使用两个定时器输出PWM卡死

只看该作者 · 2024-9-14 14:39

请教各位大牛一个问题，卡住我几天了。我使用如下定时器配置PWM，如下示：
PA6 -> PWM0 tim1_cha(4)
PA7 -> PWM1 tim2_cha(5)
PB0 -> PWM2 tim3_ch1b(2)
在应行如下初始化代码后，直接卡死了，请问是什么原因呢
void pwm_init()
{
Sysctrl_SetPeripheralGate(SysctrlPeripheralGpio, TRUE); //端口外设时钟使能
TimerPortCfg(PWM0);
TimerPortCfg(PWM1);
TimerPortCfg(PWM2);

Timer1Cfg(100, PWM_DUTY);
Bt_M23_EnPWM_Output(TIM1, TRUE, FALSE);    //端口输出使能

Timer2Cfg(100, PWM_DUTY);
Bt_M23_EnPWM_Output(TIM2, TRUE, FALSE);    //端口输出使能

Timer3Cfg(100, PWM_DUTY);
Tim3_M23_EnPWM_Output(TRUE, FALSE);       //端口输出使能

Bt_M23_Run(TIM2);                      //运行。
Bt_M23_Run(TIM1);                      //运行。
Tim3_M23_Run();                         //运行。
}

完整模块代码发下：

#include "pwm.h"
#include "timer3.h"
#include "bt.h"
#include "gpio.h"
#include "motor.h"

volatile char pwm_duty = 95;

// PA6 -> PWM0 tim1_cha(4)
// PA7 -> PWM1 tim2_cha(5) 或 tim3_ch0b(4)
// PB0 -> PWM2 tim3_ch1b(2)

typedef enum
{
PWM0  = 0u,
PWM1,
PWM2,
}pwm_index_t;

/*******************************************************************************
* 中断服务函数
******************************************************************************/
void Tim1_IRQHandler(void)
{
//Timer1 模式23 更新中断
if(TRUE == Bt_GetIntFlag(TIM1,BtUevIrq)){
      Bt_M23_CCR_Set(TIM1, BtCCR0A, 100-pwm_duty); //设置通道A比较值
      Bt_ClearIntFlag(TIM1,BtUevIrq);  //清中断标志
}
}

void Tim2_IRQHandler(void)
{
//Timer2 模式23 更新中断
if(TRUE == Bt_GetIntFlag(TIM2,BtUevIrq))
{
      Bt_M23_CCR_Set(TIM2, BtCCR0A, 100-pwm_duty); //设置通道A比较值
      Bt_ClearIntFlag(TIM2,BtUevIrq);  //清中断标志
}
}

void Tim3_IRQHandler(void)
{
//Timer3 模式23 更新中断
if(TRUE == Tim3_GetIntFlag(Tim3UevIrq)){
      Tim3_M23_CCR_Set(Tim3CCR1B, 100-pwm_duty); //设置CH1 通道B比较值
      Tim3_ClearIntFlag(Tim3UevIrq);  //清中断标志
}
}

//Timer1 配置
void Timer1Cfg(uint16_t u16Period, uint16_t u16CHxACompare)
{
uint16_t                   u16CntValue;
uint8_t                   u8ValidPeriod;
stc_bt_mode23_cfg_t       stcTim1BaseCfg;
stc_bt_m23_compare_cfg_t    stcTim1PortCmpCfg;

//结构体初始化清零
DDL_ZERO_STRUCT(stcTim1BaseCfg);
DDL_ZERO_STRUCT(stcTim1PortCmpCfg);

