STM32控制步进电机转向的问题

fgd2014 · 发表于 2016-10-26 14:38:57

我是新手，请给位大神帮忙！用stm32迷你版输出PWM通过驱动器控制步进电机
GPIOA.8 脉冲输出
GPIOA14.6 脉冲方向（为1转向一个方向，为零时转向另一方向）
KEY1 - GPIOA.15 ：启动按键
KEY0 - GPIOC.5 急停按键
KEY_UP - GPIOA.0 切换脉冲方向（切换电机转动方向）

现在出现的问题是：
按下key1电机正常启动
按下key0 电机停止但是偶尔失灵（按下也没什么反应）
按下key-up 电机转向不变，偶尔才改变一次。
希望有经验的，可以帮我看一下这程序哪里出错了。谢谢！

[mw_shl_code=applescript,true]void TIM1_PWM_Init(u16 arr,u16 psc)
{
   GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);//
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB , ENABLE);  //使能GPIO外设时钟使能
GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable,ENABLE);  //禁止SWJ口

//设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14; //GPIOA14 输出高低电平（dir）控制电机的方向
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;  //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

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    80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值  不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = 6; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM1, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx

  TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能

TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);  //CH1预装载使能

TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器

  TIM_ClearITPendingBit(TIM1,TIM_IT_CC1); //预先清除所有冲断位
TIM_ITConfig(TIM1,TIM_IT_CC1,ENABLE);//配置输出比较通道1冲断
  TIM_Cmd(TIM1, DISABLE);  //失能能TIM1
}

//外部中断初始化函数
void EXTIX_Init(void)
{

   EXTI_InitTypeDef EXTI_InitStructure;
   NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);//外部中断，需要使能AFIO时钟

   KEY_Init();//初始化按键对应io模式

//GPIOC.5 中断线以及中断初始化配置
    GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource5);

    EXTI_InitStructure.EXTI_Line=EXTI_Line5;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;//下降沿触发
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure);      //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器

//GPIOA.15    中断线以及中断初始化配置
    GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource15);

    EXTI_InitStructure.EXTI_Line=EXTI_Line15;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure);       //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器

//GPIOA.0    中断线以及中断初始化配置
    GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource0);

   EXTI_InitStructure.EXTI_Line=EXTI_Line0;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器

    NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn; //使能按键所在的外部中断通道
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //抢占优先级2
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02; //子优先级1
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
    NVIC_Init(&NVIC_InitStructure);       //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器

NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; //使能按键所在的外部中断通道
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //抢占优先级2，
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01; //子优先级1
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
    NVIC_Init(&NVIC_InitStructure);

   NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn; //使能按键所在的外部中断通道
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //抢占优先级2，
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00; //子优先级1
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
    NVIC_Init(&NVIC_InitStructure);

}[/mw_shl_code]

[mw_shl_code=applescript,true]void SteppingMotorControl(u8 dir)                   //正反转控制
{
dir=!dir;
if(0==dir)
{
      GPIO_ResetBits(GPIOA,GPIO_Pin_14);    //反转
}
else
{
      GPIO_SetBits(GPIOA,GPIO_Pin_14);       //正转
}

}
//WK_UP按下切换电机转向
void EXTI0_IRQHandler(void)
{
delay_ms(10); //消抖
if(WK_UP==1)
{
u8 dir = GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_14);
TIM_Cmd(TIM1, DISABLE);
delay_ms(5000);
SteppingMotorControl(dir);
TIM_Cmd(TIM1, ENABLE);
LED0=!LED0;
LED1=!LED1;
}
EXTI_ClearITPendingBit(EXTI_Line0);  //清除EXTI0线路挂起位
}

//key0 按下电机停止
void EXTI9_5_IRQHandler(void)
{
delay_ms(10); //消抖
if(KEY0==0) {
TIM_Cmd(TIM1, DISABLE);
LED1=!LED1;
}
   EXTI_ClearITPendingBit(EXTI_Line5); //清除LINE5上的中断标志位
}

//key1按下电机启动
void EXTI15_10_IRQHandler(void)
{
  delay_ms(10); //消抖
  if(KEY1==0) {
TIM_Cmd(TIM1,ENABLE);
LED0=!LED0;
}
   EXTI_ClearITPendingBit(EXTI_Line15);  //清除LINE15线路挂起位
}[/mw_shl_code]