本应产生四路四组相同的动作组的，然而。。。用四个定时器的程序波形正常，但用一个定时器的算法却不行。。。

高凯毅 · 发表于 2015-9-28 15:56:44

timer.c

#include "timer.h"
#include "delay.h"
//#include "led.h"
//////////////////////////////////////////////////////////////////////////////////
//本程序只供学习使用，未经作者许可，不得用于其它任何用途
//Mini STM32开发板
//通用定时器驱动代码
//正点原子@ALIENTEK
//技术论坛:www.openedv.com
//修改日期:2010/12/03
//版本：V1.0
//版权所有，盗版必究。
//Copyright(C) 正点原子 2009-2019
//All rights reserved
//////////////////////////////////////////////////////////////////////////////////
unsigned char order=0; //中断步长计数
#define PWM_OUR_TIME 20000/4 //周期 20000US=20MS 几路PWM :4
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
unsigned int PWM_value1[4]={1500,1500,1500,1500}; //舵机PWM 输出值改变它就改变输出宽度 (动作组1)
unsigned int PWM_value2[4]={1500,1500,1500,1500}; //舵机PWM 输出值改变它就改变输出宽度（动作组2）
unsigned int PWM_value3[4]={1500,1500,1500,1500}; //舵机PWM 输出值改变它就改变输出宽度 (动作组3)
unsigned int PWM_value4[4]={1500,1500,1500,1500}; //舵机PWM 输出值改变它就改变输出宽度 (动作组4)

//通用定时器中断初始化
//这里时钟选择为APB1的2倍，而APB1为36M

//arr：自动重装值。
//psc：时钟预分频数
//这里使用的是定时器4!
void TIM4_Int_Init(u16 arr,u16 psc)
{

NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //时钟使能

TIM_TimeBaseStructure.TIM_Period = arr; //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5000为500ms
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 10Khz的计数频率
//TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

TIM_ITConfig( TIM4,TIM_IT_Update , ENABLE );//使能或者失能指定的TIM中断//TIM2//使能
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //从优先级3级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器

TIM_Cmd(TIM4, ENABLE); //使能TIMx外设

}
//舵机ＩＯ配置
void SERVO_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;


RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8| GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);

GPIO_ResetBits(GPIOB, GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8| GPIO_Pin_9);
}

void TIM4_IRQHandler(void) //TIM3中断
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源
{
switch(order)
{
case 1:
PWM0_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value1[0];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 2:
PWM0_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value1[0];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 3:
PWM1_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value1[1];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 4:
PWM1_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value1[1];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 5:
PWM2_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value1[2];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 6:
PWM2_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value1[2];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 7:
PWM3_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value1[3];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
case 8:
PWM3_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_value1[3];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
delay_ms(20);
case 9:
PWM0_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value2[0];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 10:
PWM0_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value2[0];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 11:
PWM1_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value2[1];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 12:
PWM1_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value2[1];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 13:
PWM2_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value2[2];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 14:
PWM2_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value2[2];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 15:
PWM3_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value2[3];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
case 16:
PWM3_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value2[3];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
delay_ms(20);
case 17:
PWM0_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value3[0];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 18:
PWM0_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value3[0];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 19:
PWM1_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value3[1];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 20:
PWM1_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value3[1];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 21:
PWM2_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value3[2];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 22:
PWM2_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value3[2];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 23:
PWM3_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value3[3];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
case 24:
PWM3_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_value3[3];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
delay_ms(20);
case 25:
PWM0_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value4[0];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 26:
PWM0_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value4[0];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 27:
PWM1_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value4[1];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 28:
PWM1_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value4[1];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 29:
PWM2_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value4[2];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 30:
PWM2_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value4[2];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
break;
case 31:
PWM3_output_high;
TIM_TimeBaseStructure.TIM_Period = PWM_value4[3];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
case 32:
PWM3_output_low;
TIM_TimeBaseStructure.TIM_Period = PWM_OUR_TIME-PWM_value4[3];//重新中断时间赋值
TIM_TimeBaseInit(TIM4, & TIM_TimeBaseStructure);
delay_ms(20);
order=0; //最后一路输出清除步长
break;

default: order=0;
}

order++;
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ClearITPendingBit(TIM4, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源

}
}
timer.h
//////////////////////////////////////////////////////////////////////////////////
//本程序只供学习使用，未经作者许可，不得用于其它任何用途
//ALIENTEK Mini STM32开发板
//通用定时器驱动代码
//正点原子@ALIENTEK
//技术论坛:www.openedv.com
//修改日期:2010/12/03
//版本：V1.0
//版权所有，盗版必究。
//Copyright(C) 正点原子 2009-2019
//All rights reserved
//////////////////////////////////////////////////////////////////////////////////
#ifndef __TIMER_H
#define __TIMER_H
#include "sys.h"
#include"stm32f10x.h"


//除以几路得到每通道分的值在用这个值减去已知的高电平时间（PWM_value）得到的就是每路PWM 输出的低电平
//这个是关键思路。
#define PWM0_output_high GPIO_SetBits(GPIOB,GPIO_Pin_6) //??? ????
#define PWM0_output_low GPIO_ResetBits(GPIOB,GPIO_Pin_6)

#define PWM1_output_high GPIO_SetBits(GPIOB,GPIO_Pin_7)
#define PWM1_output_low GPIO_ResetBits(GPIOB,GPIO_Pin_7)

#define PWM2_output_high GPIO_SetBits(GPIOB,GPIO_Pin_8)
#define PWM2_output_low GPIO_ResetBits(GPIOB,GPIO_Pin_8)

#define PWM3_output_high GPIO_SetBits(GPIOB,GPIO_Pin_9)
#define PWM3_output_low GPIO_ResetBits(GPIOB,GPIO_Pin_9)

//#define PWM4_output_high GPIO_SetBits(GPIOB,GPIO_Pin_4)
//#define PWM4_output_low GPIO_ResetBits(GPIOC,GPIO_Pin_4)

//#define PWM5_output_high GPIO_SetBits(GPIOB,GPIO_Pin_5)
//#define PWM5_output_low GPIO_ResetBits(GPIOC,GPIO_Pin_5)

void SERVO_GPIO_Config(void);
void TIM2_NVIC_Configuration(void);
void TIM2_Configuration(void);
void TIM4_Int_Init(u16 arr,u16 psc);
#endif
#include "led.h"
#include "delay.h"
#include "sys.h"
#include "timer.h"
#include"stm32f10x.h"
//ALIENTEK Mini STM32开发板范例代码7
//定时器中断实验
//技术支持：www.openedv.com
//广州市星翼电子科技有限公司

main.c
int main(void)
{
delay_init(); //延时函数初始化
NVIC_Configuration();//设置NVIC中断分组2:2位抢占优先级，2位响应优先级
//LED_Init(); //初始化与LED连接的硬件接口
SERVO_GPIO_Config();
TIM4_Int_Init(1000,71);//计数到1000为1ms
while(1);
}

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "timer.h"
#include"stm32f10x.h"
//ALIENTEK Mini STM32开发板范例代码7
//定时器中断实验
//技术支持：www.openedv.com
//广州市星翼电子科技有限公司

int main(void)
{
delay_init(); //延时函数初始化
NVIC_Configuration();//设置NVIC中断分组2:2位抢占优先级，2位响应优先级
//LED_Init(); //初始化与LED连接的硬件接口
SERVO_GPIO_Config();
TIM4_Int_Init(1000,71);//计数到1000为1ms
while(1);
}