Merge branch 'develop'，rebase to next generation

Makefile

@@ -40,6 +40,7 @@ C_SOURCES =  \
 HAL_N_Middlewares/Src/main.c \
 HAL_N_Middlewares/Src/gpio.c \
 HAL_N_Middlewares/Src/i2c.c \
+HAL_N_Middlewares/Src/i2c.c \
 HAL_N_Middlewares/Src/adc.c \
 HAL_N_Middlewares/Src/can.c \
 HAL_N_Middlewares/Src/dma.c \
@@ -67,6 +68,8 @@ HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
 HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c \
 HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c \
 HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
+HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c \
+HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
 HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c \
 HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c \
 HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c \

basic_framework.ioc

@@ -9,6 +9,9 @@ ADC1.master=1
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
 CAN1.BS1=CAN_BS1_10TQ
 CAN1.BS2=CAN_BS2_3TQ
 CAN1.CalculateBaudRate=1000000
@@ -21,6 +24,19 @@ CAN2.CalculateBaudRate=1000000
 CAN2.CalculateTimeQuantum=71.42857142857143
 CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate
 CAN2.Prescaler=3
+Dma.MEMTOMEM.5.Direction=DMA_MEMORY_TO_MEMORY
+Dma.MEMTOMEM.5.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.MEMTOMEM.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.MEMTOMEM.5.Instance=DMA2_Stream3
+Dma.MEMTOMEM.5.MemBurst=DMA_MBURST_SINGLE
+Dma.MEMTOMEM.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.MEMTOMEM.5.MemInc=DMA_MINC_ENABLE
+Dma.MEMTOMEM.5.Mode=DMA_NORMAL
+Dma.MEMTOMEM.5.PeriphBurst=DMA_PBURST_SINGLE
+Dma.MEMTOMEM.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.MEMTOMEM.5.PeriphInc=DMA_PINC_ENABLE
+Dma.MEMTOMEM.5.Priority=DMA_PRIORITY_HIGH
+Dma.MEMTOMEM.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
 Dma.ADC1.12.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.12.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.ADC1.12.Instance=DMA2_Stream4
@@ -84,6 +100,11 @@ Dma.SPI1_RX.4.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
 Dma.SPI1_RX.4.Instance=DMA2_Stream0
 Dma.SPI1_RX.4.MemBurst=DMA_MBURST_SINGLE
 Dma.SPI1_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.Request5=MEMTOMEM
+Dma.Request6=SPI1_RX
+Dma.Request7=SPI1_TX
+Dma.Request8=SPI2_RX
+Dma.Request9=SPI2_TX
 Dma.SPI1_RX.4.MemInc=DMA_MINC_ENABLE
 Dma.SPI1_RX.4.Mode=DMA_NORMAL
 Dma.SPI1_RX.4.PeriphBurst=DMA_PBURST_SINGLE
@@ -93,8 +114,60 @@ Dma.SPI1_RX.4.Priority=DMA_PRIORITY_LOW
 Dma.SPI1_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
 Dma.SPI1_TX.5.Direction=DMA_MEMORY_TO_PERIPH
 Dma.SPI1_TX.5.FIFOMode=DMA_FIFOMODE_ENABLE
-Dma.SPI1_TX.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI1_TX.5.FIFOThreshold=10
+Dma.SPI1_RX.6.Direction=DMA_PERIPH_TO_MEMORY
+Dma.SPI1_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI1_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI1_RX.6.Instance=DMA2_Stream0
+Dma.SPI1_RX.6.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI1_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI1_RX.6.MemInc=DMA_MINC_ENABLE
+Dma.SPI1_RX.6.Mode=DMA_NORMAL
