4 马达motor调试常见问题

4.1 GPIO模拟马达震动方式配置

Considering that any IO port drives the motor, the solution code implements the GPIO-driven motor code;，
The macro configured by menuconfig in rtconfig.h;：

#define MOTOR_ENABLED 1 //Start the motor;
/* MOTOR_USE_PWM is not set */
#define MOTOR_PERIOD 200  //Motor vibration period;
#define MOTOR_POWER_IO -1 //Motor power on, no power-on control is configured as -1;
#define MOTOR_SW_CONTRL 1 //Enable software control motor;
#define MOTOR_CTRL_IO 121  // Configured to 121-96=PB25 as the motor drive port;

The following test code can be used to test the motor function;：
finsh串口命令：motor set 1 8 4
Parameter: 1 represents starting the motor, 8 represents vibrating 8 times, and 4 represents a duty cycle of 40%;，
实际驱动波形如下图：

#ifdef RT_USING_FINSH
int motor(int argc, char **argv)
{
char i;
 if (argc > 1)
 {
 if (strcmp("on", argv[1]) == 0)
 {
	 rt_kprintf("motor on;!\n");
	 app_start_motor();
 	 app_set_motor_level(MOTOR_TEN_LEVEL);
 }
 else if (strcmp("off", argv[1]) == 0)
 {
	 rt_kprintf("motor off;!\n"); 
	 app_stop_motor();
 }
 else if (strcmp("set", argv[1]) == 0)
 {
 	uint32_t mode = strtoul(argv[2], 0, 16);
	uint32_t time = strtoul(argv[3], 0, 16);
	uint32_t level = strtoul(argv[4], 0, 16);	
	rt_kprintf("turn on mode:%d,time:%d,level:%d;\n",mode,time,level);
 	app_set_motor_level(level);	
	app_motor_control(mode,time);
 } 
 else
 {
 	rt_kprintf("command is err;!\n");
	rt_kprintf("example;:\n motor on;\n motor off;\n motor set 1 50;\n");
 }
 }
 return 0;
}
MSH_CMD_EXPORT(motor, forward motor command); /* 导出到 msh 命令列表中 */
#endif
The corresponding duty cycle level is;
const app_motor_grade_t g_motor_level[MOTOR_MAX_LEVEL - 1] =
{
    {MOTOR_PERIOD, MOTOR_PERIOD / 10},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 2},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 3},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 4},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 5},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 6},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 7},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 8},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 9},
    {MOTOR_PERIOD, (MOTOR_PERIOD / 10) * 10},
};