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