+Dma.SPI1_RX.6.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI1_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI1_RX.6.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI1_RX.6.Priority=DMA_PRIORITY_LOW
+Dma.SPI1_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI1_TX.7.Direction=DMA_MEMORY_TO_PERIPH
+Dma.SPI1_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI1_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI1_TX.7.Instance=DMA2_StreamDMA_FIFO_THRESHOLD_FULL
 Dma.SPI1_TX.5.Instance=DMA2_Stream3
+Dma.SPI1_TX.7.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI1_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI1_TX.7.MemInc=DMA_MINC_ENABLE
+Dma.SPI1_TX.7.Mode=DMA_NORMAL
+Dma.SPI1_TX.7.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI1_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI1_TX.7.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI1_TX.7.Priority=DMA_PRIORITY_LOW
+Dma.SPI1_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI2_RX.8.Direction=DMA_PERIPH_TO_MEMORY
+Dma.SPI2_RX.8.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI2_RX.8.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI2_RX.8.Instance=DMA1_Stream3
+Dma.SPI2_RX.8.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI2_RX.8.MemInc=DMA_MINC_ENABLE
+Dma.SPI2_RX.8.Mode=DMA_NORMAL
+Dma.SPI2_RX.8.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI2_RX.8.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI2_RX.8.Priority=DMA_PRIORITY_LOW
+Dma.SPI2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI2_TX.9.Direction=DMA_MEMORY_TO_PERIPH
+Dma.SPI2_TX.9.FIFOMode=DMA_FIFOMODE_ENABLE
+Dma.SPI2_TX.9.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
+Dma.SPI2_TX.9.Instance=DMA1_Stream4
+Dma.SPI2_TX.9.MemBurst=DMA_MBURST_SINGLE
+Dma.SPI2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI2_TX.9.MemInc=DMA_MINC_ENABLE
+Dma.SPI2_TX.9.Mode=DMA_NORMAL
+Dma.SPI2_TX.9.PeriphBurst=DMA_PBURST_SINGLE
+Dma.SPI2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI2_TX.9.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI2_TX.9.Priority=DMA_PRIORITY_LOW
+Dma.SPI2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
 Dma.SPI1_TX.5.MemBurst=DMA_MBURST_SINGLE
 Dma.SPI1_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
 Dma.SPI1_TX.5.MemInc=DMA_MINC_ENABLE
@@ -192,6 +265,10 @@ I2C2.I2C_Mode=I2C_Fast
 I2C2.IPParameters=I2C_Mode
 I2C3.I2C_Mode=I2C_Fast
 I2C3.IPParameters=I2C_Mode
+I2C2.I2C_Mode=I2C_Fast
+I2C2.IPParameters=I2C_Mode
+I2C3.I2C_Mode=I2C_Fast
+I2C3.IPParameters=I2C_Mode
 KeepUserPlacement=false
 Mcu.CPN=STM32F407IGH6
 Mcu.Family=STM32F4
@@ -236,6 +313,8 @@ Mcu.Pin16=PD1
 Mcu.Pin17=PA11
 Mcu.Pin18=PF0
 Mcu.Pin19=PA9
+Mcu.Pin18=PF0
+Mcu.Pin19=PA9
 Mcu.Pin2=PG14
 Mcu.Pin20=PC9
 Mcu.Pin21=PA8
@@ -247,6 +326,16 @@ Mcu.Pin26=PG6
 Mcu.Pin27=PH12
 Mcu.Pin28=PG3
 Mcu.Pin29=PH11
+Mcu.Pin20=PC9
+Mcu.Pin21=PA8
+Mcu.Pin22=PH0-OSC_IN
+Mcu.Pin23=PH1-OSC_OUT
+Mcu.Pin24=PF1
+Mcu.Pin25=PC6
+Mcu.Pin26=PG6
+Mcu.Pin27=PH12
+Mcu.Pin28=PG3
+Mcu.Pin29=PH11
 Mcu.Pin3=PB4
 Mcu.Pin30=PH10
 Mcu.Pin31=PD14
@@ -323,6 +412,8 @@ NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
 NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true

