[问答]

STM32定时器输入捕获测试频率失败求助

问答对人有帮助，内容完整，我也想知道答案 0 各位大佬好，打扰了。最近尝试在 stm32f413 是使用定时器输入捕获测试频率，用另一个定时器输出 PWM 来测试，结果发现不进中断。不知该如何改了，请问有用过此功能的大佬吗? 请帮忙看一下这样写的是否正确，谢谢! 目前参考各种例程杂糅得到代码如下: #include <board.h> #define LOG_TAG "drv.drv.tcap" #include <drv_log.h> #define MAX_PERIOD 65535 #define MAX_PULSE 1000 struct stm32_capture { TIM_HandleTypeDef tim_handle; const char name; rt_uint8_t channel; IRQn_Type tim_irqn; }; extern void HAL_TIM_MspPostInit(TIM_HandleTypeDef htim); static rt_uint64_t get_timer_clock(TIM_HandleTypeDef htim) { rt_uint64_t tim_clock = 0; #if defined(SOC_SERIES_STM32F2) \|\| defined(SOC_SERIES_STM32F4) \|\| defined(SOC_SERIES_STM32F7) if (htim->Instance == TIM9 \|\| htim->Instance == TIM10 \|\| htim->Instance == TIM11 \|\| htim->Instance == TIM1 \|\| htim->Instance == TIM8) #elif defined(SOC_SERIES_STM32L4) if (htim->Instance == TIM15 \|\| htim->Instance == TIM16 \|\| htim->Instance == TIM17) #elif defined(SOC_SERIES_STM32MP1) if (htim->Instance == TIM4) #elif defined(SOC_SERIES_STM32F1) \|\| defined(SOC_SERIES_STM32F0) \|\| defined(SOC_SERIES_STM32G0) if (0) #endif { #if !defined(SOC_SERIES_STM32F0) && !defined(SOC_SERIES_STM32G0) tim_clock = HAL_RCC_GetPCLK2Freq() 2; #endif } else { #if defined(SOC_SERIES_STM32L4) \|\| defined(SOC_SERIES_STM32F0) \|\| defined(SOC_SERIES_STM32G0) tim_clock = HAL_RCC_GetPCLK1Freq(); #else tim_clock = HAL_RCC_GetPCLK1Freq() * 2; #endif } return tim_clock; } static rt_err_t stm32_hw_capture_init(struct stm32_capture device) { TIM_HandleTypeDef tim = RT_NULL; TIM_IC_InitTypeDef ic_config = {0}; TIM_MasterConfigTypeDef master_config = {0}; TIM_ClockConfigTypeDef clock_config = {0}; rt_uint64_t tim_clock = 0; RT_ASSERT(device != RT_NULL); tim = (TIM_HandleTypeDef )&device->tim_handle; tim_clock = get_timer_clock(tim) / 1000000; / configure the timer to ic mode / tim->Init.Prescaler = tim_clock-1; tim->Init.CounterMode = TIM_COUNTERMODE_UP; tim->Init.Period = MAX_PERIOD-1; tim->Init.AutoReloadPreload = MAX_PERIOD-1; tim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; #if defined(SOC_SERIES_STM32F1) \|\| defined(SOC_SERIES_STM32L4) tim->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; #else tim->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; #endif if (HAL_TIM_Base_Init(tim) != HAL_OK) { LOG_E("%s ic init failed", device->name); return -RT_ERROR; } if (HAL_TIM_IC_Init(tim) != HAL_OK) { LOG_E("%s ic init failed", device->name); return -RT_ERROR; } HAL_NVIC_SetPriority(device->tim_irqn, 0, 0); HAL_NVIC_EnableIRQ(device->tim_irqn); clock_config.