Merge branch 'master' of https://git.brisky.space/btl143/BC2D-POS-firmware

.eide/bc2d-pos.arm.options.gcc.json

@@ -0,0 +1,29 @@
+{
+    "version": 5,
+    "beforeBuildTasks": [],
+    "afterBuildTasks": [],
+    "global": {
+        "$float-abi-type": "softfp",
+        "output-debug-info": "enable",
+        "misc-control": "--specs=nosys.specs --specs=nano.specs"
+    },
+    "c/cpp-compiler": {
+        "language-c": "c11",
+        "language-cpp": "c++11",
+        "optimization": "level-debug",
+        "warnings": "all-warnings",
+        "one-elf-section-per-function": true,
+        "one-elf-section-per-data": true,
+        "C_FLAGS": "",
+        "CXX_FLAGS": ""
+    },
+    "asm-compiler": {
+        "ASM_FLAGS": ""
+    },
+    "linker": {
+        "output-format": "elf",
+        "remove-unused-input-sections": true,
+        "LD_FLAGS": "",
+        "LIB_FLAGS": "-lm"
+    }
+}

.eide/bc2d-pos.files.options.yml

@@ -0,0 +1,31 @@
+##########################################################################################
+#                        Append Compiler Options For Source Files
+#
+# syntax:
+#   <your matcher expr>: <your compiler command>
+#
+# examples:
+#   'main.cpp':           --cpp11 -Og ...
+#   'src/*.c':            -gnu -O2 ...
+#   'src/lib/**/*.cpp':   --cpp11 -Os ...
+#   '!Application/*.c':   -O0
+#   '**/*.c':             -O2 -gnu ...
+#
+# For more syntax, please refer to: https://www.npmjs.com/package/micromatch
+#
+##########################################################################################
+
+version: '1.0'
+
+#
+# for source files with filesystem paths
+#
+files:
+#   './test/**/*.c': --c99
+
+#
+# for source files with virtual paths
+#
+virtualPathFiles:
+#   'virtual_folder/**/*.c': --c99
+

.eide/bc2d.arm.options.v5.json

@@ -1,24 +0,0 @@
-{
-    "version": 4,
-    "beforeBuildTasks": [],
-    "afterBuildTasks": [],
-    "global": {
-        "use-microLIB": true,
-        "output-debug-info": "enable"
-    },
-    "c/cpp-compiler": {
-        "optimization": "level-0",
-        "one-elf-section-per-function": true,
-        "c99-mode": true,
-        "C_FLAGS": "--diag_suppress=1 --diag_suppress=1295",
-        "CXX_FLAGS": "--diag_suppress=1 --diag_suppress=1295",
-        "warnings": "all-warnings"
-    },
-    "asm-compiler": {},
-    "linker": {
-        "output-format": "elf",
-        "xo-base": "",
-        "ro-base": "0x08000000",
-        "rw-base": "0x20000000"
-    }
-}

.eide/eide.json

@@ -1,5 +1,5 @@
 {
-  "name": "BC2D",
+  "name": "BC2D-POS",
   "type": "ARM",
   "dependenceList": [],
   "srcDirs": [
@@ -89,7 +89,7 @@
     "uid": "9d909db3024271625a98879e53e2d396"
   },
   "targets": {
-    "BC2D": {
+    "BC2D-POS": {
       "excludeList": [],
       "toolchain": "GCC",
       "compileConfig": {
@@ -131,7 +131,6 @@
           "libraries/cmsis/cm4/device_support",
           "project/inc",
           ".cmsis/include",
-          "project/MDK_V5/RTE/_BC2D",
           ".eide/deps",
           "3rd-part/dwt_delay",
           "3rd-part/PID-Library",

.vscode/settings.json

@@ -1,3 +1,3 @@
 {
-    "sonarlint.pathToCompileCommands": "${workspaceFolder}\\build\\BC2D\\compile_commands.json"
+    "sonarlint.pathToCompileCommands": "${workspaceFolder}\\build\\BC2D-POS\\compile_commands.json"
 }

