求助大神们用STM32捕捉遥控器PWM信号并输出给无刷电调的问题
本帖最后由 0049 于 2013-12-15 19:50 编辑本人初学者,参考各前辈的四轴代码尝试仿写出了如下用STM32捕捉遥控器接收机PWM信号并输出给电调驱动无刷电机的程序,程序已测试可以用TIM4捕捉遥控器(天地飞6A)通道3输出的PWM信号并用串口发送给电脑超级终端,显示捕捉到的PWM信号的确为周期20ms, 高电平1~2ms的信号。但尝试将此信号输出给电机时失败。打开或关闭遥控器电机都一样完全乱转。小弟不才找了几天也没找出问题出在哪,求各位大神如有时间的话帮忙看看程序是哪里错了....
= =那就分开试下吧。
把现在的输出信号看下波形,对不对,
单独输出5%-15%的PWM试下能不能驱动电机。 yangshichang110 发表于 2013-12-15 21:34
= =那就分开试下吧。
把现在的输出信号看下波形,对不对,
单独输出5%-15%的PWM试下能不能驱动电机。 ...
试过了= = 输出没有问题,比如直接设定个30%电机能转,但遥控器输入30%再传给电机就不行了。。。串口显示输入及输出的TIM2-CCR3也的确是30%....就是不能用。。。不知问题出在哪儿。。唉 看了你的代码,没找出问题,推荐重新排查一遍:
1、单独读取遥控信号,串口输出所有通道的信号,看和遥控手势是否匹配;
2、单独控制电机转速,在一次启动里让转速变化,不要只用一个转速控制;
3、综合起来,如果有问题,看看中断会不会有干扰、外部数据调用是否合理等待。
下面也贴上我的解决办法(亲测可用),希望对你有帮助:
1、遥控信号
我用的也是天地飞A6的遥控,他的接收机各个通道高电平时间正好是错开的,所以我用了一片或门(或非门)将所有通道加在一起,形成下面的样子
===================
GPIO_InitStructure.GPIO_Mode= GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = ppm_pin;
GPIO_Init(ppm_gpio, &GPIO_InitStructure);
===================
TIM_DeInit(TIM1);
TIM_TimeBaseStructInit(&TIM_TimeBaseInitStruct);
TIM_TimeBaseInitStruct.TIM_Prescaler = 72-1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Period = 0xFFFF;
TIM_TimeBaseInitStruct.TIM_ClockDivision = 0;
TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseInitStruct );
TIM_ICStructInit(&TIM_ICInitStruct);
TIM_ICInitStruct.TIM_Channel = TIM_Channel_1;
TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStruct.TIM_ICFilter = 0x00;
TIM_ICInit(TIM1, &TIM_ICInitStruct );
TIM_ClearFlag(TIM1,TIM_FLAG_CC1 );
TIM_ITConfig(TIM1, TIM_IT_CC1, ENABLE);
TIM_ITConfig(TIM1, TIM_IT_Update, DISABLE);
TIM_Cmd(TIM1, ENABLE);
====================
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
====================
rt_uint8_t ppm_step = 0;
rt_uint8_t ppm_c = 0;
rt_uint16_t buffer = 0;
rt_uint16_t channel;
void ppm_isr()
{
/* enter interrupt */
rt_interrupt_enter(); //防止中断冲突
switch (ppm_step)
{
case 0:
TIM1->SR &= 0XFFFC; //clear flag
TIM1->CNT = 0;
TIM1->CCER = 0X0003; //change to falling
ppm_step = 1;
break;
case 1:
TIM1->SR &= 0XFFFC; //clear flag
buffer = TIM1->CNT;
TIM1->CNT = 0;
TIM1->CCER = 0X0001; //change to rising
(buffer<2500)?(ppm_step=0):(ppm_step=2);
break;
case 2:
TIM1->SR &= 0XFFFC; //clear flag
channel = TIM1->CNT;
TIM1->CCER = 0X0003; //change to falling
ppm_step = 3;
ppm_c++;
if(ppm_c == 6)
{
ppm_c = 0;
ppm_step = 0;
goto end;
}
break;
case 3:
TIM1->SR &= 0XFFFC; //clear flag
TIM1->CNT = 0;
TIM1->CCER = 0X0001; //change to rising
ppm_step = 2;
break;
default:
ppm_c = 0;
ppm_step = 0;
}
/* leave interrupt */
end:rt_interrupt_leave();
}
2、电机控制
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitStructure.GPIO_Mode= GPIO_Mode_IN_FLOATING; //³¬Éù²¨ÐźÅÊäÈë
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = sona1_pin;
GPIO_Init(sona_gpio, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode= GPIO_Mode_Out_OD; //³¬Éù²¨²Ù×÷IO
