在用官方例程里面的输出6-PWM时发现一个问题（我用的是H-PWM,L-ON），就是上桥的输出波形右下角，这里的引脚好像没有马上关断，
电压是缓慢下降的，并且，这个异常的出现是有规律的，每间隔6个PWM-ON出现一次异常波形，然后每隔1个PWM-ON出现，然后再隔4个PWM-ON出现一次。  我不知道是线间干扰，还是有寄生电容，还是代码写的有问题，我想这样来驱动电机势必出现混乱，心里十分不安，希望前辈指点。

波形右下角

波形右下角

定时器配置代码：

1. 
   

复制代码

中断函数代码

1. 
   
2. 
   
3. /* Includes ------------------------------------------------------------------*/
   
4. #include "stm32f4xx_it.h"
   
5. //#include "main.h"
   
6. 
   
7. /** @addtogroup Template_Project
   
8.   * @{
   
9.   */
   
10. 
    
11. /* Private typedef -----------------------------------------------------------*/
    
12. /* Private define ------------------------------------------------------------*/
    
13. /* Private macro -------------------------------------------------------------*/
    
14. /* Private variables ---------------------------------------------------------*/
    
15. __IO uint32_t uwStep = 0;
    
16. 
    
17. 
    
18. /* Private function prototypes -----------------------------------------------*/
    
19. /* Private functions ---------------------------------------------------------*/
    
20. 
    
21. /******************************************************************************/
    
22. /*            Cortex-M4 Processor Exceptions Handlers                         */
    
23. /******************************************************************************/
    
24. 
    
25. /**
    
26.   * @brief  This function handles NMI exception.
    
27.   * @param  None
    
28.   * @retval None
    
29.   */
    
30. void NMI_Handler(void)
    
31. {
    
32. }
    
33. 
    
34. /**
    
35.   * @brief  This function handles Hard Fault exception.
    
36.   * @param  None
    
37.   * @retval None
    
38.   */
    
39. void HardFault_Handler(void)
    
40. {
    
41.   /* Go to infinite loop when Hard Fault exception occurs */
    
42.   while (1)
    
43.   {
    
44.   }
    
45. }
    
46. 
    
47. /**
    
48.   * @brief  This function handles Memory Manage exception.
    
49.   * @param  None
    
50.   * @retval None
    
51.   */
    
52. void MemManage_Handler(void)
    
53. {
    
54.   /* Go to infinite loop when Memory Manage exception occurs */
    
55.   while (1)
    
56.   {
    
57.   }
    
58. }
    
59. 
    
60. /**
    
61.   * @brief  This function handles Bus Fault exception.
    
62.   * @param  None
    
63.   * @retval None
    
64.   */
    
65. void BusFault_Handler(void)
    
66. {
    
67.   /* Go to infinite loop when Bus Fault exception occurs */
    
68.   while (1)
    
69.   {
    
70.   }
    
71. }
    
72. 
    
73. /**
    
74.   * @brief  This function handles Usage Fault exception.
    
75.   * @param  None
    
76.   * @retval None
    
77.   */
    
78. void UsageFault_Handler(void)
    
79. {
    
80.   /* Go to infinite loop when Usage Fault exception occurs */
    
81.   while (1)
    
82.   {
    
83.   }
    
84. }
    
85. 
    
86. /**
    
87.   * @brief  This function handles SVCall exception.
    
88.   * @param  None
    
89.   * @retval None
    
90.   */
    
91. void SVC_Handler(void)
    
92. {
    
93. }
    
94. 
    
95. /**
    
96.   * @brief  This function handles Debug Monitor exception.
    
97.   * @param  None
    
98.   * @retval None
    
99.   */
    
100. void DebugMon_Handler(void)
     
101. {
     
102. }
     
103. 
     
104. /**
     
105.   * @brief  This function handles PendSVC exception.
     
106.   * @param  None
     
107.   * @retval None
     
108.   */
     
109. void PendSV_Handler(void)
     
110. {
     
111. }
     
112. 
     
113. /**
     
114.   * @brief  ADC1 的看门狗中断.
     
115.   * @param  None
     
116.   * @retval None
     
117.   */
     
118. void ADC_IRQHandler(void)
     
119. {
     
120.        
     
121.         ADC_ITConfig(ADC1, ADC_IT_AWD, DISABLE);
     
122.        
     
123.         if(SET == ADC_GetFlagStatus(ADC1, ADC_FLAG_AWD))
     
124.         {
     
125.                 ADC_ClearFlag(ADC1, ADC_FLAG_AWD);
     
126.                 ADC_ClearITPendingBit(ADC1, ADC_IT_AWD);
     
127.                
     
128.                 GPIO_SetBits(GPIOD, GPIO_Pin_8);
     
129.                 GPIO_ResetBits(GPIOD, GPIO_Pin_9);
     
130.         }
     
131.        
     