BC2D-POS.ATWP

@@ -54,6 +54,11 @@
             <ModeSub name="Multi-Channels" value="Encoder_Mode"/>
             <ModeSub name="Activated" value="TRUE"/>
         </Mode>
+        <Parameters>
+            <ParametersSub name="EncoderMode" value="TMR_ENCODER_MODE_B"/>
+            <ParametersSub name="IC1Filter" value="7"/>
+            <ParametersSub name="IC2Filter" value="7"/>
+        </Parameters>
     </TMR2>
     <TMR3>
         <Mode>
@@ -66,7 +71,7 @@
             <ModeSub name="Activated" value="TRUE"/>
         </Mode>
         <Parameters>
-            <ParametersSub name="DividerValue" value="999"/>
+            <ParametersSub name="DividerValue" value="1999"/>
             <ParametersSub name="Period" value="1999"/>
         </Parameters>
     </TMR4>
@@ -134,7 +139,7 @@
         <PinSub pinname="PB6" signalname="GPIO_Input" signaltype="3"/>
     </PINInfo>
     <ProjectInfomation>
-        <ProjectName>BC2D</ProjectName>
+        <ProjectName>BC2D-POS</ProjectName>
         <ProjectLocation>C:/Users/ForgotDoge/Desktop/BC2024/firmware</ProjectLocation>
         <ToolchainIDE>MDK_V5</ToolchainIDE>
         <KeepUserCode>true</KeepUserCode>

BC2D-POS.code-workspace

@@ -31,7 +31,7 @@
             "titleBar.activeForeground": "#FAFAFE"
         },
         "EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe",
-        "cortex-debug.variableUseNaturalFormat": true
+        "cortex-debug.variableUseNaturalFormat": false
     },
     "extensions": {
     }

app/by_motion.c

@@ -8,76 +8,151 @@
 #define DRV_ENABLE()  gpio_bits_set(GPIOB, GPIO_PINS_15)
 #define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
 
+#define MU            (2.854f) // speed = \mu * speed_in_pulse
+
 by_motor_param param_m1;
 by_motor_param param_m2;
 PID_TypeDef pid_m1;
 PID_TypeDef pid_m2;
 uint8_t motion_enable_flag;
+uint8_t motion_busy_flag;
+uint8_t motion_reset_flag;
+int16_t time_via;
+float position_abs;
 
 void by_motion_set_pwm_m1(int32_t pwm_duty)
 {
-  pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
+  pwm_duty = clip_s32(pwm_duty, -440, 440); // 不可以拉满哦
   pwm_duty += 499;
 
   // 互补 pwm 输出，499 为中值
   tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, pwm_duty);
 }
 
-void by_motion_set_pwm_m2(int32_t pwm_duty)
-{
-  pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
-  pwm_duty += 499;
+// void by_motion_set_pwm_m2(int32_t pwm_duty)
+// {
+//   pwm_duty = clip_s32(pwm_duty, -440, 440); // 不可以拉满哦
+//   pwm_duty += 499;
 
-  // 互补 pwm 输出，499 为中值
-  tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
-}
+//   // 互补 pwm 输出，499 为中值
+//   tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
+// }
 
 int16_t by_motion_get_speed_m1(void)
 {
 #define alpha (0.1f)
   static float last_speed = 0.0f;
-  param_m1.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(-1 * (int16_t)tmr_counter_value_get(TMR2));
-  last_speed = param_m1.real_speed;
+  param_m1.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(+1 * (int16_t)tmr_counter_value_get(TMR2));
+  last_speed              = param_m1.real_speed;
   tmr_counter_value_set(TMR2, 0);
   return (int16_t)param_m1.real_speed;
 #undef alpha
 }
 
