STM32：为什么连续几次烧写同样程序电机行为不同

Touwei · 发表于 2013-10-26 14:09:51

用定时器编码器模式计数，计数到一定值后电机使停止转动，但三次烧写后电机转动的周数不一样。已经通过示波器确定码盘正常，左右电机码盘配置代码如下，有大牛看出有什么问题么？？？
void Encoder_L_Configration(void)
{
//u16 CCR1_Val = 2500;
//u16 CCR2_Val = 1000;
GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//TIM_OCInitTypeDef  TIM_OCInitStructure;

/*----------------------------------------------------------------*/

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);


  GPIO_StructInit(&GPIO_InitStructure);
  /* Configure PA.06,07 as encoder input */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Mode =GPIO_Mode_IN_FLOATING;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

/*------------------ NVIC_InitTypeDef NVIC_InitStructure;*/

NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/*----------------------------------------------*/

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_DeInit(TIM3);
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

  TIM_TimeBaseStructure.TIM_Period =0xffff;
  TIM_TimeBaseStructure.TIM_Prescaler =0;
  TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  //TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;

  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

/*-----------------------------------------------------------------*/
//±àÂëÅäÖÃ
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI1,
                           TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 6;
  TIM_ICInit(TIM3, &TIM_ICInitStructure);

//TIM_ARRPreloadConfig(TIM3, ENABLE);
// Clear all pending interrupts
  TIM_ClearFlag(TIM3, TIM_FLAG_Update);
  TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
  //Reset counter
  TIM3->CNT =0;

TIM_Cmd(TIM3, ENABLE);
}

Touwei · 发表于 2013-10-26 16:53:38

呜呜~~没人么~使用码盘可以只接一相到定时器的CH1或CH2，另一项悬空么

好难吖

虫虫好 · 发表于 2013-10-26 18:20:50

Touwei 发表于 2013-10-26 16:53
呜呜~~没人么~使用码盘可以只接一相到定时器的CH1或CH2，另一项悬空么好难吖 ...

我没实际弄过但是看过些资料接 u一相应该只能获得一个方向的速度信息

Touwei · 发表于 2013-10-26 23:35:15

虫虫好发表于 2013-10-26 18:20
我没实际弄过但是看过些资料接 u一相应该只能获得一个方向的速度信息 ...

谢谢~这个还没搞清楚>< 用JLink单步调试发现用来计数的TIM的CNT寄存器只有1和FFFF两个值，又困惑了一晚上

STM32：为什么连续几次烧写同样程序电机行为不同

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