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(tim, &clock_config) != HAL_OK) { LOG_E("%s clock init failed", device->name); return -RT_ERROR; } master_config.MasterOutputTrigger = TIM_TRGO_RESET; master_config.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(tim, &master_config) != HAL_OK) { LOG_E("%s master config failed", device->name); return -RT_ERROR; } ic_config.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING; ic_config.ICSelection = TIM_ICSELECTION_DIRECTTI; ic_config.ICPrescaler = TIM_ICPSC_DIV1; ic_config.ICFilter = 0; / config inputcapture channel / if (HAL_TIM_IC_ConfigChannel(tim, &ic_config, TIM_CHANNEL_3) != HAL_OK) { LOG_E("%s channel3 config failed", device->name); return -RT_ERROR; } / enable update request source / __HAL_TIM_URS_ENABLE(tim); __HAL_TIM_ENABLE_IT(tim,TIM_IT_UPDATE); return RT_EOK; } static rt_err_t stm32_hw_capture_start(struct stm32_capture device) { TIM_HandleTypeDef tim = RT_NULL; RT_ASSERT(device != RT_NULL); tim = (TIM_HandleTypeDef )&device->tim_handle; // HAL_TIM_Base_Start(tim); HAL_TIM_IC_Start_IT(tim, TIM_CHANNEL_3); return RT_EOK; } static struct stm32_capture _capture = { .tim_handle = TIM2, .name = "tc2ch3", .channel = 0x04, .tim_irqn = TIM2_IRQn, }; void TIM2_IRQHandler(void) { rt_kprintf("TIM2_IRQHandler\n"); / enter interrupt / rt_interrupt_enter(); HAL_TIM_IRQHandler(&_capture.tim_handle); / leave interrupt / rt_interrupt_leave(); } / USER CODE BEGIN 1 / //[7]:0,没有成功的捕获;1,成功捕获到一次. //[6]:0,还没捕获到低电平;1,已经捕获到低电平了. //[5:0]:捕获低电平后溢出的次数 uint8_t TIM2CH2_CAPTURE_STA; // 输入捕获状态 uint16_t TIM2CH2_CAPTURE_VAL; // 输入捕获值 // 溢出回调函数和捕获回调函数 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef htim) { if ((TIM2CH2_CAPTURE_STA & 0x80) == 0) // 还未捕获成功 { if (TIM2CH2_CAPTURE_STA & 0x40) // 已捕获到一个上升沿 { if ((TIM2CH2_CAPTURE_STA & 0x3F) == 0x3F) // 高电平的时间太长 { TIM2CH2_CAPTURE_STA \|= 0X80; // 标记为成功捕获一次 TIM2CH2_CAPTURE_VAL = 0XFFFF; } else TIM2CH2_CAPTURE_STA++; // 否则标记溢出数加1 } } } // 捕获中断发生时执行上升沿复位开始计时，下降沿获取捕获值计算 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef htim) { if ((TIM2CH2_CAPTURE_STA & 0X80) == 0) // 还未捕获成功 [7]:0,没有成功的捕获;1,成功捕获到一次. { if (TIM2CH2_CAPTURE_STA & 0X40) // 成功率捕获到1个下降沿 [6]:0,还没捕获到低电平;1,已经捕获到低电平了. { rt_kprintf("get down: %d\r\n", rt_tick_get()); TIM2CH2_CAPTURE_STA \|= 0X80; // 标记成功，捕获到1次高电平完成 TIM2CH2_CAPTURE_VAL = HAL_TIM_ReadCapturedValue(&_capture.tim_handle, TIM_CHANNEL_3); // 捕获当前设置捕获值 TIM_RESET_CAPTUREPOLARITY(&_capture.tim_handle, TIM_CHANNEL_3); // 清除原来设置 TIM_SET_CAPTUREPOLARITY(&_capture.tim_handle, TIM_CHANNEL_3, TIM_ICPOLARITY_RISING); // 捕获到下降沿之后，将捕获到复位为上升沿 } else // 捕获到一个上升沿 { rt_kprintf("get up: %d\r\n", rt_tick_get()); TIM2CH2_CAPTURE_STA = 0; TIM2CH2_CAPTURE_VAL = 0; TIM2CH2_CAPTURE_STA \|= 0X40; // 将STA置为0x40 当下一次触发中断时，会进入上面的if语句 __HAL_TIM_DISABLE(&_capture.tim_handle); // 关闭定时器 __HAL_TIM_SET_COUNTER(&_capture.tim_handle, 0); // 将定时器计数值清零 TIM_RESET_CAPTUREPOLARITY(&_capture.tim_handle, TIM_CHANNEL_3); // 清除输入捕获标志位 TIM_SET_CAPTUREPOLARITY(&_capture.tim_handle, TIM_CHANNEL_3, TIM_ICPOLARITY_FALLING); // 将输入捕获上升沿改为捕获下降沿 __HAL_TIM_ENABLE(&_capture.tim_handle); // 使能定时器，开启定时器 } } } int stm32_time_capture_init(void) { stm32_hw_capture_init(&_capture); stm32_hw_capture_start(&_capture); return 0; } INIT_APP_EXPORT(stm32_time_capture_init); 0
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答案对人有帮助，有参考价值 0 定时器同时捕获4个通道的PWM代码 /* * Copyright (c) 2006-2021, RT-Thread Development Team * * SPDX-License-Identifier: Apache-2.0 * * Change Logs: * Date Author Notes * 2022-09-16 Administrator the first version / #include #include #include TIM_HandleTypeDef htim8; #define POWER1_CTRL GET_PIN(H,2) /* * @Brief TIM8 Initialization Function * @param None * @retval None / static void MX_TIM8_Init(void) { / USER CODE BEGIN TIM8_Init 0 / / USER CODE END TIM8_Init 0 / TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_IC_InitTypeDef sConfigIC = {0}; / USER CODE BEGIN TIM8_Init 1 / / USER CODE END TIM8_Init 1 / htim8.Instance = TIM8; htim8.Init.Prescaler = 180-1; htim8.Init.CounterMode = TIM_COUNTERMODE_UP; htim8.Init.Period = 65535; htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim8.Init.RepetitionCounter = 0; htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim8) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } if (HAL_TIM_IC_Init(&htim8) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING; sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI; sConfigIC.ICPrescaler = TIM_ICPSC_DIV1; sConfigIC.ICFilter = 0; if (HAL_TIM_IC_ConfigChannel(&htim8, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_IC_ConfigChannel(&htim8, &sConfigIC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } if (HAL_TIM_IC_ConfigChannel(&htim8, &sConfigIC, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); } if (HAL_TIM_IC_ConfigChannel(&htim8, &sConfigIC, TIM_CHANNEL_4) != HAL_OK) { Error_Handler(); } __HAL_TIM_DISABLE(&htim8); //关闭定时器8 __HAL_TIM_SET_COUNTER(&htim8,0); HAL_TIM_IC_Start_IT(&htim8,TIM_CHANNEL_1); //开启TIM8的捕获通道1，并且开启捕获中断 HAL_TIM_IC_Start_IT(&htim8,TIM_CHANNEL_2); //开启TIM8的捕获通道2，并且开启捕获中断 HAL_TIM_IC_Start_IT(&htim8,TIM_CHANNEL_3); //开启TIM8的捕获通道3，并且开启捕获中断 HAL_TIM_IC_Start_IT(&htim8,TIM_CHANNEL_4); //开启TIM8的捕获通道4，并且开启捕获中断 __HAL_TIM_ENABLE_IT(&htim8,TIM_IT_UPDATE); //使能更新中断 __HAL_TIM_ENABLE(&htim8);//使能定时器8 } /* * @brief TIM_Base MSP Initialization * This function configures the hardware resources used in this example * @param htim_base: TIM_Base handle pointer * @retval None / void HAL_TIM_Base_MspInit(TIM_HandleTypeDef htim_base) { GPIO_InitTypeDef GPIO_InitStruct = {0}; if(htim_base->Instance==TIM8) { /* USER CODE BEGIN TIM8_MspInit 0 / / USER CODE END TIM8_MspInit 0 / / Peripheral clock enable / __HAL_RCC_TIM8_CLK_ENABLE(); __HAL_RCC_GPIOI_CLK_ENABLE(); /TIM8 GPIO Configuration PI7 ------> TIM8_CH3 PI6 ------> TIM8_CH2 PI5 ------> TIM8_CH1 PI2 ------> TIM8_CH4 / GPIO_InitStruct.Pin = GPIO_PIN_7\|GPIO_PIN_6\|GPIO_PIN_5\|GPIO_PIN_2; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; HAL_GPIO_Init(GPIOI, &GPIO_InitStruct); /* TIM8 interrupt Init / //HAL_NVIC_SetPriority(TIM8_BRK_TIM12_IRQn, 0, 0); //HAL_NVIC_EnableIRQ(TIM8_BRK_TIM12_IRQn); HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 0, 0); HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn); //HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 0, 0); //HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn); HAL_NVIC_SetPriority(TIM8_CC_IRQn, 0, 0); HAL_NVIC_EnableIRQ(TIM8_CC_IRQn); / USER CODE BEGIN TIM8_MspInit 1 / / USER CODE END TIM8_MspInit 1 / } } /* * @brief TIM_Base MSP De-Initialization * This function freeze the hardware resources used in this example * @param htim_base: TIM_Base handle pointer * @retval None / void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef htim_base) { if(htim_base->Instance==TIM8) { /* USER CODE BEGIN TIM8_MspDeInit 0 / / USER CODE END TIM8_MspDeInit 0 / / Peripheral clock disable / __HAL_RCC_TIM8_CLK_DISABLE(); /TIM8 GPIO Configuration PI7 ------> TIM8_CH3 PI6 ------> TIM8_CH2 PI5 ------> TIM8_CH1 PI2 ------> TIM8_CH4 / HAL_GPIO_DeInit(GPIOI, GPIO_PIN_7\|GPIO_PIN_6\|GPIO_PIN_5\|GPIO_PIN_2); /* TIM8 interrupt DeInit / //HAL_NVIC_DisableIRQ(TIM8_BRK_TIM12_IRQn); HAL_NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn); //HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn); HAL_NVIC_DisableIRQ(TIM8_CC_IRQn); / USER CODE BEGIN TIM8_MspDeInit 1 / / USER CODE END TIM8_MspDeInit 1 / } } void TIM8_UP_TIM13_IRQHandler(void) { HAL_TIM_IRQHandler(&htim8); } /* * @brief This function handles TIM8 capture compare interrupt. / void TIM8_CC_IRQHandler(void) { HAL_TIM_IRQHandler(&htim8); } //捕获状态 //[7]:0,没有成功的捕获;1,成功捕获到一次. //[6]:0,还没捕获到低电平;1,已经捕获到低电平了. //[5:0]:捕获低电平后溢出的次数(对于32位定时器来说,1us计数器加1,溢出时间:4294秒) rt_uint8_t TIM8CH3_CAPTURE_STA = 0; //输入捕获状态 rt_uint16_t TIM8CH3_CAPTURE_VAL; //输入捕获值(TIM8是16位) rt_uint16_t tim8ch3_cnt_zero; rt_uint8_t TIM8CH4_CAPTURE_STA = 0; //输入捕获状态 rt_uint16_t TIM8CH4_CAPTURE_VAL; //输入捕获值(TIM8是16位) rt_uint16_t tim8ch4_cnt_zero; rt_uint8_t TIM8CH2_CAPTURE_STA = 0; //输入捕获状态 rt_uint16_t TIM8CH2_CAPTURE_VAL; //输入捕获值(TIM8是16位) rt_uint16_t tim8ch2_cnt_zero; rt_uint8_t TIM8CH1_CAPTURE_STA = 0; //输入捕获状态 rt_uint16_t TIM8CH1_CAPTURE_VAL; //输入捕获值(TIM8是16位) rt_uint16_t tim8ch1_cnt_zero; //定时器更新中断（计数溢出）中断处理回调函数，该函数在HAL_TIM_IRQHandler中会被调用 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef htim)//更新中断（溢出）发生时执行 { rt_interrupt_enter(); if((TIM8CH1_CAPTURE_STA & 0X80)==0)//还未成功捕获 { if(TIM8CH1_CAPTURE_STA & 0X40)//已经捕获到高电平了 { if((TIM8CH1_CAPTURE_STA & 0X3F) == 0X3F)//高电平太长了 { TIM8CH1_CAPTURE_STA \|= 0X80; //标记成功捕获了一次 TIM8CH1_CAPTURE_VAL = 0XFFFF; } else TIM8CH1_CAPTURE_STA ++; } } if((TIM8CH2_CAPTURE_STA & 0X80)==0)//还未成功捕获 { if(TIM8CH2_CAPTURE_STA & 0X40)//已经捕获到高电平了 { if((TIM8CH2_CAPTURE_STA & 0X3F) == 0X3F)//高电平太长了 { TIM8CH2_CAPTURE_STA \|= 0X80; //标记成功捕获了一次 TIM8CH2_CAPTURE_VAL = 0XFFFF; } else TIM8CH2_CAPTURE_STA ++; } } if((TIM8CH3_CAPTURE_STA & 0X80)==0)//还未成功捕获 { if(TIM8CH3_CAPTURE_STA & 0X40)//已经捕获到高电平了 { if((TIM8CH3_CAPTURE_STA & 0X3F) == 0X3F)//高电平太长了 { TIM8CH3_CAPTURE_STA \|= 0X80; //标记成功捕获了一次 TIM8CH3_CAPTURE_VAL = 0XFFFF; } else TIM8CH3_CAPTURE_STA ++; } } if((TIM8CH4_CAPTURE_STA & 0X80)==0)//还未成功捕获 { if(TIM8CH4_CAPTURE_STA & 0X40)//已经捕获到高电平了 { if((TIM8CH4_CAPTURE_STA & 0X3F) == 0X3F)//高电平太长了 { TIM8CH4_CAPTURE_STA \|= 0X80; //标记成功捕获了一次 TIM8CH4_CAPTURE_VAL = 0XFFFF; } else TIM8CH4_CAPTURE_STA ++; } } rt_interrupt_leave(); } //定时器输入捕获中断处理回调函数，该函数在HAL_TIM_IRQHandler中会被调用 