#include "main.h" #include "timer.h" #include "led.h" #include "usart.h" #include "delay.h" #include "stdlib.h" #include "stdio.h" #include "string.h" #include "dac.h" #include "motorstat.h" extern char USART_RX_BUF[]; extern struct StructMotorStat MotorStat; void TIM1_Int_Init(u16 arr,u16 psc)//TIM1为主定时器 { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, 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_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_ITConfig(TIM1,TIM_IT_Update,ENABLE ); //使能指定的TIM1中断,允许更新中断 NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; //TIM1中断 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //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(TIM1, ENABLE); //使能TIMx外设 } //定时器1中断服务程序 void TIM1_IRQHandler(void) //TIM1中断 { if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源 { TIM_ClearITPendingBit(TIM1, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源 } } void TIM1_PWM_CH1_Init(void) { RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); //使能TIM1时钟 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA时钟 //配置PA为复用输出模式，输出速度为50MHZ GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); //开启TIM内部时钟 TIM_InternalClockConfig(TIM1); //配置TIM2 TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure; TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; //时钟分频 TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //计数方式向上计数 TIM_TimeBaseInitStructure.TIM_Period = 999; //ARR 自动重装载值 TIM_TimeBaseInitStructure.TIM_Prescaler = 71; //PSC 预分频器 TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; // TIM_TimeBaseInit(TIM1,&TIM_TimeBaseInitStructure); //输出通道配置 TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCStructInit(&TIM_OCInitStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;//配置PWM模式1 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;//有效极性为高电平 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse = 10000; //CCR TIM_OC1Init(TIM1, &TIM_OCInitStructure); //初始化通道1 PA8 TIM_CtrlPWMOutputs(TIM1,ENABLE); TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器 // 输出触发配置（使得TIM1的更新事件触发TIM3） TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update); // 使能定时器1的更新事件触发输出 TIM_ClearFlag(TIM1, TIM_FLAG_Update); TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); TIM_Cmd(TIM1, ENABLE); //使能定时器2 } //TIM1 PWM部分初始化 //PWM输出初始化 //arr：自动重装值 //psc：时钟预分频数 void TIM1_PWM_Init(u16 arr,u16 psc) { //TIM1_PWM_Init1(); //return; GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); //使能定时器1时钟 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟 GPIO_PinRemapConfig(GPIO_PartialRemap_TIM1, ENABLE); //Timer3部分重映射 TIM1_CH2 //设置该引脚为复用输出功能,输出TIM1 CH2的PWM脉冲波形 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH2 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);//初始化GPIO //初始化TIM1 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 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //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 //初始化TIM1 Channel2 PWM模式 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 = 1800; //CCR //TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高 TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM1 OC2 TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //使能TIM1在CCR2上的预装载寄存器,即channel-2 TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能 TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器 // 输出触发配置（使得TIM1的更新事件触发TIM3） TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update); // 使能定时器1的更新事件触发输出 TIM_ClearFlag(TIM1, TIM_FLAG_Update); TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); TIM_Cmd(TIM1, ENABLE); //使能TIM1 } //TIM3 PWM部分初始化 //PWM输出初始化 //arr：自动重装值 //psc：时钟预分频数 void TIM3_Int_Init(u16 arr,u16 psc) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; TIM_ICInitTypeDef TIM_ICInitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //时钟使能 // 定时器基本配置 TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 设置预分频器，得到1MHz的计数时钟 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_Period = 0xFFFF; // 设置定时器最大计数值，用于防止溢出 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); // 捕获模式配置（用于捕获TIM1的输出触发） TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge; // 仅捕获上升沿 TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM_ICInitStructure.TIM_ICFilter = 0; TIM_ICInit(TIM3, &TIM_ICInitStructure); //初始化GPIO6 //GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); //Timer3部分重映射 TIM1_CH2 //设置该引脚为复用输出功能,输出TIM1 CH2的PWM脉冲波形 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //TIM_CH2 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIO // 配置定时器3的中断 NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); // 开始定时器3计数 TIM_Cmd(TIM3, ENABLE); // 使能捕获中断 TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE); } //定时器3中断服务程序 void TIM3_IRQHandler(void) //TIM3中断 { if (TIM_GetITStatus(TIM3, TIM_IT_CC1) != RESET) { // if (MotorStat.moveflag==1)//如果正在转动 // { // // MotorStat.pulse_count++; // 更新脉冲计数器 // // int target_pulse_count = abs(MotorStat.pulse_count) / 0.0046; // 计算目标脉冲数 // printf("mm:%d \r\n", target_pulse_count); // if (MotorStat.direction==0)//正转 // { // MotorStat.NmberoNow++; // }else if (MotorStat.direction==1)//反转 // { // MotorStat.NmberoNow--; // } //printf("NmberoNow = %lld\r\n",MotorStat.NmberoNow); // if (MotorStat.MoveMode==1) //by // { // if (MotorStat.NmberoTarget>0) // { // MotorStat.NmberoTarget--; // // } // if (MotorStat.NmberoTarget<0) // { // MotorStat.NmberoTarget++; // // } // if (MotorStat.NmberoTarget==0) // { // //停止转动 // stopmotormove(); // } //printf("NmberoTarget = %lld\r\n",MotorStat.NmberoTarget); // } // if(MotorStat.backzero ==1&&MotorStat.NmberoNow==0) // { // stopmotormove(); // printf("already at zero\r\n"); // MotorStat.backzero = 0; // } // } TIM_ClearITPendingBit(TIM3, TIM_IT_CC1); } } void TIM5_Int_Init(u16 arr,u16 psc) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); //时钟使能 //定时器TIM5初始化 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 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //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(TIM5, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx的时间基数单位 TIM_ITConfig(TIM5,TIM_IT_Update,ENABLE ); //使能指定的TIM4中断,允许更新中断 //中断优先级NVIC设置 NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn; //TIM4中断 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //从优先级3级 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能 NVIC_Init(&NVIC_InitStructure); //初始化NVIC寄存器 TIM_Cmd(TIM5, ENABLE); //使能TIMx } //定时器4中断服务程序 void TIM5_IRQHandler(void) //TIM4中断 { if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET) //检查TIM4更新中断发生与否 { //printf("TIM4 IRQ triggered!