD><CAB1>ʹ<EFBFBD><CAB9>
//  timer_enable(TIMER2);
  h_pwm_duty_change(0);
  TIMER_CH0CV(TIMER2) = 0 ;//
  TIMER_CH1CV(TIMER2) = 0 ;//
  TIMER_CH2CV(TIMER2) = 0 ;//
  
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
  
//  timer_interrupt_enable(TIMER2,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
}

void v_start_motor()
{
  //<2F><>ʱ<EFBFBD><CAB1>ʹ<EFBFBD><CAB9>
//  timer_enable(TIMER3);
  v_pwm_duty_change(0);
  TIMER_CH0CV(TIMER3) = 0 ;//
  TIMER_CH1CV(TIMER3) = 0 ;//
  TIMER_CH2CV(TIMER3) = 0 ;//
  
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
  
//  timer_interrupt_enable(TIMER3,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
}


/*!
    \brief      none <20><><EFBFBD>ֹͣ
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.07.21
*/
void h_stop_motor()
{
  h_pwm_duty_change(0);
//  //<2F><><EFBFBD><EFBFBD>͵<EFBFBD>ƽ
  TIMER_CH0CV(TIMER2) = 0;
  TIMER_CH1CV(TIMER2) = 0;
  TIMER_CH2CV(TIMER2) = 0;
  
  H_EN1_OFF;//U
  H_EN2_OFF;//V
  H_EN3_OFF;//W
//  //<2F><>ʱ<EFBFBD><CAB1><EFBFBD>ر<EFBFBD>
//  timer_disable(TIMER2);
//  timer_interrupt_disable(TIMER2,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
}

void v_stop_motor()
{
  v_pwm_duty_change(0);
//  //<2F><><EFBFBD><EFBFBD>͵<EFBFBD>ƽ
  TIMER_CH0CV(TIMER3) = 0;
  TIMER_CH1CV(TIMER3) = 0;
  TIMER_CH2CV(TIMER3) = 0;
  
  V_EN1_OFF;//U
  V_EN2_OFF;//V
  V_EN3_OFF;//W
//  //<2F><>ʱ<EFBFBD><CAB1><EFBFBD>ر<EFBFBD>
//  timer_disable(TIMER3);
//  timer_interrupt_disable(TIMER3,TIMER_INT_UP);//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><CAB9>
}






/*!
    \brief      hall<6C><6C><EFBFBD>ų<EFBFBD>ʼ<EFBFBD><CABC>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.10.11
*/
static void hall_io_init(void)
{
//  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
//  rcu_periph_clock_enable(RCU_GPIOE);
//  
//  //ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD>PE10-H1,PE11-H2,PE12-H3<48><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱPE13-H1,PE14-H2,PE15-H3
//  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>ģʽ
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_12);
//  
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_13);
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_14);
//  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
  
  H_Hall_state.Hall_H1_state = 0;
  H_Hall_state.Hall_H2_state = 0;
  H_Hall_state.Hall_H3_state = 0;
  H_Hall_state.Hall_value = 0;
  
  V_Hall_state.Hall_H1_state = 0;
  V_Hall_state.Hall_H2_state = 0;
  V_Hall_state.Hall_H3_state = 0;
  V_Hall_state.Hall_value = 0;

}

/*!
    \brief      none <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ų<EFBFBD>ʼ<EFBFBD><CABC>
    \param[in]  none
    \param[out] none
    \retval     none
    \note       LH  @2022.10.11
*/
void bridge_io_init(void)
{
  rcu_periph_clock_enable(RCU_GPIOA);
  rcu_periph_clock_enable(RCU_GPIOC);
  rcu_periph_clock_enable(RCU_GPIOD);
  rcu_periph_clock_enable(RCU_GPIOE);
  //H_EN1--PC9//H_EN2--PA8//H_EN3--PA11
  gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_9);
  gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_8);
  gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
  gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8| GPIO_PIN_11);
  gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
  //V_EN1--PD10//V_EN2--PD11//V_EN3--PD15
  gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
  gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
  gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
  gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10| GPIO_PIN_11| GPIO_PIN_15);
  
  //GD<47>İ<EFBFBD><C4B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޸ġ<DEB8><C4A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ţ<EFBFBD><C5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ķϵ縴λ<E7B8B4><CEBB>
  gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);//ˮƽ<CBAE><C6BD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);//<2F><>ֱ<EFBFBD><D6B1>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0| GPIO_PIN_1);
  
  H_EN1_OFF;
  H_EN2_OFF;
  H_EN3_OFF;
  
  V_EN1_OFF;
  V_EN2_OFF;
  V_EN3_OFF;
  hall_io_init();
  
  H_BRIDGE_POWER_ON;
//  V_BRIDGE_POWER_ON;
    
}






#endif