132.         ADC_ITConfig(ADC1, ADC_IT_AWD, ENABLE);
     
133.        
     
134. }
     
135. 
     
136. /**
     
137.   * @brief  This function handles SysTick Handler.
     
138.   * @param  None
     
139.   * @retval None
     
140.   */
     
141. void SysTick_Handler(void)
     
142. {
     
143.   TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
     
144. }
     
145. 
     
146. /******************************************************************************/
     
147. /*                 STM32F4xx Peripherals Interrupt Handlers                   */
     
148. /*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
     
149. /*  available peripheral interrupt handler's name please refer to the startup */
     
150. /*  file (startup_stm32f4xx.s).                                               */
     
151. /******************************************************************************/
     
152. 
     
153. /**
     
154.   * @brief  This function handles TIM1 Trigger and commutation and TIM11
     
155.   *         global interrupts requests.
     
156.   * @param  None
     
157.   * @retval None
     
158.   */
     
159. 
     
160. 
     
161. void TIM1_TRG_COM_TIM11_IRQHandler(void)
     
162. {
     
163.   /* Clear TIM1 COM pending bit */
     
164.   TIM_ClearITPendingBit(TIM1, TIM_IT_COM);
     
165. 
     
166.   if (uwStep == 1)
     
167.   {
     
168.     /* Next step: Step 2 Configuration -------------------------------------- */
     
169.     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
     
170.     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
     
171.   
     
172.     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
     
173.     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
     
174.     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
     
175. 
     
176.     TIM_ForcedOC2Config(TIM1, TIM_ForcedAction_Active);
     
177.     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     
178.     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
     
179.                
     
180.     uwStep++;
     
181.   }
     
182.   else if (uwStep == 2)
     
183.   {
     
184.     /* Next step: Step 3 Configuration -------------------------------------- */
     
185.     TIM_ForcedOC2Config(TIM1, TIM_ForcedAction_Active);
     
186.     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     
187.     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
     
188.    
     
189.     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
     
190.     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
     
191.     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
     
192. 
     
193.     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
     
194.     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
     
195.                
     
196.     uwStep++;
     
197.   }
     
198.   else if (uwStep == 3)
     
199.   {
     
200.     /* Next step: Step 4 Configuration -------------------------------------- */
     
201.     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
     
202.     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
     
203.     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
     
204. 
     
205.     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     
206.     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
     
207. 
     
208.     TIM_ForcedOC1Config(TIM1, TIM_ForcedAction_Active);
     
209.     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
     
210.     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
     
211.                
     
212.     uwStep++;
     
213.   }
     
214.   else if (uwStep == 4)
     
215.   {
     
216.     /* Next step: Step 5 Configuration -------------------------------------- */
     
217.     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
     
218.     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
     
219. 
     
220.     TIM_ForcedOC1Config(TIM1, TIM_ForcedAction_Active);
     
221.     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
     
222.     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
     
223. 
     
224.     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
     
225.     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
     
226.     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
     
227.                
     
228.     uwStep++;
     
229.   }
     
230.   else if (uwStep == 5)
     
231.   {
     
232.     /* Next step: Step 6 Configuration -------------------------------------- */
     
233.     TIM_ForcedOC3Config(TIM1, TIM_ForcedAction_Active);
     
234.     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
     
235.     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
     
236. 
     
237.     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
     
238.     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
     
239.                
     
240.     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
     
241.     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
     
242.     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
     
243.                
     
244.     uwStep++;
     
245.   }
     
246.   else
     
247.   {
     
248.     /* Next step: Step 1 Configuration -------------------------------------- */
     
249.     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
     
250.     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
     
251.     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
     
252.                
     
253.                 TIM_ForcedOC3Config(TIM1, TIM_ForcedAction_Active);
     
254.     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
     
255.     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
     
256.                
     
257.     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     
258.     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
     
259.    
     
260.     uwStep = 1;
     
261.   }
     
262. }
     
263. 
     
264. 
     
265. 
     
266. 
     
267. 
     
268. 
     
269. 
     
270. /**
     
271.   * @}
     
272.   */
     
273. 
     
274. 
     
275. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
     

复制代码

1. 定时器配置代码：
   
2. 
   
3. #define rsp_tim_GLOBAL
   
4. 
   
5. #include "rsp_tim.h"
   
6. 
   
7. //static uint8_t Conversion_SW = 1;
   
8. static void SysTickConfig(void);
   
9. static void TIMx_MODE_Config(void);
   
10. static void TIMx_GPIO_Config(void);
    
11. 
    
12. void TIMx_GPIO_Config(void)
    
13. {
    
14.         GPIO_InitTypeDef GPIO_InitStructure;
    
15.         NVIC_InitTypeDef NVIC_InitStructure;
    
16.        
    
