RT-Thread-使用定时器会不定时死机RT-Thread问答社区

使用定时器会不定时死机

发布于 2024-01-22 12:01:36 浏览：230 订阅该版

主板主控stm32F429,主要加热和电机控制功能，加热使用定时器14生成PWM，电机使用定时器3，系统使用RTT1.2.2版本的系统。上位机使用的昆仑通态串口屏，总是会不定期死机，最多运行3-4天，少的运行10个小时就会死机。加热功能代码

```c
static void heat_timeout(void* parameter)
{
 //  rt_kprintf("heat beat!\n");
	 PWM_Control_Heat();
}
u8 initHeatTimer(u16 ms)
{
	heatProcessSeconds=0;
    rt_timer_init(&heatbeat, "heat timer",
                   heat_timeout, /* bind timeout callback function */
                   RT_NULL,
                   (1000 * ms) / (1000 * 1000 / RT_TICK_PER_SECOND) + 1,
                   RT_TIMER_FLAG_PERIODIC); 
    return TRUE;
}
void PWM_Control_Heat(void)
{
	 PWM=PID_realize();
	 TIM_SetCompare1(TIM14,PWM);	
}
void heat_test(float temp,u8 flag)
{

setKP(502);//设置Kp
	 setKI(7.4);//设置比例积分
	 setKD(19);//设置比例积分
	 PID_Init();
	 setSETTEMP1(temp);
	if(heatctrl_flag == 0)
	{
		 rt_kprintf("目标TEMP=%f\r\n",temp);
	     initHeatTimer(1*1000);//初始化加热时间
         rt_timer_start(&heatbeat);//定时器开始加热
		 heatctrl_flag = 1;heatctrl_flag_fff = 0;
	}
   return ;
}
void heat_run_stop(void)
{ 
	if(heatctrl_flag_fff == 0){
		if(rt_timer_stop(&heatbeat)  == RT_EOK)
		{
			TIM_SetCompare1(TIM14,0);
			 heatctrl_flag = 0;
			heatctrl_flag_fff = 1;
	  }
   return ;
	}
}

void TIM14_PWM_Init(u32 arr,u32 psc)// TIM14_PWM_Init(10000-1,9000-1);180M
{
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
	TIM_OCInitTypeDef TIM_OCInitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE);			//使能TIM14时钟
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF,ENABLE);			//使能io口时钟
	
	GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14);			//设置F9为TIM14的复用
	
	GPIO_InitStructure.GPIO_Pin		=	GPIO_Pin_9;					//led0和led1对应的io口
	GPIO_InitStructure.GPIO_Mode	=	GPIO_Mode_AF;				//普通输出模式
	GPIO_InitStructure.GPIO_OType	=	GPIO_OType_PP;				//推挽输出
	GPIO_InitStructure.GPIO_Speed	=	GPIO_Speed_100MHz;			//高速模式
	GPIO_InitStructure.GPIO_PuPd	=	GPIO_PuPd_UP;				//上拉
	GPIO_Init(GPIOF,&GPIO_InitStructure);
	
	TIM_TimeBaseStructure.TIM_Period		=	arr;				//初始化定时器14
	TIM_TimeBaseStructure.TIM_Prescaler		=	psc;
	TIM_TimeBaseStructure.TIM_CounterMode	=	TIM_CounterMode_Up;
	TIM_TimeBaseStructure.TIM_ClockDivision	=	TIM_CKD_DIV1;
	TIM_TimeBaseInit(TIM14,&TIM_TimeBaseStructure);
	
	TIM_OCInitStructure.TIM_OCMode		=	TIM_OCMode_PWM1;		//pwm调制模式1
	TIM_OCInitStructure.TIM_OutputState	=	TIM_OutputState_Enable;	//比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity	=	TIM_OCPolarity_High;		//输出极性低	
	TIM_OC1Init(TIM14,&TIM_OCInitStructure);
	
	TIM_SetCompare1(TIM14,PWM);
		
	TIM_OC1PreloadConfig(TIM14,TIM_OCPreload_Enable);
	TIM_ARRPreloadConfig(TIM14,ENABLE);
	TIM_Cmd(TIM14,ENABLE);
}
电机参数

void pumpTurn_stop(void)
{
	union  scy_float_t   scy_floattemp;
	rt_timer_stop(&motorRaceTime);
    drvPulseExecute(DISABLE);//停止
	  motorctrl_flag = 0;
}
static void motorrace_timeout(void* parameter)//电机走步超时
{
	if(flow_t.flag ) rt_event_send(&raceEvent, EVENT_FLAG6);
	else rt_event_send(&raceEvent,EVENT_FLAG1);
}
#if 1
u8 initmotorRaceTimer(u16 ms)//电机运动事件
{
    rt_timer_init(&motorRaceTime, "motor race timer",
                   motorrace_timeout, /* bind timeout callback function 绑定超时回调函数*/
                   RT_NULL,
                   (1000 * ms) / (1000 * 1000 / RT_TICK_PER_SECOND) + 1,
                   RT_TIMER_FLAG_ONE_SHOT); /* one shot */
	  
//	  rt_kprintf("电机走步数race: %d ms\n",ms);
    return TRUE;
}

void pumpTurn(struct FLOWPROCESS_T floww_t )//泵转
{
	union  scy_float_t   scy_floattemp;
	 rt_uint32_t e;
	float speed=flow_t.speed;//转速
	u32 mseconds=flow_t.racetime;//时间

if(speed >0){
	     if(flow_t.dir==CW) {PUMPDRAIN; usSRegHoldBuf[ADDR_SingTASK_flag] = 1;usSRegHoldBuf[ADDR_pump_flag] = 1; }
			 //抽
	     else        {PUMPPUSH;	usSRegHoldBuf[ADDR_SingTASK_flag] = 2; usSRegHoldBuf[ADDR_pump_flag] = 2;}    //推
		   setMotorFrq(speed);     //设置转速
			 if(motorctrl_flag == 0){
				 rt_kprintf("pump 未在运行\n");
				 drvPulseExecute(ENABLE);//开
				 initmotorRaceTimer(mseconds);
				 rt_timer_start(&motorRaceTime); 
				 motorctrl_flag =1;
			 } 
       
		   while(1)
		{
		       /* 接收事件，事件触发，接收完后清除事件标志 */
