Stm32f103c8t6 为什么无法清除中断标志位

Knightkissu · 发表于 2021-8-4 16:21:05

在用stm32c8t6 做智能车的时候在做测速模块发现当只有一个轮子转动时另一个轮子的还是有速度，且两轮测出来的速度一样
去查寄存器发现竟然清除不掉两个中断标志位，导致中断一直在执行！！！弄了好久还是不知道怎么回事？求大佬告知

测试如图

运行完两行代码后依旧还是1？？？？

附上代码部分
speedtest.c

#include "stm32f10x.h"
#include "speedtest.h"
#include "sys.h"
#include "beep.h"

u16 speedcount_L=0;
u16 speedcount_R=0;
u16 speed_Right=0;
u16 speed_Left=0;

void Speed_Test_Init(u16 arr,u16 psc)
{ //外部中断配置
      GPIO_InitTypeDef GPIO_InitStructure;
      EXTI_InitTypeDef EXTI_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;
      TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

      BEEP_Init();

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);


      GPIO_InitStructure.GPIO_Pin=GPIO_Pin_2|GPIO_Pin_1;
      GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
      GPIO_Init(GPIOA,&GPIO_InitStructure);

      GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource2|GPIO_PinSource1); //ÖD¶Ïó3éä

      EXTI_InitStructure.EXTI_Line=EXTI_Line2|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);

      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

      NVIC_InitStructure.NVIC_IRQChannel=EXTI2_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;
      NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
      NVIC_Init(&NVIC_InitStructure);

      NVIC_InitStructure.NVIC_IRQChannel=EXTI1_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;
      NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
      NVIC_Init(&NVIC_InitStructure);



  //TIM2
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);//¿aÆôTIM2ê±Öó

      TIM_TimeBaseStructure.TIM_Period = arr;
      TIM_TimeBaseStructure.TIM_Prescaler =psc;
      TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
      TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);

      TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE );


      NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
      NVIC_Init(&NVIC_InitStructure);

      TIM_Cmd(TIM2, ENABLE);
}

void TIM2_IRQHandler()
{
      if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
      {

         TIM_Cmd(TIM2, DISABLE);

EXTI->IMR&=~(6);

      speed_Left=speedcount_L*60/20; //  r/min
      speed_Right=speedcount_R*60/20; //  r/min

      speedcount_L=0;
      speedcount_R=0;

              if(EXTI_GetITStatus(EXTI_Line2)==SET) EXTI_ClearITPendingBit(EXTI_Line2); //清除不掉
            if(EXTI_GetITStatus(EXTI_Line1)==SET) EXTI_ClearITPendingBit(EXTI_Line1);
            TIM_ClearITPendingBit(TIM2, TIM_IT_Update);

            TIM_Cmd(TIM2, ENABLE);

            EXTI->IMR|=6;

            TIM_SetCounter(TIM2,0x00);

      }
}

void EXTI2_IRQHandler(void)
{
      if(EXTI_GetITStatus(EXTI_Line2)==SET)
  {
            speedcount_L++;
      EXTI_ClearITPendingBit(EXTI_Line2);
      }
}

void EXTI1_IRQHandler(void)
{
      if(EXTI_GetITStatus(EXTI_Line1)==SET)
  {
            speedcount_R++;
      EXTI_ClearITPendingBit(EXTI_Line1);
      }
}

main.c

#include "stm32f10x.h"
#include "carwheel.h"
#include "redfollow.h"
#include "speedtest.h"
#include "beep.h"
#include "usart_speed.h"
#include "sys.h"

#define speed_L 400
#define speed_R 400

int main(void)
{
      SystemInit();
      WHEEL_Init();
      Red_Follow_Init(); //红外循迹模块使用if函数没用中断
      uart_init(115200);
      Speed_Test_Init(9999,7199);  //1s 检测一次速度

      while(1)
      {
               Red_Follow(speed_L,speed_R);
               Usart1_Speed();
//       if(speed_R >=4) BEEP=!BEEP;

      }
}