\r\n"); // 检测中断是否被触发 ledloop(); motorloop(); TIM_ClearITPendingBit(TIM5, TIM_IT_Update ); //清除TIMx更新中断标志 } } //定时器2初始化 //void TIM2_Int_Init(u16 arr,u16 psc) //{ // GPIO_InitTypeDef GPIO_InitStructure; // TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; // NVIC_InitTypeDef NVIC_InitStructure; // TIM_ICInitTypeDef TIM_ICInitStructure; // RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //时钟使能 // // 定时器基本配置 // // TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 设置预分频器，得到1MHz的计数时钟 // TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; // TIM_TimeBaseStructure.TIM_Period = 0xFFFF; // 设置定时器最大计数值，用于防止溢出 // TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; // TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); // // 捕获模式配置（用于捕获TIM1的输出触发） // // TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; // TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; // 仅捕获上升沿 // TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; // TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; // TIM_ICInitStructure.TIM_ICFilter = 0; // TIM_ICInit(TIM2, &TIM_ICInitStructure); //// //初始化GPIO6 //// GPIO_PinRemapConfig(GPIO_Remap_TIM4 , ENABLE); // GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //TIM_CH2 // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIO // // 配置定时器2的中断 // // NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; // NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 4; // NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; // NVIC_Init(&NVIC_InitStructure); // // 开始定时器2计数 // TIM_Cmd(TIM2, ENABLE); // // 使能捕获中断 // TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE); //} //定时器2初始化 正限位PA0 void TIM2_Capture_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; NVIC_InitTypeDef NVIC_InitStructure; // 使能时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); // 配置PA0为TIM2输入捕获引脚 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // 模式 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); // 配置TIM2时基 TIM_TimeBaseStructure.TIM_Period = 0xFFFF; // 自动重装载值 TIM_TimeBaseStructure.TIM_Prescaler = 71; // 预分频72分频（72MHz/72=1MHz计数频率） TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); // 配置输入捕获通道（TIM2_CH1） TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; // 上升沿触发 TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; // 直接映射到TI1 TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; // 无分频 TIM_ICInitStructure.TIM_ICFilter = 0x0; // 无滤波 TIM_ICInit(TIM2, &TIM_ICInitStructure); // 配置TIM2中断 NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); // 使能捕获中断和定时器 TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE); TIM_Cmd(TIM2, ENABLE); } //定时器2中断服务程序 void TIM2_IRQHandler(void) { if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET) { //正极限，上升沿触发事件 stopmotormove(); // MotorStat.NmberoNow = 0; printf("already close & zheng\r\n"); //moveto(-100); TIM_ClearITPendingBit(TIM2, TIM_IT_CC1); // 清除中断标志 } } //定时器4初始化 负限位PB6 void TIM4_Capture_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; NVIC_InitTypeDef NVIC_InitStructure; // 使能时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); // 配置PB6为TIM2输入捕获引脚 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // 上拉输入 GPIO_Init(GPIOB, &GPIO_InitStructure); // 配置TIM2时基 TIM_TimeBaseStructure.TIM_Period = 0xFFFF; // 自动重装载值 TIM_TimeBaseStructure.TIM_Prescaler = 71; // 预分频72分频（72MHz/72=1MHz计数频率） TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); // 配置输入捕获通道（TIM4_CH1） TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; // 上升沿触发 TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; // 直接映射到TI1 TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; // 无分频 TIM_ICInitStructure.TIM_ICFilter = 0x0; // 无滤波 TIM_ICInit(TIM2, &TIM_ICInitStructure); // 配置TIM2中断 NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); // 使能捕获中断和定时器 TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE); TIM_Cmd(TIM4, ENABLE); } //定时器4中断服务程序 // timer.c void TIM4_IRQHandler(void) { if (TIM_GetITStatus(TIM4, TIM_IT_CC1) != RESET) { //负极限，上升沿触发事件 //stopmotormove(); printf("already close & fu\r\n"); TIM_ClearITPendingBit(TIM4, TIM_IT_CC1); } } //TIM4有误，改用EXTI void EXTI_Config(void) { RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOB, &GPIO_InitStructure); RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource6); EXTI_InitTypeDef EXTI_InitStructure; EXTI_InitStructure.EXTI_Line = EXTI_Line6; EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising; // 上升沿触发 EXTI_InitStructure.EXTI_LineCmd = ENABLE; EXTI_Init(&EXTI_InitStructure); NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x00; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } void EXTI9_5_IRQHandler(void) { if (EXTI_GetITStatus(EXTI_Line6) != RESET) { MotorStat.fu_LimitTrigger = 1; stopmotormove(); if(MotorStat.zero_flag == 1) { printf("Already at ZERO\r\n"); MotorStat.move_phase = -1; MotorStat.NmberoNow = 0; //moveto(100); }else{ printf("already close & fu\r\n"); } // 清除中断标志 EXTI_ClearITPendingBit(EXTI_Line6); } }