STM32 步进电机换向程序(中断优先级的嵌套和通用定时器的使用).doc

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/*******************************************************************************STM32步进电机换向程序按中断0，步进电机反向运转。串口调试助手中出现“It is EXIT0 IRQHandler enter.”采用三个定时器，TIM2，4输出脉冲。TIM3控制相位差。 ******************************************************************************* #include "stm32f10x_lib.h" #include "stdio.h" #include "time.h" #include"pwm.h" void RCC_Configuration(void); void GPIO_Configuration(void); void NVIC_Configuration(void); void EXIT_Configuration(void); void USART_Configuration(void); int main(void) { RCC_Configuration();// 函数略去 NVIC_Configuration(); GPIO_Configuration(); USART_Configuration(); EXIT_Configuration(); TIM3_NVIC_Configuration(); TIM3_Configuration(); TIM4_PWM_Init(); TIM2_PWM_Init(); TIM_Cmd(TIM4, ENABLE); START_TIME ; while (1) { } } /******************************************************************************* * 函数名 : GPIO_Configuration *******************************************************************************/ void GPIO_Configuration(void) { /* 定义GPIO初始化结构体 GPIO_InitStructure */ GPIO_InitTypeDef GPIO_InitStructure; /* 设置PA.0,PA.1,PA.2为上拉输入（EXTI Line0）*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA , &GPIO_InitStructure); /* 定义PA.0为外部中断0输入通道（EXIT0） */ GPIO_EXTILineConfig(GPIO_PortSourceGPIOA , GPIO_PinSource0); /* 定义PA.1为外部中断0输入通道（EXIT1） */ GPIO_EXTILineConfig(GPIO_PortSourceGPIOA , GPIO_PinSource1); /* 设置 USART1 的Tx脚（PA.9）为第二功能推挽输出功能 */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA , &GPIO_InitStructure); /* 设置 USART1 的Rx脚（PA.10）为浮空输入脚 */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA , &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(GPIOA , &GPIO_InitStructure); } : NVIC_Configuration *****************************************************************/ void NVIC_Configuration(void) { NVIC_InitTypeDef NVIC_InitStructure; /* #ifdef...#else...#endif #ifdef VECT_TAB_RAM NVIC_SetVectorTable(NVIC_VectTab_RAM , 0x0); #else /* VECT_TAB_FLASH */ NVIC_SetVectorTable(NVIC_VectTab_FLASH , 0x0); #endif /* 选择NVIC优先级分组2 */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); /* 使能EXIT 0通道，0级先占优先级，0级次占优先级 */ NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQChannel; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } /******************************************************************************* void EXIT_Configuration(void) { EXTI_InitTypeDef EXTI_InitStructure; 外部中断0通道、1通道（EXIT Line0）在下降沿时触发中断 EXTI_InitStructure.EXTI_Line = EXTI_Line0 | EXTI_Line1; EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; EXTI_InitStructure.EXTI_LineCmd = ENABLE; EXTI_Init(&EXTI_InitStructure); } *******************************************************************************/ void USART_Configuration(void) { USART_InitTypeDef USART_InitStructure; USART_InitStructure.USART_BaudRate = 115200; USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No ; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; USART_Init(USART1 , &USART_InitStructure); USART_Cmd(USART1 , ENABLE); } int fputc(int ch, FILE *f) { USART_SendData(USART1, (u8)ch); while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET); return ch; } #include "pwm.h" static void TIM4_GPIO_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; /* TIM4 clock enable */ //PCLK1经过2倍频后作为TIM3的时钟源等于36MHz RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); /* GPIOA and GPIOB clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE); /*GPIOA Configuration: TIM4 channel 1 and 2 as alternate function push-pull */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); } /* * 描述：配置TIM4输出的PWM信号的模式，如周期、极性、占空比 static void TIM4_Mode_Config(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; /* PWM信号50%占空比 u16 CCR1_Val =4000; u16 CCR2_Val = 4000; /* Time base configuration */ TIM_TimeBaseStructure.TIM_Period = 8000; //当定时器从0计数到7999，即为8000次，为一个定时周期 TIM_TimeBaseStructure.TIM_Prescaler = 72-1; //1us TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分频系数：不分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式 TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); /* PWM1 Mode configuration: Channel1 */ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //配置为PWM模式1 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse = CCR1_Val; //设置跳变值，当计数器计数到这个值时，电平发生跳变 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //当定时器计数值小于CCR1_Val时为高电平 TIM_OC1Init(TIM4, &TIM_OCInitStructure); //使能通道1 TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); /* PWM1 Mode configuration: Channel2 */ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse = CCR2_Val; //设置通道2的电平跳变值，输出另外一个占空比的PWM TIM_OC2Init(TIM4, &TIM_OCInitStructure); //使能通道2 TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable); /* TIM4 enable counter */ // TIM_Cmd(TIM4, ENABLE); //使能定时器4 } static void TIM2_GPIO_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; /* TIM3 clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); /* GPIOA and GPIOB clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB , ENABLE); /*GPIOA Configuration: TIM2channel 1 and 2 as alternate function push-pull */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); } /* * 描述：配置TIM3输出的PWM信号的模式，如周期、极性、占空比 static void TIM2_Mode_Config(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; /* PWM信号电平跳变值 */ u16 CCR3_Val =4000; u16 CCR4_Val = 4000; /* Time base configuration */ TIM_TimeBaseStructure.TIM_Period = 8000; TIM_TimeBaseStructure.TIM_Prescaler = 72-1; TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分频系数：不分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); /* PWM1 Mode configuration: Channel3 */ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //配置为PWM模式1 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse = CCR3_Val; //，当计数器计数到这个值时，电平发生跳变 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //当定时器计数值小于CCR1_Val时为高电平 TIM_OC3Init(TIM2, &TIM_OCInitStructure); TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); /* PWM1 Mode configuration: Channe4 */ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse = CCR4_Val; 一个占空比的PWM TIM_OC4Init(TIM2, &TIM_OCInitStructure); / TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable); /* TIM2 enable counter */ // TIM_Cmd(TIM2, ENABLE); } void TIM2_PWM_Init(void) { TIM2_GPIO_Config(); TIM2_Mode_Config(); } void TIM4_PWM_Init(void) { TIM4_GPIO_Config(); TIM4_Mode_Config(); } #include "time.h" extern u32 time; * 描述：TIM3中断配置 void TIM3_NVIC_Configuration(void) { NVIC_InitTypeDef NVIC_InitStructure; NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQChannel; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } void TIM3_Configuration(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 , ENABLE); TIM_DeInit(TIM3); TIM_TimeBaseStructure.TIM_Period=2000; TIM_TimeBaseStructure.TIM_Prescaler= (72 - 1); 72M/72 */ TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); TIM_ClearFlag(TIM3, TIM_FLAG_Update); TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE); TIM_Cmd(TIM3, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 , DISABLE); } void delay_nms(u16 time) { u16 i=0; while(time--) { i=12000; //自己定义 while(i--) ; } } #ifndef __PWM_H #define __PWM_H #include "stm32f10x_lib.h" void TIM4_PWM_Init(void); void TIM2_PWM_Init(void); #endif TIM3定时函数 #ifndef TIME_H #define TIME_H #include "stm32f10x_lib.h" void delay_nms(u16 time); #define START_TIME RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 , ENABLE);TIM_Cmd(TIM3, ENABLE) #define STOP_TIME TIM_Cmd(TIM3, DISABLE);RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 , DISABLE) void TIM3_NVIC_Configuration(void); void TIM3_Configuration(void); #endif 以下是中断函数 void EXTI0_IRQHandler(void) { printf("\r\nIt is EXIT0 IRQHandler enter.\r\n"); // GPIO_WriteBit(GPIOA, GPIO_Pin_4, // (BitAction)((1-GPIO_ReadOutputDataBit(GPIOA, GPIO_Pin_4)))); // delay_nms(50); TIM_Cmd(TIM4, DISABLE); TIM_Cmd(TIM2, DISABLE); GPIO_SetBits( GPIOA, GPIO_Pin_5); // delay_nms(3000); TIM_Cmd(TIM2,ENABLE); START_TIME; EXTI_ClearFlag(EXTI_Line0); } void TIM3_IRQHandler(void) { if ( TIM_GetITStatus(TIM3 , TIM_IT_Update) != RESET ) { TIM_ClearITPendingBit(TIM3 , TIM_FLAG_Update); TIM_Cmd(TIM2, ENABLE); STOP_TIME ; GPIO_WriteBit(GPIOA, GPIO_Pin_5, (BitAction)((1-GPIO_ReadOutputDataBit(GPIOA, GPIO_Pin_5)))); TIM_Cmd(TIM4, ENABLE); } }

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