使用stm32f103野火指南者开发板驱动一个两相闭环步进电机的问题，单片机连接步进电机驱动器，共阳极连接。程序正常，但是上电后步进电机不是每次都能正常运转，经常无反应，但是没有修改程序也没有修改线路，偶尔电机又可以受控制的运转。经测试：当电机能正常控制时，关掉开发板电源，在打开开发板电源，电机受控；但是关掉驱动器的电源，再启动，电机不受控制。而且下一次电机能否受控制是随机的，经常都是单片机发出脉冲后无反应，太玄学了，有知道的朋友可以解答吗
用代码块功能插入
void USUALL_TIM_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// 输出比较通道1-4初始化
RCC_APB2PeriphClockCmd(
USUALL_TIM_CH2_GPIO_CLK |
USUALL_TIM_CH3_GPIO_CLK |
USUALL_TIM_CH4_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = //通道1-4
USUALL_TIM_CH2_PIN |
USUALL_TIM_CH3_PIN |
USUALL_TIM_CH4_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_SetBits(GPIOA,GPIO_Pin_5);
}
void USUALL_TIM_Mode_Config(uint16_t CCR1_Val,uint16_t CCR2_Val,uint16_t CCR3_Val,uint16_t CCR4_Val)
{
// 开启定时器时钟,即内部时钟CK_INT=72M
USUALL_TIM_APBxClock_FUN(USUALL_TIM_CLK,ENABLE);
/*--------------------时基结构体初始化-------------------------*/
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
// 自动重装载寄存器的值，累计TIM_Period+1个频率后产生一个更新或者中断
TIM_TimeBaseStructure.TIM_Period=USUALL_TIM_PERIOD; //100
// 驱动CNT计数器的时钟 = Fck_int/(psc+1)
TIM_TimeBaseStructure.TIM_Prescaler= USUALL_TIM_PSC; //19
// 时钟分频因子 ，配置死区时间时需要用到
// TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
// 计数器计数模式，设置为向上计数
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
// 重复计数器的值，没用到不用管
TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
// 初始化定时器
TIM_TimeBaseInit(USUALL_TIM, &TIM_TimeBaseStructure);
/*--------------------输出比较结构体初始化-------------------*/
// 占空比配置
TIM_OCInitTypeDef TIM_OCInitStructure;
// 配置为PWM模式1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
// 输出使能
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// 互补输出不使能
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
// 输出通道电平极性配置
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
// 设置通道1占空比大小
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OC1Init(USUALL_TIM, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(USUALL_TIM, TIM_OCPreload_Enable);
// 设置通道2占空比大小
TIM_OCInitStructure.TIM_Pulse = CCR2_Val;
TIM_OC2Init(USUALL_TIM, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(USUALL_TIM, TIM_OCPreload_Enable);
// 设置通道3占空比大小
TIM_OCInitStructure.TIM_Pulse = CCR3_Val;
TIM_OC3Init(USUALL_TIM, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(USUALL_TIM, TIM_OCPreload_Enable);
// 设置通道4占空比大小
TIM_OCInitStructure.TIM_Pulse = CCR4_Val;
TIM_OC4Init(USUALL_TIM, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(USUALL_TIM, TIM_OCPreload_Enable);
TIM_ITConfig(USUALL_TIM,TIM_IT_Update,ENABLE);
// 使能计数器
TIM_Cmd(USUALL_TIM, ENABLE);
// TIM_CtrlPWMOutputs();启动或暂停输出PWM,
}
static void USUALL_TIM_NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
// 设置中断组为0
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
// 设置中断来源
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn ;
// 设置主优先级为 0
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
// 设置抢占优先级为3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void TIM5_IRQHandler (void)
{
if ( TIM_GetITStatus( USUALL_TIM, TIM_IT_Update) != RESET )
{
count_pwm++;
TIM_ClearITPendingBit(USUALL_TIM , TIM_FLAG_Update);
}
}
void BUJIN_MOTer(void)
{
count_pwm=0;
USUALL_TIM_GPIO_Config();
USUALL_TIM_Mode_Config(50,50,50,50);
USUALL_TIM_NVIC_Config();
}
extern uint16_t count_pwm;
int main(void)
{
LED_config();
USART_Config();
key_config();
while ( 1 )
{
if (1) //按键调速
{
if(key_san(key2_port,key2_pin)==key_on)
{
LED_RED;
BUJIN_MOTer();
GPIO_SetBits(GPIOA,GPIO_Pin_5);
}
if ( (count_pwm==6400) &(GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_5)))
{
count_pwm=0;
TIM_Cmd(USUALL_TIM, DISABLE);
LED_WHITE;
}
if ( (count_pwm==3200 )&(~GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_5)))
{
count_pwm=0;
TIM_Cmd(USUALL_TIM, DISABLE);
LED_WHITE;
}
if(key_san(key1_port,key1_pin)==key_on)
{
LED_BLUE;
BUJIN_MOTer();
GPIO_ResetBits(GPIOA,GPIO_Pin_5);
}
}
}
}
```代码，请勿粘贴截图
连接图如下：