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef htim)//捕获中断发生时执行 { rt_interrupt_enter(); if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)//捕获1发生捕获事件 { if((TIM8CH1_CAPTURE_STA & 0X80) == 0)//还未成功捕获 { if(TIM8CH1_CAPTURE_STA & 0X40) //捕获到一个下降沿 { TIM8CH1_CAPTURE_STA \|= 0X80; //标记成功捕获到一次高电平脉宽 TIM8CH1_CAPTURE_VAL = TIM8->CCR1; TIM8->CCER &= ~(1<<1);//配置TIM8通道2上升沿捕获 } else //还未开始,第一次捕获上升沿 { tim8ch1_cnt_zero = TIM8->CCR1; TIM8CH1_CAPTURE_STA = 0; TIM8CH1_CAPTURE_VAL = 0; TIM8CH1_CAPTURE_STA \|= 0X40; //标记捕获到了上升沿 TIM8->CCER \|= 1<<1;//定时器8通道2设置为下降沿捕获 } } } if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)//捕获2发生捕获事件 { if((TIM8CH2_CAPTURE_STA & 0X80) == 0)//还未成功捕获 { if(TIM8CH2_CAPTURE_STA & 0X40) //捕获到一个下降沿 { TIM8CH2_CAPTURE_STA \|= 0X80; //标记成功捕获到一次高电平脉宽 TIM8CH2_CAPTURE_VAL = TIM8->CCR2; TIM8->CCER &= ~(1<<5);//配置TIM8通道2上升沿捕获 } else //还未开始,第一次捕获上升沿 { tim8ch2_cnt_zero = TIM8->CCR2; TIM8CH2_CAPTURE_STA = 0; TIM8CH2_CAPTURE_VAL = 0; TIM8CH2_CAPTURE_STA \|= 0X40; //标记捕获到了上升沿 TIM8->CCER \|= 1<<5;//定时器8通道2设置为下降沿捕获 } } } if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)//捕获3发生捕获事件 { if((TIM8CH3_CAPTURE_STA & 0X80) == 0)//还未成功捕获 { if(TIM8CH3_CAPTURE_STA & 0X40) //捕获到一个下降沿 { TIM8CH3_CAPTURE_STA \|= 0X80; //标记成功捕获到一次高电平脉宽 TIM8CH3_CAPTURE_VAL = TIM8->CCR3; TIM8->CCER &= ~(1<<9);//配置TIM8通道3上升沿捕获 } else //还未开始,第一次捕获上升沿 { tim8ch3_cnt_zero = TIM8->CCR3; TIM8CH3_CAPTURE_STA = 0; TIM8CH3_CAPTURE_VAL = 0; TIM8CH3_CAPTURE_STA \|= 0X40; //标记捕获到了上升沿 TIM8->CCER \|= 1<<9;//定时器8通道3设置为下降沿捕获 } } } if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4)//捕获4发生捕获事件 { if((TIM8CH4_CAPTURE_STA & 0X80) == 0)//还未成功捕获 { if(TIM8CH4_CAPTURE_STA & 0X40) //捕获到一个下降沿 { TIM8CH4_CAPTURE_STA \|= 0X80; //标记成功捕获到一次高电平脉宽 TIM8CH4_CAPTURE_VAL = TIM8->CCR4; TIM8->CCER &= ~(1<<13);//配置TIM8通道3上升沿捕获 } else //还未开始,第一次捕获上升沿 { tim8ch4_cnt_zero = TIM8->CCR4; TIM8CH4_CAPTURE_STA = 0; TIM8CH4_CAPTURE_VAL = 0; TIM8CH4_CAPTURE_STA \|= 0X40; //标记捕获到了上升沿 TIM8->CCER \|= 1<<13;//定时器8通道3设置为下降沿捕获 } } } rt_interrupt_leave(); } extern float robot_aims_speed; extern rt_uint8_t mknm4_fx; void forword_check_speed(rt_uint16_t spedd) { float sed_spd_f = 0; if(spedd > 550) { mknm4_fx = 0x09; sed_spd_f = (float)spedd; sed_spd_f = sed_spd_f - 550; robot_aims_speed = sed_spd_f 0.001; } else if(spedd < 450) { mknm4_fx = 0x06; sed_spd_f = (float)spedd; sed_spd_f = 450 - sed_spd_f; robot_aims_speed = sed_spd_f * 0.001; } else { mknm4_fx = 0x00; robot_aims_speed = 0.0; } } void leftright_check_speed(rt_uint16_t lrdata) { float sed_spd_f = 0; if(lrdata > 550) { mknm4_fx = 0x0F; sed_spd_f = (float)lrdata; sed_spd_f = sed_spd_f - 550; robot_aims_speed = sed_spd_f * 0.001; } else if(lrdata < 450) { mknm4_fx = 0x00; sed_spd_f = (float)lrdata; sed_spd_f = 450 - sed_spd_f; robot_aims_speed = sed_spd_f * 0.001; } else { mknm4_fx = 0x00; robot_aims_speed = 0.0; } } void zhuanxiang_check_speed(rt_uint16_t lrdata) { float sed_spd_f = 0; if(lrdata > 550) { mknm4_fx = 0x00; sed_spd_f = (float)lrdata; sed_spd_f = sed_spd_f - 550; robot_aims_speed = sed_spd_f * 0.0005; } else if(lrdata < 450) { mknm4_fx = 0x0f; sed_spd_f = (float)lrdata; sed_spd_f = 450 - sed_spd_f; robot_aims_speed = sed_spd_f * 0.0005; } else { mknm4_fx = 0x00; robot_aims_speed = 0.0; } } void forback_leftright(rt_uint16_t fbdata,rt_uint16_t lrdata) { float sed_spd_f = 0; if(fbdata > 550) { if(lrdata > 550) { mknm4_fx = 0x52; sed_spd_f = (float)lrdata; sed_spd_f = sed_spd_f - 550; robot_aims_speed = sed_spd_f * 0.0005; rt_kprintf("1n"); } else if(lrdata < 450) { mknm4_fx = 0x58; sed_spd_f = (float)lrdata; sed_spd_f = 450 - sed_spd_f; robot_aims_speed = sed_spd_f * 0.0005; rt_kprintf("2n"); } } else if(fbdata < 450) { if(lrdata > 550) { mknm4_fx = 0xa1; sed_spd_f = (float)lrdata; sed_spd_f = sed_spd_f - 550; robot_aims_speed = sed_spd_f * 0.0005; rt_kprintf("3 = %dn",lrdata); } else if(lrdata < 450) { mknm4_fx = 0xa4; sed_spd_f = (float)lrdata; sed_spd_f = 450 - sed_spd_f; robot_aims_speed = sed_spd_f * 0.0005; //rt_kprintf("4 = %dn",lrdata); } } else { mknm4_fx = 0x00; robot_aims_speed = 0.0; } } extern rt_uint8_t mknm4_lock_flag; rt_uint32_t extern_tmp_ch3 = 0; #define CSB_PRIORITY 15//任务优先级 static char csb_stack[800]; static struct rt_thread csb_thread; static void csb_entry(void parameter) { rt_uint8_t print_ct = 0; rt_uint32_t tmp_ch4 = 0; rt_uint32_t tmp_ch3 = 0; rt_uint32_t tmp_ch2 = 0; rt_uint32_t tmp_ch1 = 0; rt_thread_mdelay(2000); MX_TIM8_Init(); rt_pin_mode(POWER1_CTRL, PIN_MODE_OUTPUT); rt_pin_write(POWER1_CTRL, PIN_HIGH); while(1) { rt_thread_mdelay(10); if(TIM8CH1_CAPTURE_STA & 0X80) //成功捕获到了一次高电平 { if((TIM8CH1_CAPTURE_STA & 0X3F) == 0)//还没有溢出过 tmp_ch1 = TIM8CH1_CAPTURE_VAL - tim8ch1_cnt_zero; else tmp_ch1 = (0XFFFF - tim8ch1_cnt_zero) + TIM8CH1_CAPTURE_VAL; if(tmp_ch1 > 2000)//油门通道 { tmp_ch1 = 2000; } else if(tmp_ch1 < 