modules/motor/servo_motor.c

@@ -0,0 +1,122 @@
+#include "servo_motor.h"
+
+extern TIM_HandleTypeDef htim1;
+/*第二版*/
+static ServoInstance *servo_motor[SERVO_MOTOR_CNT] = {NULL};
+static int16_t compare_value[SERVO_MOTOR_CNT]={0};
+static uint8_t servo_idx = 0; // register servo_idx,是该文件的全局舵机索引,在注册时使用
+
+// 通过此函数注册一个舵机
+ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config)
+{
+    servo_motor[servo_idx] = (ServoInstance *)malloc(sizeof(ServoInstance));
+    memset(servo_motor[servo_idx], 0, sizeof(ServoInstance));
+    servo_motor[servo_idx]->Servo_type = Servo_Init_Config->Servo_type;
+    servo_motor[servo_idx]->htim = Servo_Init_Config->htim;
+    servo_motor[servo_idx]->Channel = Servo_Init_Config->Channel;
+    HAL_TIM_Base_Start(Servo_Init_Config->htim);
+    HAL_TIM_PWM_Start(Servo_Init_Config->htim, Servo_Init_Config->Channel);
+    return servo_motor[servo_idx++];
+}
+
+/**
+ * @brief 写入自由角度数值
+ *
+ * @param Servo_Motor 注册的舵机实例
+ * @param S_angle  改变自由模式设定的角度
+ */
+void Servo_Motor_FreeAngle_Set(ServoInstance *Servo_Motor, int16_t S_angle)
+{
+    switch (Servo_Motor->Servo_type)
+    {
+    case Servo180:
+        if (S_angle > 180)
+            S_angle = 180;
+        break;
+    case Servo270:
+        if (S_angle > 270)
+            S_angle = 270;
+        break;
+    case Servo360:
+        if (S_angle > 100)
+            S_angle = 100;
+        break;
+    default:
+        break;
+    }
+    if (S_angle < 0)
+        S_angle = 0;
+    Servo_Motor->Servo_Angle.free_angle = S_angle;
+}
+
+/**
+ * @brief 写入起始，终止角度数值
+ *
+ * @param Servo_Motor 注册的舵机实例
+ * @param Start_angle 起始角度
+ * @param Final_angle 终止角度
+ */
+void Servo_Motor_StartSTOP_Angle_Set(ServoInstance *Servo_Motor, int16_t Start_angle, int16_t Final_angle)
+{
+    Servo_Motor->Servo_Angle.Init_angle = Start_angle;
+    Servo_Motor->Servo_Angle.Final_angle = Final_angle;
+}
+/**
+ * @brief 舵机模式选择
+ * 
+ * @param Servo_Motor 注册的舵机实例
+ * @param mode 需要选择的模式
+ */
+void Servo_Motor_Type_Select(ServoInstance *Servo_Motor,int16_t mode)
+{
+    Servo_Motor->Servo_Angle_Type = mode;
+}
+
+
+/**
+ * @brief 舵机输出控制
+ *
+ */
+void Servo_Motor_Control()
+{
+    static ServoInstance *Servo_Motor;
+    static Servo_Type_e Servo_type;
+
+    for (size_t i = 0; i < servo_idx; i++)
+    {
+        if (servo_motor[i])
+        {
+            Servo_Motor = servo_motor[i];
+            Servo_type = Servo_Motor->Servo_type;
+
+            switch (Servo_type)
+            {
+            case Servo180:
+                if (Servo_Motor->Servo_type == Start_mode)
+                    compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Init_angle * 20000 / 20 / 90;
+                if (Servo_Motor->Servo_type == Final_mode)
+                    compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Final_angle * 20000 / 20 / 90;
+                if (Servo_Motor->Servo_type == Free_Angle_mode)
+                    compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.free_angle * 20000 / 20 / 90;
+                __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]);
+                break;
+            case Servo270:
+                if (Servo_Motor->Servo_type == Start_mode)
+                    compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Init_angle * 20000 / 20 / 135;
+                if (Servo_Motor->Servo_type == Final_mode)
+                    compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Final_angle * 20000 / 20 / 135;
+                if (Servo_Motor->Servo_type == Free_Angle_mode)
+                    compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.free_angle * 20000 / 20 / 135;
+                __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]);
+                break;
+            case Servo360:
+                /*500-2500的占空比 500-1500对应正向转速 1500-2500对于反向转速*/
+                compare_value[i] = 500 + 20 * Servo_Motor->Servo_Angle.servo360speed;
+                __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]);
+                break;
+            default:
+                break;
+            }
+        }
+    }
+}

modules/motor/servo_motor.h

@@ -0,0 +1,90 @@
+/**
+ * @file servo_motor.h
+ * @author panrui
+ * @brief 舵机控制头文件
+ * @version 0.1
+ * @date 2022-12-12
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+
+#ifndef SERVO_MOTOR_H
+#define SERVO_MOTOR_H
+
+#include "main.h"
+#include "tim.h"
+#include <stdint-gcc.h>
+
+#define SERVO_MOTOR_CNT 7
+
+/*各种舵机类型*/
+typedef enum
+{
+    Servo180 = 0,
+    Servo270 = 1,
+    Servo360 = 2,
+} Servo_Type_e;
+
+/*舵机模式选择*/
+typedef enum
+{
+    Free_Angle_mode, // 任意角度模式
+    Start_mode,      // 起始角度模式
+    Final_mode,      // 终止角度模式
+} Servo_Angle_Type_e;
+/*角度设置*/
+typedef struct
+{
+    /*起止角度模式设置值*/
+    int16_t Init_angle;
+    int16_t Final_angle;
+    /*任意角度模式设置值*/
+    int16_t free_angle;
+    /*下述值仅仅适用于360°舵机
+     *设定值为0-100 为速度值百分比
+     *0-50为正转 速度由快到慢
+     *51-100为反转 速度由慢到快
+     */
+    int16_t servo360speed;
+} Servo_Angle_s;
+
+/* 用于初始化不同舵机的结构体,各类舵机通用 */
+typedef struct
+{
+    Servo_Type_e Servo_type;
+    Servo_Angle_Type_e Servo_Angle_Type;
+    // 使用的定时器类型及通道
+    TIM_HandleTypeDef *htim;
+    /*Channel值设定
+     *TIM_CHANNEL_1
+     *TIM_CHANNEL_2
+     *TIM_CHANNEL_3
+     *TIM_CHANNEL_4
+     *TIM_CHANNEL_ALL
+     */
+    uint32_t Channel;
+
+} Servo_Init_Config_s;
+typedef struct
+{
+    Servo_Angle_Type_e Servo_Angle_Type;
+    Servo_Angle_s Servo_Angle;
+    Servo_Type_e Servo_type;
+    // 使用的定时器类型及通道
+    TIM_HandleTypeDef *htim;
+    /*Channel值设定
+     *TIM_CHANNEL_1
+     *TIM_CHANNEL_2
+     *TIM_CHANNEL_3
+     *TIM_CHANNEL_4
+     *TIM_CHANNEL_ALL
+     */
+    uint32_t Channel;
+} ServoInstance;
+
+ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config);
+void Servo_Motor_FreeAngle_Set(ServoInstance *Servo_Motor, int16_t S_angle);
+void Servo_Motor_Type_Select(ServoInstance *Servo_Motor,int16_t mode);
+void Servo_Motor_Control();
+#endif // SERVO_MOTOR_H

