步进电机加速程序进不了中断
俺用的是stm32f10xxE编译通过，但是电机转不动，中断也进不去，i和pulse的值一直不变。
#include "stm32f10x.h"
#include"main.h"
int i;
int pulse=0;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
ErrorStatus HSEStartUpStatus;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
void NVIC_Configuration(void);
void RCC_Configuration(void);
void TIM4_Configuration(void);
void GPIO_Configuration(void);
#define VECT_TAB_RAM
int main(void)
{
i=0;
#ifdef DEBUG
debug();/*[初始化外围设备指针]*/
#endif
RCC_Configuration(); //初始化时钟与复位
NVIC_Configuration();//初始化中断嵌套
TIM4_Configuration();//初始化定时器
GPIO_Configuration();
GPIO_WriteBit(GPIOD, GPIO_Pin_7, (BitAction)(0));
GPIO_WriteBit(GPIOD, GPIO_Pin_6, (BitAction)(0));//DCY1 DCY2为00，即Normal %0 DECAY
GPIO_WriteBit(GPIOE, GPIO_Pin_7, (BitAction)(1));
GPIO_WriteBit(GPIOB, GPIO_Pin_1, (BitAction)(0)); //M1M2为10，即1-2-phase
GPIO_WriteBit(GPIOA, GPIO_Pin_4, (BitAction)(1));//正向旋转
GPIO_WriteBit(GPIOB, GPIO_Pin_0, (BitAction)(0));
GPIO_WriteBit(GPIOC, GPIO_Pin_5, (BitAction)(1));//TQ1 TQ2为01，即Current Ratio为50%
GPIO_WriteBit(GPIOA, GPIO_Pin_7, (BitAction)(1));//StepReset位
GPIO_WriteBit(GPIOC, GPIO_Pin_4, (BitAction)(1));//StepEn 使能位
while(1)
{
if(i<4500)
{
pulse=4999-i;
TIM_SetAutoreload(TIM4,pulse);
}
}
}
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_7; //PA的3.4.7接CLK,CW/CCW,StepReset
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin= GPIO_Pin_5 | GPIO_Pin_6; //PA的6.7接Protect和Mo
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_4 | GPIO_Pin_5; //PC的4.5接StepEn和TQ2
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_6; //PB的0.1接TQ1和M2
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_7; //PE7接M1
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOE,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6 | GPIO_Pin_7; //PD的67接DCY2和DCY1
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOD,&GPIO_InitStructure);
}
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
#ifdefVECT_TAB_RAM
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;//设置TIM4通道输入中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; /*配置优先级组*/
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; /*允许TIM4全局中断*/
NVIC_Init(&NVIC_InitStructure);
}
void TIM4_Configuration(void)
{
TIM_SetCounter( TIM4, 0x0000);
TIM_ClearFlag(TIM4, TIM_FLAG_Update); /*清除更新标志位*/
TIM_ClearITPendingBit(TIM4, TIM_FLAG_Update); //清除TIM4等待中断更新中断标志位
TIM_ARRPreloadConfig(TIM4, ENABLE); /*预装载寄存器的内容被立即传送到影子寄存器 */
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); //使能TIM4的更新
TIM_TimeBaseInitTypeDefTIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 4999; //设定的最大计数值5000，最大计数值是0xffff
TIM_TimeBaseStructure.TIM_Prescaler = 71; //分频72
TIM_TimeBaseStructure.TIM_ClockDivision = 0; // 时钟分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//计数方向向上计数
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_Cmd(TIM4, ENABLE); //TIM4 enable counter
}
void RCC_Configuration(void)
{
RCC_DeInit();
RCC_HSEConfig(RCC_HSE_ON);
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
FLASH_SetLatency(FLASH_Latency_2);
RCC_HCLKConfig(RCC_SYSCLK_Div1);
RCC_PCLK2Config(RCC_HCLK_Div1);
RCC_PCLK1Config(RCC_HCLK_Div2);
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
RCC_PLLCmd(ENABLE);
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC
| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //在开启时钟里一定要打开TIM4的时钟
}
void Delay(u32 nCount)
{
do
{
}
while(nCount--);
}
main.h内容
#define StepEnPin GPIO_Pin_4
extern int i;
extern int pulse;
extern TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
void Delay(u32 nCount);
中断程序
void TIM4_IRQHandler(void)
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) == SET)
{
i=i+1;
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
GPIO_WriteBit(GPIOA,GPIO_Pin_3,(BitAction)(1-GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_3)));
if(i>=4500)
{
i=4500;
}
}
}
点击此处下载 ourdev_547449.rar(文件大小:374K) (原文件名:speedup.rar) come on why?is my question naive? 程序有点乱
看看TIM例程 回复【3楼】qwerttt
----------------------------------------------------------------------- 我在四个地方看到了，佩服你的精神 mark，留着研究
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