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = sona2_pin;
GPIO_Init(sona_gpio, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode= GPIO_Mode_AF_PP; //¶¨Ê±Æ÷pwmÊä³ö¹Ü½Å
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
void TIM_Configuration(void)
{
//TIM3 CH1,2TIM3 CH3,4TIM4 CH1234
TIM_TimeBaseInitTypeDefTIM_TimeBaseStructure;
TIM_OCInitTypeDefTIM_OCInitStructure_pwm;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3|RCC_APB1Periph_TIM4, ENABLE);
TIM_DeInit(TIM3);
TIM_DeInit(TIM4);
TIM_TimeBaseStructure.TIM_Period = 20* 1000 -1;
TIM_TimeBaseStructure.TIM_Prescaler = 72-1;
TIM_TimeBaseStructure.TIM_ClockDivision =0x00;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
//TIM_TimeBaseStructure.TIM_Period = 20 * 1000 -1;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_Cmd(TIM3, ENABLE);
TIM_Cmd(TIM4, ENABLE);
TIM_OCInitStructure_pwm.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure_pwm.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure_pwm.TIM_Pulse = 0;
TIM_OCInitStructure_pwm.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure_pwm);
TIM_OC2Init(TIM3, &TIM_OCInitStructure_pwm);
TIM_OC3Init(TIM3, &TIM_OCInitStructure_pwm);
TIM_OC4Init(TIM3, &TIM_OCInitStructure_pwm);
TIM_OC1Init(TIM4, &TIM_OCInitStructure_pwm);
TIM_OC2Init(TIM4, &TIM_OCInitStructure_pwm);
TIM_OC3Init(TIM4, &TIM_OCInitStructure_pwm);
TIM_OC4Init(TIM4, &TIM_OCInitStructure_pwm);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
}
#define CH1 1
#define CH2 2
#define CH3 3
#define CH4 4
#define CH5 5
#define CH6 6
#define CH7 7
#define CH8 8
void updata_pwm(unsigned int channel, unsigned int pulse)
{
if(pulse > 0xffff)pulse = 0xffff;
switch(channel)
{
case 1: TIM3->CCR1 = pulse;break;
case 2: TIM3->CCR2 = pulse;break;
case 3: TIM3->CCR3 = pulse;break;
case 4: TIM3->CCR4 = pulse;break;
case 8: TIM4->CCR1 = pulse;break;
case 7: TIM4->CCR2 = pulse;break;
case 6: TIM4->CCR3 = pulse;break;
case 5: TIM4->CCR4 = pulse;break;
default:break;
}
}
==========================
updata_pwm(CH1, 1000);
updata_pwm(CH2, 1000);
updata_pwm(CH3, 1000);
updata_pwm(CH4, 1000);
updata_pwm(CH5, 1000);
updata_pwm(CH6, 1000);
updata_pwm(CH7, 1000);
updata_pwm(CH8, 1000); 解决了,原来是共地有问题。。。 samo110 发表于 2013-12-16 11:34
看了你的代码,没找出问题,推荐重新排查一遍:
1、单独读取遥控信号,串口输出所有通道的信号,看和遥控手 ...
你是用什么软件啊= =可以用电脑做示波器? yangshichang110 发表于 2013-12-28 19:41
你是用什么软件啊= =可以用电脑做示波器?
逻辑分析仪,淘宝一大堆,便宜的一两百就能搞定,性能好的价格也更高
要那种带模拟示波器的,阿莫也出了款逻辑分析仪,就是不知道有没有示波器通道
saleae就足够了…… 学习了赞 附件下载不下来啊 0049 发表于 2013-12-17 21:50
解决了,原来是共地有问题。。。
我正想说是公地问题,因为我也碰到过,还有的是电压不足,有的单片机是3.3,接收机用3.3不稳定。 要么说明PWM输出不成功,套么PWM捕捉不成功。关键是函数写的时候要考虑周全一点,比如你的if或者case,没有对应的选项,函数就乱跑了,调这种东西都是先一个一个调试好了,再结合在一起,你PWM捕捉调好了,就单独用PWM驱动电机试一下,成功了再结合 哈哈,总是细节问题 0049 发表于 2013-12-17 21:50
解决了,原来是共地有问题。。。
共地是个极易疏忽的问题。我好几次都是因为没共地浪费时间的查找原因
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