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

/*******************************************************************************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.0PA.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_InitStructureGPIO_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(TIM2ENABLE);
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);

}

}