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#includepwm.hvoid 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.hstatic 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4static 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.hextern 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.hvoid TIM4_PWM_Init(void);void TIM2_PWM_Init(void);#endif TIM3定时函数#ifndef TIME_H#define TIME_H#include stm32f10x_lib