STM8输出PWM波驱动步进电机，出现了很奇葩的问题。

2019-07-19 20:31发布

程序如下：
//S加速

int value4[]={
20000,       19940,       19880,       19810,       19740,       19670,       19590,    19510,       19430,       19340,       19250,       19160,       19060,       18960,    18850,       18740,       18630,       18510,       18390,       18270,       18140,    18000,       17860,       17720,       17570,       17420,       17260,       17100,    16930,       16760,       16580,       16400,       16220,       16030,       15830,    15630,       15430,       15230,       15020,       14800,       14580,       14360,    14140,       13910,       13680,       13450,       13220,       12980,       12740,    12500,       12260,       12020,       11780,       11540,       11300,       11060,    10820,       10580,       10340,       10110,       9870,       9640,       9410,       9180,       8960,       8740,       8520,       8300,       8090,       7890,       7680,       7480,       7290,       7100,       6910,       6730,       6560,       6380,       6220,       6050,       5900,       5740,       5590,       5450,       5310,       5170,       5040,       4920,    4790,       4680,       4560,       4450,       4350,       4250,       4150,       4050,    3960,       3880,       3790,       3710,       3640,       3560,       3490,       3420,    3360,       3300,       3240,       3180,       3120,       3070,       3020,       2970,    2930,       2890,       2840,       2800,       2770,       2730,       2690,       2660,    2630,       2600,       2570,       2540,       2520,       2490,       2470,       2440,    2420,       2400,       2380,       2360,       2340,       2330,       2310,       2300,    2280,       2270,       2250,       2240,       2230,       2220,       2210,       2200,    2190,       2180,       2170,       2160,       2150,       2140,       2130,       2130,    2120,       2110,       2110,       2100,       2100,       2090,       2090,       2080,    2080,       2070,       2070,       2060,       2060,       2060,       2050,       2050,    2050,       2040,       2040,       2040,       2040,       2030,       2030,       2030,    2030,       2030,       2020,       2020,       2020,       2020,       2020,       2020,    2010,       2010,       2010,       2010,       2010,       2010,       2010,       2010,    2010,       2010,       2000,       2000,       2000,       2000,       2000,       2000,    2000
};

//S减速
int value5[]={
2000,       2000,       2000,       2000,       2000,       2000,       2000,       2010,    2010,       2010,       2010,       2010,       2010,       2010,       2010,       2010,    2010,       2020,       2020,       2020,       2020,       2020,       2020,       2030,    2030,       2030,       2030,       2030,       2040,       2040,       2040,       2040,    2050,       2050,       2050,       2060,       2060,       2060,       2070,       2070,    2080,       2080,       2090,       2090,       2100,       2100,       2110,       2110,    2120,       2130,       2130,       2140,       2150,       2160,       2170,       2180,    2190,       2200,       2210,       2220,       2230,       2240,       2250,       2270,    2280,       2300,       2310,       2330,       2340,       2360,       2380,       2400,    2420,       2440,       2470,       2490,       2520,       2540,       2570,       2600,    2630,       2660,       2690,       2730,       2770,       2800,       2840,       2890,    2930,       2970,       3020,       3070,       3120,       3180,       3240,       3300,    3360,       3420,       3490,       3560,       3640,       3710,       3790,       3880,    3960,       4050,       4150,       4250,       4350,       4450,       4560,       4680,    4790,       4920,       5040,       5170,       5310,       5450,       5590,       5740,    5900,       6050,       6220,       6380,       6560,       6730,       6910,       7100,    7290,       7480,       7680,       7890,       8090,       8300,       8520,       8740,    8960,       9180,       9410,       9640,       9870,       10110,       10340,       10580,       10820,       11060,       11300,       11540,       11780,       12020,       12260,    12500,       12740,       12980,       13220,       13450,       13680,       13910,    14140,       14360,       14580,       14800,       15020,       15230,       15430,    15630,       15830,       16030,       16220,       16400,       16580,       16760,    16930,       17100,       17260,       17420,       17570,       17720,       17860,    18000,       18140,       18270,       18390,       18510,       18630,       18740,    18850,       18960,       19060,       19160,       19250,       19340,       19430,    19510,       19590,       19670,       19740,       19810,       19880,       19940,    20000};

/* 主函数 */
int main(void)
{
  u16 i;
  //内部时钟为1分频 = 16Mhz
  CLK_SYSCLKConfig(CLK_PRESCALER_HSIDIV1);
  delay(2000);
  qudong_Init();

  GPIO_WriteHigh(GPIOE, GPIO_PIN_0); //FREE = 1

  GPIO_WriteLow (GPIOC, GPIO_PIN_1); //DIR  = 0
  TIM3_Cmd(ENABLE);
  delay(400);

  while(1)
  {
  TIM3_TimeBaseInit(TIM3_PRESCALER_1,value4[0] );             //16M进行1分频，
  TIM3_OC2Init(TIM3_OCMODE_PWM2, TIM3_OUTPUTSTATE_ENABLE,value4[0]/2 , TIM3_OCPOLARITY_LOW);
  delay(2000);
  for(i=0;i<=200;i++)
  {
TIM3_TimeBaseInit(TIM3_PRESCALER_1,value4 );             //16M进行1分频，
TIM3_OC2Init(TIM3_OCMODE_PWM2, TIM3_OUTPUTSTATE_ENABLE,value4/2 , TIM3_OCPOLARITY_LOW);
delay(50);
  }
  delay(5000);
  delay(5000);
  delay(5000);
  delay(5000);
  //减速
  for(i=0;i<=200;i++)
  {
TIM3_TimeBaseInit(TIM3_PRESCALER_1,value5 );             //16M进行1分频，
TIM3_OC2Init(TIM3_OCMODE_PWM2, TIM3_OUTPUTSTATE_ENABLE,value5/2 , TIM3_OCPOLARITY_LOW);
delay(50);
  }

  //240RPM
  TIM3_TimeBaseInit(TIM3_PRESCALER_1,value4[0] );             //16M进行1分频，
  TIM3_OC2Init(TIM3_OCMODE_PWM2, TIM3_OUTPUTSTATE_ENABLE,value4[0]/2 , TIM3_OCPOLARITY_LOW);

  delay(5000);
  delay(5000);
  delay(5000);
  }

  //while(1);
}

启动后，电机以240RPM转动，然后加速到2400RPM，后又降到240RPM，依此循环。
现在问题是在while循环里，循环第四次时加速过程中电机卡住，给STM8S复位又可以恢复，但仍是第四次卡住，因此很不理解，我实验了十多次了，都是第四次卡住。
电机有森创的两种，都是42系列，两相的，42BYG250CK-B，42BYG250BK，都是24V,1.5A，还有一款市场随便买的，没签。这三种电机都是在循环第四次时卡住。
驱动器是森创的，无细分,电流2.1A，后续会自己设计驱动芯片，缩小空间。

友情提示: 此问题已得到解决，问题已经关闭,关闭后问题禁止继续编辑，回答。