-int16_t by_motion_get_speed_m2(void)
-{
-#define alpha (0.1f)
-  static float last_speed = 0.0f;
-  param_m2.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(-1 * (int16_t)tmr_counter_value_get(TMR3));
-  last_speed = param_m2.real_speed;
-  tmr_counter_value_set(TMR3, 0);
-  return (int16_t)param_m2.real_speed;
-#undef alpha
-}
+// int16_t by_motion_get_speed_m2(void)
+// {
+// #define alpha (0.1f)
+//   static float last_speed = 0.0f;
+//   param_m2.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(-1 * (int16_t)tmr_counter_value_get(TMR3));
+//   last_speed              = param_m2.real_speed;
+//   tmr_counter_value_set(TMR3, 0);
+//   return (int16_t)param_m2.real_speed;
+// #undef alpha
+// }
 
 void by_motion_set_speed_m1(int16_t speed)
 {
   param_m1.target_speed = speed;
 }
 
-void by_motion_set_speed_m2(int16_t speed)
+// void by_motion_set_speed_m2(int16_t speed)
+// {
+//   param_m2.target_speed = speed;
+// }
+
+void by_motion_set_distance(float distance, int16_t speed)
 {
-  param_m2.target_speed = speed;
+  // TODO 验证距离是否超限
+  if (motion_busy_flag) {
+    return;
+  }
+
+  if (speed < 0) {
+    speed = -speed;
+  }
+
+  position_abs += distance;
+
+  if (distance < 0.0f) {
+    by_motion_set_speed_m1(-1 * speed);
+    distance = -distance;
+  } else {
+    by_motion_set_speed_m1(speed);
+  }
+
+  motion_busy_flag = 1;
+  time_via         = (int16_t)(distance * 50.0f / ((float)speed * MU)); // 控制频率为 50Hz，控制值单位为 s
+  // lwprintf("time_via = %d\r\n", time_via);
+  LOGD("position_abs = %f\r\n", position_abs);
+}
+
+void by_motion_set_distance2(float distance, int16_t speed)
+{
+  // TODO 验证距离是否超限
+  if (motion_busy_flag) {
+    return;
+  }
+
+  if (speed < 0) {
+    speed = -speed;
+  }
+
+  if (distance < 0.0f) {
+    distance = -distance;
+  }
+
+  distance = distance - position_abs;
+  position_abs += distance;
+
+  if (5.0 >= position_abs) {
+    position_abs = 0;
+    by_motion_set_speed_m1(-10);
+    motion_busy_flag  = 1;
+    motion_reset_flag = 1;
+    LOGD("RESET position_abs = %f\r\n", position_abs);
+    return;
+  }
+
+  if (distance < 0.0f) {
+    distance = -distance;
+    by_motion_set_speed_m1(-1 * speed);
+  } else {
+    by_motion_set_speed_m1(speed);
+  }
+
+  motion_busy_flag = 1;
+  time_via         = (int16_t)(distance * 50.0f / ((float)speed * MU)); // 控制频率为 50Hz，控制值单位为 s
+  LOGD("position_abs = %f\r\n", position_abs);
+  // lwprintf("time_via = %d\r\n", time_via);
 }
 
 void by_motion_init(void)
 {
   motion_enable_flag = 0;
+  motion_busy_flag   = 0;
+  time_via           = 0;
+  position_abs       = 0.0f; // TODO 待添加复位操作
 
   by_motion_set_pwm_m1(0);
-  by_motion_set_pwm_m2(0);
+  // by_motion_set_pwm_m2(0);
 
   /* set default parameters */
   param_m1.Kp = BY_MOTION_DEFAULT_KP_M1;
   param_m1.Ki = BY_MOTION_DEFAULT_KI_M1;
   param_m1.Kd = BY_MOTION_DEFAULT_KD_M1;
-  param_m2.Kp = BY_MOTION_DEFAULT_KP_M2;
-  param_m2.Ki = BY_MOTION_DEFAULT_KI_M2;
-  param_m2.Kd = BY_MOTION_DEFAULT_KD_M2;
+  // param_m2.Kp = BY_MOTION_DEFAULT_KP_M2;
+  // param_m2.Ki = BY_MOTION_DEFAULT_KI_M2;
+  // param_m2.Kd = BY_MOTION_DEFAULT_KD_M2;
 