Sysctrl_SetPeripheralGate(SysctrlPeripheralBTim, TRUE); //Timer1外设时钟使能

stcTim1BaseCfg.enWorkMode = BtWorkMode2;          //锯齿波模式
stcTim1BaseCfg.enCT       = BtTimer;                //定时器功能，计数时钟为内部PCLK
stcTim1BaseCfg.enPRS       = BtPCLKDiv1;             //PCLK
stcTim1BaseCfg.enCntDir    = BtCntUp;                //向上计数，在三角波模式时只读
stcTim1BaseCfg.enPWMTypeSel  = BtIndependentPWM;       //独立输出PWM
stcTim1BaseCfg.enPWM2sSel = BtSinglePointCmp;       //单点比较功能
stcTim1BaseCfg.bOneShot    = FALSE;                   //循环计数
stcTim1BaseCfg.bURSSel    = FALSE;                   //上下溢更新

Bt_Mode23_Init(TIM1, &stcTim1BaseCfg);                      //TIM3 的模式23功能初始化

Bt_M23_ARRSet(TIM1, u16Period, TRUE);                      //设置重载值,并使能缓存

Bt_M23_CCR_Set(TIM1, BtCCR0A, u16CHxACompare);          //设置CH0比较值A

stcTim1PortCmpCfg.enCH0ACmpCtrl = BtPWMMode2;       //OCREFA输出控制OCMA:PWM模式2
stcTim1PortCmpCfg.enCH0APolarity  = BtPortPositive;    //正常输出
stcTim1PortCmpCfg.bCh0ACmpBufEn = TRUE;                //A通道缓存控制
stcTim1PortCmpCfg.enCh0ACmpIntSel = BtCmpIntNone;    //A通道比较中断控制:无

Bt_M23_PortOutput_Cfg(TIM1, &stcTim1PortCmpCfg);    //比较输出端口配置

u8ValidPeriod = 0;                                     //事件更新周期设置，0表示锯齿波每个周期更新一次，每+1代表延迟1个周期
Bt_M23_SetValidPeriod(TIM1, u8ValidPeriod);                //间隔周期设置

u16CntValue = 0;
Bt_M23_Cnt16Set(TIM1, u16CntValue);                         //设置计数初值

Bt_ClearAllIntFlag(TIM1);                                  //清中断标志
Bt_Mode23_EnableIrq(TIM1,BtUevIrq);                      //使能TIM1 UEV更新中断
EnableNvic(TIM1_IRQn, IrqLevel0, TRUE);                //TIM1中断使能
}

//Timer2 配置
void Timer2Cfg(uint16_t u16Period, uint16_t u16CHxACompare)
{
uint16_t                   u16CntValue;
uint8_t                   u8ValidPeriod;
stc_bt_mode23_cfg_t       stcTim2BaseCfg;
stc_bt_m23_compare_cfg_t    stcTim2PortCmpCfg;

//结构体初始化清零
DDL_ZERO_STRUCT(stcTim2BaseCfg);
DDL_ZERO_STRUCT(stcTim2PortCmpCfg);

Sysctrl_SetPeripheralGate(SysctrlPeripheralBTim, TRUE); //Timer1外设时钟使能

stcTim2BaseCfg.enWorkMode = BtWorkMode2;          //锯齿波模式
stcTim2BaseCfg.enCT       = BtTimer;                //定时器功能，计数时钟为内部PCLK
stcTim2BaseCfg.enPRS       = BtPCLKDiv1;             //PCLK
stcTim2BaseCfg.enCntDir    = BtCntUp;                //向上计数，在三角波模式时只读
stcTim2BaseCfg.enPWMTypeSel  = BtIndependentPWM;       //独立输出PWM
stcTim2BaseCfg.enPWM2sSel = BtSinglePointCmp;       //单点比较功能
stcTim2BaseCfg.bOneShot    = FALSE;                   //循环计数
stcTim2BaseCfg.bURSSel    = FALSE;                   //上下溢更新

