/* 底盘固定模组,用步进 */
#include "main.h"
#include "bsp/pwm.h"
#include "motor_step.h"
#include "bsp/gpio.h"
#include "cmsis_os2.h"     

int8_t Motor_Step_Init(MOTOR_STEP_t *motor_step){

	BSP_PWM_Start(motor_step->param.channel);
	return 0;
}

int8_t Motor_Step_Ctrl(MOTOR_STEP_t *motor_step){

	/* 控制方向 */
	if(motor_step->param.reverse==true){
	BSP_GPIO_WritePin(BSP_GPIO_DIR_P, true);
	BSP_PWM_SetComp(motor_step->param.channel,0.5);		
	}
	
	if(motor_step->param.reverse==false){
	BSP_GPIO_WritePin(BSP_GPIO_DIR_P, true);
		
	BSP_PWM_SetComp(motor_step->param.channel,0.9);		
//	osDelay(100);
//	BSP_PWM_SetComp(motor_step->param.channel,0);
	}
	return 0;
}

int8_t Motor_Step_Stop(MOTOR_STEP_t *motor_step){

	BSP_PWM_Stop(motor_step->param.channel) ;
	return 0;
}