   /* load parameters form ee */
   // TODO
@@ -87,47 +162,91 @@ void by_motion_init(void)
   PID_SetSampleTime(&pid_m1, 10);
   PID_SetOutputLimits(&pid_m1, -400, 400);
 
-  PID(&pid_m2, &param_m2.real_speed, &param_m2.out_pwm, &param_m2.target_speed, param_m2.Kp, param_m2.Ki, param_m2.Kd, _PID_P_ON_E, _PID_CD_DIRECT);
-  PID_SetMode(&pid_m2, _PID_MODE_AUTOMATIC);
-  PID_SetSampleTime(&pid_m2, 10);
-  PID_SetOutputLimits(&pid_m2, -400, 400);
+  // PID(&pid_m2, &param_m2.real_speed, &param_m2.out_pwm, &param_m2.target_speed, param_m2.Kp, param_m2.Ki, param_m2.Kd, _PID_P_ON_E, _PID_CD_DIRECT);
+  // PID_SetMode(&pid_m2, _PID_MODE_AUTOMATIC);
+  // PID_SetSampleTime(&pid_m2, 10);
+  // PID_SetOutputLimits(&pid_m2, -400, 400);
 
   motion_enable_flag = 1;
   DRV_ENABLE();
+
+  // 上电回零
+  by_motion_set_speed_m1(-10);
+  while (SET == gpio_input_data_bit_read(GPIOB, GPIO_PINS_3)) {
+    // 等待复位
+  }
+  by_motion_set_speed_m1(0);
 }
 
 void by_motion_run(void)
 {
   if (motion_enable_flag) {
     by_motion_get_speed_m1();
-    by_motion_get_speed_m2();
+    // by_motion_get_speed_m2();
 
     PID_Compute(&pid_m1);
-    PID_Compute(&pid_m2);
+    // PID_Compute(&pid_m2);
 
     by_motion_set_pwm_m1((int32_t)param_m1.out_pwm);
-    by_motion_set_pwm_m2((int32_t)param_m2.out_pwm);
+    // by_motion_set_pwm_m2((int32_t)param_m2.out_pwm);
   }
 }
 
 void by_motion_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
 {
-#define BC2D_MODEL1
 
-  if (0x01 == stdd_id) {
-#if defined(BC2D_MODEL1)
-    int16_t speed_m1_temp = (int16_t)(data[0] | (data[1] << 8));
-    int16_t speed_m2_temp = (int16_t)(data[2] | (data[3] << 8));
-    by_motion_set_speed_m1(speed_m1_temp);
-    by_motion_set_speed_m2(speed_m2_temp);
-#elif defined(BC2D_MODEL2)
-    int16_t speed_m1_temp = (int16_t)(data[4] | (data[5] << 8));
-    int16_t speed_m2_temp = (int16_t)(data[6] | (data[7] << 8));
-    by_motion_set_speed_m1(speed_m1_temp);
-    by_motion_set_speed_m2(speed_m2_temp);
-#endif
+  if (0x08 == stdd_id) {
+    uint8_t mode  = data[0];
+    int16_t speed = (int16_t)data[1];
+    // float distance = (float)(data[2] | (data[3] << 8) | (data[4] << 16) | (data[5] << 24));
+    float distance;
+    memcpy(&distance, &data[2], 4);
+    if (0 == mode) {
+      by_motion_set_distance2(distance, speed);
+    } else if (1 == mode) {
+      by_motion_set_distance(distance, speed);
+    }
   }
 