Bt_Mode23_Init(TIM2, &stcTim2BaseCfg);                      //TIM3 的模式23功能初始化

Bt_M23_ARRSet(TIM2, u16Period, TRUE);                      //设置重载值,并使能缓存

Bt_M23_CCR_Set(TIM2, BtCCR0A, u16CHxACompare);          //设置CH0比较值B

stcTim2PortCmpCfg.enCH0ACmpCtrl = BtPWMMode2;       //OCREFA输出控制OCMA:PWM模式2
stcTim2PortCmpCfg.enCH0APolarity  = BtPortPositive;    //正常输出
stcTim2PortCmpCfg.bCh0ACmpBufEn = TRUE;                //A通道缓存控制
stcTim2PortCmpCfg.enCh0ACmpIntSel = BtCmpIntNone;    //A通道比较中断控制:无

Bt_M23_PortOutput_Cfg(TIM2, &stcTim2PortCmpCfg);    //比较输出端口配置

u8ValidPeriod = 0;                                     //事件更新周期设置，0表示锯齿波每个周期更新一次，每+1代表延迟1个周期
Bt_M23_SetValidPeriod(TIM2, u8ValidPeriod);                //间隔周期设置

u16CntValue = 0;
Bt_M23_Cnt16Set(TIM2, u16CntValue);                         //设置计数初值

Bt_ClearAllIntFlag(TIM2);                                  //清中断标志
Bt_Mode23_EnableIrq(TIM2,BtUevIrq);                      //使能TIM3 UEV更新中断
EnableNvic(TIM2_IRQn, IrqLevel0, TRUE);                //TIM3中断使能
}

//Timer3 配置
void Timer3Cfg(uint16_t u16Period, uint16_t u16CHxBCompare)
{
uint16_t                   u16CntValue;
uint8_t                   u8ValidPeriod;
stc_tim3_mode23_cfg_t       stcTim3BaseCfg;
stc_tim3_m23_compare_cfg_t stcTim3PortCmpCfg;

//结构体初始化清零
DDL_ZERO_STRUCT(stcTim3BaseCfg);
DDL_ZERO_STRUCT(stcTim3PortCmpCfg);

Sysctrl_SetPeripheralGate(SysctrlPeripheralTim3, TRUE); //Timer3外设时钟使能

stcTim3BaseCfg.enWorkMode = Tim3WorkMode2;          //锯齿波模式
stcTim3BaseCfg.enCT       = Tim3Timer;                //定时器功能，计数时钟为内部PCLK
stcTim3BaseCfg.enPRS       = Tim3PCLKDiv1;             //PCLK
stcTim3BaseCfg.enCntDir    = Tim3CntUp;                //向上计数，在三角波模式时只读
stcTim3BaseCfg.enPWMTypeSel  = Tim3IndependentPWM;       //独立输出PWM
stcTim3BaseCfg.enPWM2sSel = Tim3SinglePointCmp;       //单点比较功能
stcTim3BaseCfg.bOneShot    = FALSE;                   //循环计数
stcTim3BaseCfg.bURSSel    = FALSE;                   //上下溢更新

Tim3_Mode23_Init(&stcTim3BaseCfg);                      //TIM3 的模式23功能初始化

Tim3_M23_ARRSet(u16Period, TRUE);                      //设置重载值,并使能缓存

Tim3_M23_CCR_Set(Tim3CCR1B, u16CHxBCompare);          //设置CH1比较值B

stcTim3PortCmpCfg.enCHxBCmpCtrl = Tim3PWMMode2;       //OCREFB输出控制OCMB:PWM模式2(PWM互补模式下也要设置，避免强制输出)
stcTim3PortCmpCfg.enCHxBPolarity  = Tim3PortPositive;    //正常输出
stcTim3PortCmpCfg.bCHxBCmpBufEn = TRUE;                //B通道缓存控制使能
stcTim3PortCmpCfg.enCHxBCmpIntSel = Tim3CmpIntNone;    //B通道比较中断控制:无

// Tim3_M23_PortOutput_Cfg(Tim3CH0, &stcTim3PortCmpCfg);    //比较输出端口配置
Tim3_M23_PortOutput_Cfg(Tim3CH1, &stcTim3PortCmpCfg);    //比较输出端口配置

u8ValidPeriod = 0;                                     //事件更新周期设置，0表示锯齿波每个周期更新一次，每+1代表延迟1个周期
Tim3_M23_SetValidPeriod(u8ValidPeriod);                //间隔周期设置

u16CntValue = 0;

