stm32-HB-DCMotor-PWMUpdate&UART

void UpdatePWM(void) {
    if (motorRunning) {
        uint32_t pwmValue;
        char msg[100];
        float tau_max = 1.0; // Maximum torque in Nm (example value)
        float moment_of_inertia = 0.002; // Effective mass in kg·m²
        float angular_acceleration;

        switch (currentDutyCycle) {
            case 0:
                pwmValue = 65535 * 0.25; // 25% of 65535
                angular_acceleration = (0.25 * tau_max) / moment_of_inertia;
                sprintf(msg, "Duty Cycle: 25%%, Acceleration: %.2f rad/s^2\n\r", angular_acceleration);
                break;
            case 1:
                pwmValue = 65535 * 0.50; // 50% of 65535
                angular_acceleration = (0.50 * tau_max) / moment_of_inertia;
                sprintf(msg, "Duty Cycle: 50%%, Acceleration: %.2f rad/s^2\n\r", angular_acceleration);
                break;
            case 2:
                pwmValue = 65535 * 0.75; // 75% of 65535
                angular_acceleration = (0.75 * tau_max) / moment_of_inertia;
                sprintf(msg, "Duty Cycle: 75%%, Acceleration: %.2f rad/s^2\n\r", angular_acceleration);
                break;
            case 3:
                pwmValue = 65535 * 0.99; // 99% of 65535
                angular_acceleration = (0.99 * tau_max) / moment_of_inertia;
                sprintf(msg, "Duty Cycle: 99%%, Acceleration: %.2f rad/s^2\n\r", angular_acceleration);
                break;
            default:
                pwmValue = 0;
                sprintf(msg, "Duty Cycle: Error\n\r");
                break;
        }

        __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, pwmValue);
        SendUartMessage(msg); // Send duty cycle and acceleration via UART
    } else {
        __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 0); // Set PWM to 0 if motor is not running
    }
}

// Function to send UART message
void SendUartMessage(char* message) {
    HAL_UART_Transmit(&huart1, (uint8_t*)message, strlen(message), HAL_MAX_DELAY);
}