           if (rt_event_recv(&raceEvent, (EVENT_FLAG1),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
								pumpTurn_stop();
							  motor_move_result_flag = MOTOR_TIMEOUT;//电机运行超时;
						  if(debuggg >=3){
						    rt_kprintf("pump overtime stop:racetime=%d,speed=%f,dir=%d\n", mseconds,speed*100,flow_t.dir);}
						   break;
           }
					 if (rt_event_recv(&raceEvent, (EVENT_FLAG6),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {

pumpTurn_stop();
						 if(debuggg >=3){
						    rt_kprintf("MOTOR_TIMEOK stop:racetime=%d,speed=%f,dir=%d\n", mseconds,speed*100,flow_t.dir);}
						    motor_move_result_flag = MOTOR_TIMEOK;//电机运行时间到
						    break;
           }
					 //check liquid level3 检查液位开关 高
					  if (rt_event_recv(&tripEvent, (EVENT_FLAG2),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {	getMTLIOLowState();
						  if(flow_t.htierchk)//设置需要检测高水位
						 {
							 if(mt.top==LEVELUP)
							 { 
								  pumpTurn_stop();
									 motor_move_result_flag = MOTOR_TOPOK ;//高停止
								 if(debuggg >=3){
								 rt_kprintf("pump top stop:racetime=%d,speed=%f,dir=CW\n", mseconds,speed*100);}
						       break;
							 }
						 }
           }
					  if (rt_event_recv(&tripEvent, (EVENT_FLAG3),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
						   getMTLIOLowState();
							 if(flow_t.htierchk)//设置需要检测高水位
							 {
									if(mt.top==LEVELDN)
								 { 
										 pumpTurn_stop();
										 motor_move_result_flag = MOTOR_TOPOK ;//高停止
									 if(debuggg >=3){
									  rt_kprintf("pump top stop:racetime=%d,speed=%f,dir=CCW\n", mseconds,speed*100);}
										 break;
								 }
							 }
           }
					 //check liquid level2 中
					  if (rt_event_recv(&tripEvent, (EVENT_FLAG4),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
						    getMTLIOLowState();
								if(flow_t.mtierchk) 
								{
									 if(mt.mid==LEVELUP)
									 {
										 pumpTurn_stop();
											motor_move_result_flag = MOTOR_MIDOK ;//中停止
										 if(debuggg >=3){
										  rt_kprintf("pump mid stop:racetime=%d,speed=%f,dir=CW\n", mseconds,speed*100);}
											break;
									 }
							 }
           }
					 if (rt_event_recv(&tripEvent, (EVENT_FLAG7),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
							getMTLIOLowState();
						   if(flow_t.mtierchk)
							 {
									if(mt.mid==LEVELDN)
									 {
										 pumpTurn_stop();
											motor_move_result_flag = MOTOR_MIDOK ;//中停止
										 if(debuggg >=3){
										  rt_kprintf("pump mid stop:racetime=%d,speed=%f,dir=CCW\n", mseconds,speed*100);
										 }
											break;
									 }
							 }
           }
					 //check liquid level1 低
					  if (rt_event_recv(&tripEvent, (EVENT_FLAG5),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
							 getMTLIOLowState();
						  if(flow_t.ltierchk) 
							 {
								 if(mt.bot==LEVELUP)
								 {
										pumpTurn_stop();
										motor_move_result_flag = MOTOR_BOTOK ;
                      if(debuggg >=3){
												rt_kprintf("pump bot stop:racetime=%d,speed=%f,dir=CW\n", mseconds,speed*100);
										 }
										break;
								 }
							 }
            }
					 if (rt_event_recv(&tripEvent, (EVENT_FLAG8),RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,RT_WAITING_NO, &e) == RT_EOK)
           {
								getMTLIOLowState();
						   if(flow_t.ltierchk)
							 {
								 getMTLIOLowState();
								 if(mt.bot==LEVELDN)
								 {	
									  pumpTurn_stop();
										motor_move_result_flag = MOTOR_BOTOK ;
                      if(debuggg >=3){ 
									 rt_kprintf("pump bot stop:racetime=%d,speed=%f,dir=CCW\n", mseconds,speed*100);
											}
										break;	
								}
							}
            }
						if(usSRegHoldBuf[ADDR_run_pump_task]==3)//泵停止命令
						{
							 pumpTurn_stop();
							 motor_move_result_flag = MOTOR_STOPOK ;
						   usSRegHoldBuf[ADDR_run_pump_task]=0;
							 break;
						}	
					 if(usSRegHoldBuf[ADDR_return_ACTION] == 1) 
					 {
						 rt_kprintf("usSRegHoldBuf[ADDR_return_ACTION]=%d\n", usSRegHoldBuf[ADDR_return_ACTION]);
							break;
					 }
		}

}else 	pumpTurn_stop();
}
```