Tim3_M23_Cnt16Set(u16CntValue);                         //设置计数初值

Tim3_ClearAllIntFlag();                                  //清中断标志
Tim3_Mode23_EnableIrq(Tim3UevIrq);                      //使能TIM3 UEV更新中断
EnableNvic(TIM3_IRQn, IrqLevel0, TRUE);                //TIM3中断使能
}

void TimerPortCfg(pwm_index_t pwm_index)
{
stc_gpio_cfg_t  stcTIMPort;

DDL_ZERO_STRUCT(stcTIMPort);
stcTIMPort.enDir  = GpioDirOut;

switch (pwm_index){
case PWM0:
      Gpio_Init(GpioPortA, GpioPin6, &stcTIMPort);
      Gpio_SetAfMode(GpioPortA,GpioPin6,GpioAf4);             //PA6 -> PWM0 tim1_cha(4)
      break;
case PWM1:
      Gpio_Init(GpioPortA, GpioPin7, &stcTIMPort);
      Gpio_SetAfMode(GpioPortA,GpioPin7,GpioAf5);             //PA7 -> PWM1 tim2_cha(5)
      break;
case PWM2:
      Gpio_Init(GpioPortB, GpioPin0, &stcTIMPort);
      Gpio_SetAfMode(GpioPortB,GpioPin0,GpioAf2);             //PB0 -> PWM2 tim3_ch1b(2)
      break;
default:
      break;
}

}

void TimerPortDeiniCfg(pwm_index_t pwm_index)
{
stc_gpio_cfg_t stcTIMPort;

DDL_ZERO_STRUCT(stcTIMPort);
stcTIMPort.enDir  = GpioDirOut;

switch (pwm_index){
case PWM0:
      Gpio_Init(GpioPortA, GpioPin6, &stcTIMPort);
      Gpio_SetAfMode(GpioPortA,GpioPin6,GpioAf0);
      Gpio_ClrIO(GpioPortA, GpioPin6);
      break;
case PWM1:
      Gpio_Init(GpioPortA, GpioPin7, &stcTIMPort);
      Gpio_SetAfMode(GpioPortA,GpioPin7,GpioAf0);             //PA7 -> PWM1 tim2_cha(5)
      Gpio_ClrIO(GpioPortA, GpioPin7);
      break;
case PWM2:
      Gpio_Init(GpioPortB, GpioPin0, &stcTIMPort);
      Gpio_SetAfMode(GpioPortB,GpioPin0,GpioAf0);             //PB0 -> PWM2 tim3_ch1b(2)
      Gpio_ClrIO(GpioPortB, GpioPin0);
      break;
default:
      break;
}
}

// -----------pwm enable
void pwm0_enable(uint8_t duty)
{
TimerPortCfg(PWM0);
if (duty > 100){
      duty = 100;
}
pwm_duty = duty;
Bt_M23_Run(TIM1);
}

void pwm1_enable(uint8_t duty)
{
TimerPortCfg(PWM1);
if (duty > 100){
      duty = 100;
}
pwm_duty = duty;
Bt_M23_Run(TIM2);
}

void pwm2_enable(uint8_t duty)
{
TimerPortCfg(PWM2);
if (duty > 100){
      duty = 100;
}
pwm_duty = duty;
Tim3_M23_Run();
}

// -----------pwm disable
void pwm0_disable(void)
{
Bt_M23_Stop(TIM1);
TimerPortDeiniCfg(PWM0);
}

void pwm1_disable(void)
{
Bt_M23_Stop(TIM2);
TimerPortDeiniCfg(PWM1);
}

void pwm2_disable(void)
{
Tim3_M23_Stop();
TimerPortDeiniCfg(PWM2);
}