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]
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