+  // #define BC2D_MODEL1
+
+  //   if (0x01 == stdd_id) {
+  // #if defined(BC2D_MODEL1)
+  //     int16_t speed_m1_temp = (int16_t)(data[0] | (data[1] << 8));
+  //     int16_t speed_m2_temp = (int16_t)(data[2] | (data[3] << 8));
+  //     by_motion_set_speed_m1(speed_m1_temp);
+  //     by_motion_set_speed_m2(speed_m2_temp);
+  // #elif defined(BC2D_MODEL2)
+  //     int16_t speed_m1_temp = (int16_t)(data[4] | (data[5] << 8));
+  //     int16_t speed_m2_temp = (int16_t)(data[6] | (data[7] << 8));
+  //     by_motion_set_speed_m1(speed_m1_temp);
+  //     by_motion_set_speed_m2(speed_m2_temp);
+  // #endif
+  // }
+
   LOGD("m1:%f,%f,%f", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm);
   LOGD("m2:%f,%f,%f", param_m2.real_speed, param_m2.target_speed, param_m2.out_pwm);
 }
+
+void by_motion_tmr_handle(void)
+{
+  if (!motion_busy_flag) {
+    return;
+  }
+
+  if (motion_reset_flag) {
+    if (!gpio_input_data_bit_read(GPIOB, GPIO_PINS_3)) {
+      motion_reset_flag = 0;
+      motion_busy_flag  = 0;
+      by_motion_set_speed_m1(0);
+    }
+    return;
+  }
+
+  if (time_via > 0) {
+    time_via--;
+  } else {
+    by_motion_set_speed_m1(0);
+    motion_busy_flag = 0;
+  }
+}

app/by_motion.h

@@ -12,9 +12,9 @@ typedef struct by_motor_param {
   float out_pwm;
 } by_motor_param;
 
-#define BY_MOTION_DEFAULT_KP_M1 (5.0f)
-#define BY_MOTION_DEFAULT_KI_M1 (100.0f)
-#define BY_MOTION_DEFAULT_KD_M1 (0.0f)
+#define BY_MOTION_DEFAULT_KP_M1 (10.0f)
+#define BY_MOTION_DEFAULT_KI_M1 (80.0f)
+#define BY_MOTION_DEFAULT_KD_M1 (0.08f)
 #define BY_MOTION_DEFAULT_KP_M2 (5.0f)
 #define BY_MOTION_DEFAULT_KI_M2 (100.0f)
 #define BY_MOTION_DEFAULT_KD_M2 (0.0f)
@@ -28,6 +28,7 @@ extern int16_t by_motion_get_speed_m2(void);
 extern void by_motion_set_speed_m1(int16_t speed);
 extern void by_motion_set_speed_m2(int16_t speed);
 extern void by_motion_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len);
+extern void by_motion_tmr_handle(void);
 
 extern by_motor_param param_m1;
 extern by_motor_param param_m2;

project/inc/at32f413_wk_config.h

@@ -55,6 +55,65 @@ extern "C" {
 
 /* add user code end exported macro */
 
+/* add user code begin dma define */
+/* user can only modify the dma define value */
+//#define DMA1_CHANNEL1_BUFFER_SIZE   0
+//#define DMA1_CHANNEL1_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL1_PERIPHERAL_BASE_ADDR  0
+
+//#define DMA1_CHANNEL2_BUFFER_SIZE   0
+//#define DMA1_CHANNEL2_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL2_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL3_BUFFER_SIZE   0
+//#define DMA1_CHANNEL3_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL3_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL4_BUFFER_SIZE   0
+//#define DMA1_CHANNEL4_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL4_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL5_BUFFER_SIZE   0
+//#define DMA1_CHANNEL5_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL5_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL6_BUFFER_SIZE   0
+//#define DMA1_CHANNEL6_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL6_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL7_BUFFER_SIZE   0
+//#define DMA1_CHANNEL7_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL7_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL1_BUFFER_SIZE   0
+//#define DMA2_CHANNEL1_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL1_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL2_BUFFER_SIZE   0
+//#define DMA2_CHANNEL2_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL2_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL3_BUFFER_SIZE   0
+//#define DMA2_CHANNEL3_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL3_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL4_BUFFER_SIZE   0
+//#define DMA2_CHANNEL4_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL4_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL5_BUFFER_SIZE   0
+//#define DMA2_CHANNEL5_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL5_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL6_BUFFER_SIZE   0
+//#define DMA2_CHANNEL6_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL6_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL7_BUFFER_SIZE   0
+//#define DMA2_CHANNEL7_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL7_PERIPHERAL_BASE_ADDR   0
+/* add user code end dma define */
+
 /* exported functions ------------------------------------------------------- */
   /* system clock config. */
   void wk_system_clock_config(void);

