关于STM3210X系列定时器中断问题

maskinmother · 发表于 2018-9-12 21:47:03

我想请问如何暂时关闭一个定时器中断服务程序  且看部分代码

void Hcsr04_Init()
{
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;    //生成用于定时器设置的结构体
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(HCSR04_CLK, ENABLE);

   //IO初始化
GPIO_InitStructure.GPIO_Pin =HCSR04_TRIG|HCSR04_TRIG_1;    //发送电平引脚
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
GPIO_Init(HCSR04_PORT, &GPIO_InitStructure);
GPIO_ResetBits(HCSR04_PORT,HCSR04_TRIG|HCSR04_TRIG_1);

GPIO_InitStructure.GPIO_Pin = HCSR04_ECHO|HCSR04_ECHO_1;    //返回电平引脚
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
GPIO_Init(HCSR04_PORT, &GPIO_InitStructure);

   GPIO_ResetBits(HCSR04_PORT,HCSR04_ECHO|HCSR04_ECHO_1);

      //定时器初始化使用基本定时器TIM6
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); //使能对应RCC时钟
      //配置定时器基础结构体
      TIM_DeInit(TIM2);
      TIM_TimeBaseStructure.TIM_Period = (1000-1); //设置在下一个更新事件装入活动的自动重装载寄存器周期的值       计数到1000为1ms
      TIM_TimeBaseStructure.TIM_Prescaler =(72-1); //设置用来作为TIMx时钟频率除数的预分频值  1M的计数频率 1US计数
      TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//不分频
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
      TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

      TIM_ClearFlag(TIM6, TIM_FLAG_Update); //清除更新中断，免得一打开中断立即产生中断
      TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE); //打开定时器更新中断
      hcsr04_NVIC();
      TIM_Cmd(TIM6,DISABLE);
}
static void OpenTimerForHc()       //打开定时器
{
      TIM_SetCounter(TIM6,0);//清除计数
   msHcCount = 0;
      TIM_Cmd(TIM6, ENABLE);  //使能TIMx外设
}

static void CloseTimerForHc()       //关闭定时器
{
      TIM_Cmd(TIM6, DISABLE);  //使不能TIMx外设
}
//NVIC配置
void hcsr04_NVIC()
{
         NVIC_InitTypeDef NVIC_InitStructure;
         NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

         NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;          //选择串口1中断
         NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //抢占式中断优先级设置为1
         NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;       //响应式中断优先级设置为1
         NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;       //使能中断
         NVIC_Init(&NVIC_InitStructure);
}

//定时器6中断服务程序
void TIM6_IRQHandler(void) //TIM6中断
{
      if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET)  //检查TIM6更新中断发生与否
      {
         float length1 =  Hcsr04GetLength1();//左超声波模块测的距离
            float length2 =  Hcsr04GetLength2(); //右超声波模块测的距离
         if(length1 <= 20&&length2 >20)
   {
      Walk('L');
   }
   else if(length1 > 20&&length2 <= 20)
   {
      Walk('R');
   }
   else if(length1 <= 20&&length2 <= 20)
   {
      Walk('B');
      delay_ms(1000);
      Walk('R');
   }
   else
      Walk('F');


   TIM_ClearITPendingBit(TIM6, TIM_IT_Update  );  //清除TIMx更新中断标志
            msHcCount++;
      }
}