modules/motor/servo_motor.md

@@ -0,0 +1,66 @@
+##舵机的使用
+<p align='left' >panrui@hnu.edu.cn</p>
+### 舵机基础知识
+已最常见的SG90舵机为例，SG90舵机要求工作在频率为50HZ——周期为20ms的PWM波，且对应信号的高低电平在0.5ms - 2.5ms之间，对应的舵机转动角度如下表所示（当然也可以按照这个线性的对应关系去达到转动自己想要的角度，如想要转动60°，则高电平脉宽为大概为1.2ms，具体能不能转到特定的角度还和舵机的精度有关）
+
+>0.5ms-------------0度； 2.5%
+>1.0ms------------45度； 5.0%
+>1.5ms------------90度； 7.5%
+>2.0ms-----------135度； 10.0%
+>2.5ms-----------180度； 12.5%
+
+根据`<font color=black size=3>Tout = (PSC+1)* (ARR+1)/Tclk</font>`公式
+则我们需要产生50Hz的PWM波，则预分频的系数为 Prescaler = 168-1，自动重装载值 Counter Period = 20000-1，此时定时器产生的频率为 168Mhz/168/20000 = 50Hz。  当然这个值也可以自己设置，只要满足产生的频率为50Hz即可.
+`__HAL_TIM_SET_COMPARE(htim, Channel, compare_value);`
+这是设置占空比的函数
+eg：当初始占空比为1200/20000则为6%，根据20*6%=1.2ms （1.2-0.5）/(2.5-0.5)*180=63° 故舵机会转动63° 
+为了方便通过上述eg我们将所需要的角度与PWM计数值对应关系封装成函数。需要在初始化的時候输入我们所需要的角度和相关定时器参数即可。这样我们就可以设置SG90为参数范围内(0~180°)任意度数。
+
+---
+
+## 如何注册一个舵机实例
+!!!
+
+**注意！由于舵机为开环控制，无论选择舵机为何种类型，舵机都能够正常运行，但是运行的角度可能会与设定不同，请务必正确选择舵机型号！且最多添加7个舵机！**
+我们可以像这样注册一个舵机实例
+```c
+
+static ServoInstance *leftservomoto;
+//初始化参数
+Servo_Init_Config_s config={
+    //舵机安装选择的定时器及通道
+    //C板有常用的7路PWM输出:TIM1-1,2,3,4 TIM8-1,2,3
+    .htim=&htim1,
+    .Channel=TIM_CHANNEL_1,
+    //舵机的初始化模式和类型
+    .Servo_Angle_Type=Start_mode,
+    .Servo_type=Servo180,
+};
+// 设置好参数后进行初始化并保留返回的指针
+leftservomoto = ServoInit(&config);
+```
+>要控制一个舵机 我们提供了以下三个接口
+```c
+//自由模式下，写入自由角度数值
+void Servo_Motor_FreeAngle_Set(ServoInstance *Servo_Motor, int16_t S_angle);
+//起止模式下，写入起始，终止角度数值(防止反复写入起始和终止角度)
+void Servo_Motor_StartSTOP_Angle_Set(ServoInstance *Servo_Motor, int16_t Start_angle, int16_t Final_angle);
+/*
+    Free_Angle_mode, // 任意角度模式
+    Start_mode,      // 起始角度模式
+    Final_mode,      // 终止角度模式
+*/
+void Servo_Motor_Type_Select(ServoInstance *Servo_Motor,int16_t mode);
+//比如我们要使用舵机，并更改一个舵机的模式
+void ServoTask()
+{
+    //更改leftservomoto为Free_Angle_mode模式
+    Servo_Motor_Type_Select(leftservomoto,Free_Angle_mode);
+    //设置转到0角度
+    Servo_Motor_FreeAngle_Set(leftservomoto, 0);
+    //调用函数，控制电机
+    Servo_Motor_Control();
+}
+
+
+```