1000) { tmp_ch1 = 1000; } tmp_ch1 = tmp_ch1 - 1000; if(tmp_ch1 < 100) tmp_ch1 = 0; TIM8CH1_CAPTURE_STA = 0; } if(TIM8CH2_CAPTURE_STA & 0X80) //成功捕获到了一次高电平 { if((TIM8CH2_CAPTURE_STA & 0X3F) == 0)//还没有溢出过 tmp_ch2 = TIM8CH2_CAPTURE_VAL - tim8ch2_cnt_zero; else tmp_ch2 = (0XFFFF - tim8ch2_cnt_zero) + TIM8CH2_CAPTURE_VAL; if(tmp_ch2 > 2000)//油门通道 { tmp_ch2 = 2000; } else if(tmp_ch2 < 1000) { tmp_ch2 = 1000; } tmp_ch2 = tmp_ch2 - 1000; if(tmp_ch2 < 100) tmp_ch2 = 0; TIM8CH2_CAPTURE_STA = 0; } if(TIM8CH3_CAPTURE_STA & 0X80) //成功捕获到了一次高电平 { if((TIM8CH3_CAPTURE_STA & 0X3F) == 0)//还没有溢出过 tmp_ch3 = TIM8CH3_CAPTURE_VAL - tim8ch3_cnt_zero; else tmp_ch3 = (0XFFFF - tim8ch3_cnt_zero) + TIM8CH3_CAPTURE_VAL; if(tmp_ch3 > 2000)//左右通道 { tmp_ch3 = 2000; } else if(tmp_ch3 < 1000) { tmp_ch3 = 1000; } tmp_ch3 = tmp_ch3 - 1000; TIM8CH3_CAPTURE_STA = 0; } if(TIM8CH4_CAPTURE_STA & 0X80) //成功捕获到了一次高电平 { if((TIM8CH4_CAPTURE_STA & 0X3F) == 0)//还没有溢出过 tmp_ch4 = TIM8CH4_CAPTURE_VAL - tim8ch4_cnt_zero; else tmp_ch4 = (0XFFFF - tim8ch4_cnt_zero) + TIM8CH4_CAPTURE_VAL; if(tmp_ch4 > 2000)//前后通道 { tmp_ch4 = 2000; } else if(tmp_ch4 < 1000) { tmp_ch4 = 1000; } tmp_ch4 = tmp_ch4 - 1000; TIM8CH4_CAPTURE_STA = 0; } //右手、前ch3-->1000,后ch3-->0，前后走 if(((tmp_ch3 < 450) \|\| (tmp_ch3 > 550)) && ((tmp_ch2 < 450) \|\| (tmp_ch2 > 550))) { //forback_leftright(tmp_ch2,tmp_ch3); mknm4_lock_flag = 0; } else if((tmp_ch3 < 450) \|\| (tmp_ch3 > 550)) { //forword_check_speed(tmp_ch3); mknm4_lock_flag = 0; } / if(tmp_ch3 < 100) { mknm4_lock_flag = 0; mknm4_fx = 0x0F; robot_aims_speed = 0.2; } */ if((tmp_ch3 < 200)) { //右手、左ch1-->1000,右ch1-->0，横走 if((tmp_ch1 < 450) \|\| (tmp_ch1 > 550)) { leftright_check_speed(tmp_ch1); mknm4_lock_flag = 0; } else { mknm4_lock_flag = 1; mknm4_fx = 0x00; robot_aims_speed = 0.0; } } else { mknm4_lock_flag = 1; mknm4_fx = 0x00; robot_aims_speed = 0.0; } if(tmp_ch1 == 0 && tmp_ch2 == 0 && tmp_ch3 == 0 && tmp_ch4 == 0) { mknm4_lock_flag = 1; mknm4_fx = 0x00; robot_aims_speed = 0.0; } print_ct ++; if(print_ct > 100) { print_ct = 0; rt_kprintf("CH1 = %d,CH2 = %d,CH3 = %d,CH5 = %dn",tmp_ch1,tmp_ch2,tmp_ch3,tmp_ch4); } extern_tmp_ch3 = tmp_ch3; } } static int csb_sample(void) { rt_thread_init(&csb_thread, "csbsample", csb_entry, RT_NULL, &csb_stack[0], sizeof(csb_stack), CSB_PRIORITY,100); rt_thread_startup(&csb_thread); return 0; } INIT_APP_EXPORT(csb_sample);

2023-2-17 10:37:11 评论举报 h1654155272.9717