project/src/at32f413_int.c

@@ -237,6 +237,7 @@ void TMR4_GLOBAL_IRQHandler(void)
   /* add user code begin TMR4_GLOBAL_IRQ 0 */
   if (SET == tmr_interrupt_flag_get(TMR4, TMR_OVF_FLAG)) {
     by_motion_run();
+    by_motion_tmr_handle();
     tmr_flag_clear(TMR4, TMR_OVF_FLAG);
   }
   /* add user code end TMR4_GLOBAL_IRQ 0 */

project/src/at32f413_wk_config.c

@@ -461,16 +461,16 @@ void wk_tmr2_init(void)
   tmr_input_struct.input_channel_select = TMR_SELECT_CHANNEL_1;
   tmr_input_struct.input_mapped_select = TMR_CC_CHANNEL_MAPPED_DIRECT;
   tmr_input_struct.input_polarity_select = TMR_INPUT_RISING_EDGE;
-  tmr_input_struct.input_filter_value = 0;
+  tmr_input_struct.input_filter_value = 7;
   tmr_input_channel_init(TMR2, &tmr_input_struct, TMR_CHANNEL_INPUT_DIV_1);
 
   tmr_input_struct.input_channel_select = TMR_SELECT_CHANNEL_2;
   tmr_input_struct.input_mapped_select = TMR_CC_CHANNEL_MAPPED_DIRECT;
   tmr_input_struct.input_polarity_select = TMR_INPUT_RISING_EDGE;
-  tmr_input_struct.input_filter_value = 0;
+  tmr_input_struct.input_filter_value = 7;
   tmr_input_channel_init(TMR2, &tmr_input_struct, TMR_CHANNEL_INPUT_DIV_1);
 
-  tmr_encoder_mode_config(TMR2, TMR_ENCODER_MODE_A, TMR_INPUT_RISING_EDGE, TMR_INPUT_RISING_EDGE);
+  tmr_encoder_mode_config(TMR2, TMR_ENCODER_MODE_B, TMR_INPUT_RISING_EDGE, TMR_INPUT_RISING_EDGE);
 
   tmr_counter_enable(TMR2, TRUE);
 
@@ -564,7 +564,7 @@ void wk_tmr4_init(void)
   /* add user code end tmr4_init 1 */
 
   /* configure counter settings */
-  tmr_base_init(TMR4, 1999, 999);
+  tmr_base_init(TMR4, 1999, 1999);
   tmr_cnt_dir_set(TMR4, TMR_COUNT_UP);
   tmr_clock_source_div_set(TMR4, TMR_CLOCK_DIV1);
   tmr_period_buffer_enable(TMR4, FALSE);

project/src/main.c

@@ -68,10 +68,10 @@
 /* add user code end 0 */
 
 /**
- * @brief main function.
- * @param  none
- * @retval none
- */
+  * @brief main function.
+  * @param  none
+  * @retval none
+  */
 int main(void)
 {
   /* add user code begin 1 */
@@ -124,8 +124,12 @@ int main(void)
   LOGI("init done");
   /* add user code end 2 */
 
-  while (1) {
+  while(1)
+  {
     /* add user code begin 3 */
+    // lwprintf("pwm value: %f\r\n", param_m1.out_pwm);
+    // lwprintf("mot speed: %f\r\n", param_m1.real_speed);
+    // lwprintf("%f,%f,%f\r\n", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm);
     /* add user code end 3 */
   }
 }