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stm32f407初始化TIM12中断时卡死

7b10f3474747ac6b 2019-11-01 浏览量：3316

程序卡死在了这一行
NVIC_InitStructure.NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn;
注释掉这一行后可以运行

整个函数为
#define WHEEL_D 8.2
#define COUNT_PER_ROUND 320
#define DELTA_T 0.01

int last_count1 = 0;
int last_count2 = 0;
int last_count3 = 0;
int last_count4 = 0;

void Cal_Motor_Speed_Init(void)
{

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12 ENABLE);

TIM_TimebaseInitTypeDef TIM12_TimebaseInitStruct;
TIM12_TimebaseInitStruct.TIM_Period = 1000 - 1;
TIM12_TimebaseInitStruct.TIM_Prescaler = 840 - 1;
TIM12_TimebaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM12_TimebaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimebaseInit(TIM12 &TIM12_TimebaseInitStruct);

NVIC_InitTypeDef NVIC_InitStructure;
      NVIC_InitStructure.NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
      NVIC_Init(&NVIC_InitStructure);

TIM_ITConfig(TIM12 TIM_IT_Update ENABLE);
TIM_ClearFlag(TIM12 TIM_FLAG_Update);
TIM_SetCounter(TIM12 0);

TIM_Cmd(TIM12 ENABLE);
}
/@@*
void TIM8_BRK_TIM12_IRQnHandler(void)
{
if(TIM_GetITStatus(TIM12 TIM_IT_Update)==SET)
{
motor1_vel = (count1 - last_count1) / DELTA_T;
motor1_vel = 3.14 * WHEEL_D * motor1_vel / 320;
last_count1 = count1;

}
TIM_ClearITPendingBit(TIM12 TIM_IT_Update);
}
*/