Motor Module

Module Introduction

Motor is a motor control module that provides PWM-based motor vibration control functionality. This module encapsulates PWM initialization, LDO power control, and duty cycle adjustment, providing a simple motor control interface for upper-layer applications. Supports controlling motor vibration strength through PWM duty cycle, suitable for haptic feedback scenarios.

Core Features

PWM Control: Controls motor vibration based on PWM signals
LDO Power Management: Automatically controls motor LDO power switch
Duty Cycle Adjustment: Supports adjusting vibration strength through duty cycle
Simple Interface: Provides simple start/stop interface
Resource Management: Automatically manages PWM and LDO resources

Module Architecture

The Motor module architecture is as follows:

Application Layer (Application)
        ↓
Motor API (motor.h)
        ↓
PWM Driver (bk_pwm)
        ↓
LDO Control (bk_pm_module_vote_ctrl_external_ldo)
        ↓
Motor Hardware

Workflow

Motor Start Flow

Detailed flow of motor_open():

1. Initialize PWM
    - pwm_init(channel, duty_cycle)
    - Configure PWM parameters
        * Clock source: 26MHz
        * Frequency: 1000Hz
        * Duty cycle: PWM_DUTY_CYCLE (0.3 = 30%)
    ↓
2. Start PWM
    - bk_pwm_start(channel)
    ↓
3. Enable LDO Power
    - motor_ldo_power_enable(1)
    - Set GPIO to high level
    ↓
Motor Starts Vibrating

PWM Initialization Flow

Detailed flow of pwm_init():

1. Configure PWM Parameters
    - psc: 0 (prescaler)
    - period_cycle: s_period (period)
    - duty_cycle: period (duty cycle period)
    ↓
2. Initialize PWM
    - bk_pwm_init(channel, &init_config)
    ↓
3. Start PWM
    - bk_pwm_start(channel)
    ↓
PWM Running

Motor Stop Flow

Detailed flow of motor_close():

1. Stop PWM
    - bk_pwm_stop(channel)
    ↓
2. Disable LDO Power
    - motor_ldo_power_enable(0)
    - Set GPIO to low level
    ↓
Motor Stops Vibrating

Important Interfaces

Motor Control Interface

/**
 * @brief Start motor
 *
 * Initializes PWM channel, outputs PWM waveform, enables LDO power
 *
 * @param channel PWM channel number
 */
void motor_open(pwm_chan_t channel);

/**
 * @brief Stop motor
 *
 * Stops PWM output, disables LDO power
 *
 * @param channel PWM channel number
 */
void motor_close(pwm_chan_t channel);

PWM Channel Definition

// Default motor PWM channel
#define PWM_MOTOR_CH_3 PWM_ID_3

Main Macro Definitions

Configuration Macros

// Enable Motor module
CONFIG_MOTOR=y

// Dependencies
CONFIG_PWM=y  // PWM driver support

PWM Parameter Configuration

// PWM clock source (Hz)
#define PWM_CLOCK_SOURCE 26000000

// PWM frequency (Hz)
#define PWM_FREQ 1000

// PWM duty cycle (0.0 - 1.0)
#define PWM_DUTY_CYCLE 0.3  // 30% duty cycle

Usage Examples

Basic Usage

#include "motor.h"

void example_usage(void)
{
    // Start motor (using default channel)
    motor_open(PWM_MOTOR_CH_3);

    // Motor vibrating...

    // Stop motor
    motor_close(PWM_MOTOR_CH_3);
}

Vibration Feedback Example

void vibration_feedback(void)
{
    // Short vibration (100ms)
    motor_open(PWM_MOTOR_CH_3);
    rtos_delay_milliseconds(100);
    motor_close(PWM_MOTOR_CH_3);

    // Long vibration (500ms)
    motor_open(PWM_MOTOR_CH_3);
    rtos_delay_milliseconds(500);
    motor_close(PWM_MOTOR_CH_3);
}

Notes

Power Consumption: Motor consumes significant power when working, recommend short-time use
Hardware Differences: LDO control GPIO may differ on different development boards, need to configure according to hardware design