17.         RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);  
    
18.         // 开启定时器时钟,即内部时钟CK_INT,等于168M
    
19.   RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
    
20. 
    
21.        
    
22.         /* 定时器功能引脚初始化 */       
    
23.         GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;   
    
24.         GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    
25.         GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    
26.         GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    
27.         /* 上桥 */
    
28.         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_11 | GPIO_Pin_13;// | GPIO_Pin_14;       
    
29.         GPIO_Init(GPIOE, &GPIO_InitStructure);
    
30.   /* 下桥 */
    
31.         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_10 | GPIO_Pin_12;       
    
32.         GPIO_Init(GPIOE, &GPIO_InitStructure);
    
33.   /* 刹车 */
    
34.   //GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
    
35.         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;       
    
36.         GPIO_Init(GPIOE, &GPIO_InitStructure);
    
37.        
    
38.        
    
39.         /* 指定引脚复用功能 */
    
40.         GPIO_PinAFConfig(GPIOE, GPIO_PinSource9,  GPIO_AF_TIM1);   //TIM1_CH1
    
41.         GPIO_PinAFConfig(GPIOE, GPIO_PinSource11, GPIO_AF_TIM1);   //TIM1_CH2
    
42.         GPIO_PinAFConfig(GPIOE, GPIO_PinSource13, GPIO_AF_TIM1);   //TIM1_CH3
    
43.         //GPIO_PinAFConfig(GPIOE, GPIO_PinSource14, GPIO_AF_TIM1);   //TIM1_CH4
    
44.        
    
45.         GPIO_PinAFConfig(GPIOE, GPIO_PinSource8,  GPIO_AF_TIM1);   //TIM1_CH1N
    
46.         GPIO_PinAFConfig(GPIOE, GPIO_PinSource10, GPIO_AF_TIM1);   //TIM1_CH2N
    
47.         GPIO_PinAFConfig(GPIOE, GPIO_PinSource12, GPIO_AF_TIM1);   //TIM1_CH3N
    
48.         GPIO_PinAFConfig(GPIOE, GPIO_PinSource15, GPIO_AF_TIM1);   //TIM1_BKIN
    
49.        
    
50.         /* Enable the TIM1 Trigger and commutation interrupt */
    
51.         NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
    
52.         NVIC_InitStructure.NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn;
    
53.   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    
54.   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    
55.   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    
56.   NVIC_Init(&NVIC_InitStructure);   
    
57. }
    
58. 
    
59. void TIMx_MODE_Config(void)
    
60. {
    
61.         TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    
62.   TIM_OCInitTypeDef        TIM_OCInitStructure;
    
63.         TIM_BDTRInitTypeDef      TIM_BDTRInitStructure;
    
64.        
    
65.        
    
66.         /* Time Base configuration */
    
67.         /* 预分频器不分频 */
    
68.   TIM_TimeBaseStructure.TIM_Prescaler = 1-1;
    
69.         /* 向上计数 */
    
70.   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    
71.         /* PWM周期 */
    
72.   TIM_TimeBaseStructure.TIM_Period = 8400-1;
    
73.         /* 分频因子 */
    
74.   TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    
75.         /* 不使用重复计数器 */
    
76.   TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    
77.   TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
    
78. 
    
79.        
    
80.   /* Channel 1, 2,3 and 4 Configuration in PWM mode */
    
81.         /* 输出比较模式 */
    
82.         TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
    
83.         /* 主、互输出使能 */
    
84.   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    
85.   TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
    
86.         /* 主、互输出，高为有效电平 */
    
87.   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    
88.   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    
89.         /* 主、互输出被禁止时的电平状态 */
    
90.   TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
    
91.   TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    
92.        
    
93.         /* 输出比较1占空比 */
    
94.   TIM_OCInitStructure.TIM_Pulse = 1600;
    
95.   TIM_OC1Init(TIM1, &TIM_OCInitStructure);
    
96.        
    
97.   TIM_OCInitStructure.TIM_Pulse = 1600;
    
98.   TIM_OC2Init(TIM1, &TIM_OCInitStructure);
    
99. 
    
100.   TIM_OCInitStructure.TIM_Pulse = 1600;
     
101.   TIM_OC3Init(TIM1, &TIM_OCInitStructure);
     
102. 
     
103.   /* Automatic Output enable, Break, dead time and lock configuration*/
     
104.         /* 运、空模式下关闭状态的选择 */
     
105.   TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
     
106.   TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
     
107.         /* 锁定配置 */
     
108.   TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
     
109.         /* 死区时间 */
     
110.   TIM_BDTRInitStructure.TIM_DeadTime = 9;
     
111.         /* 刹车使能 */
     
112.   TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
     
113.         /* Break引脚为高电平，禁止输出 */
     
114.   TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
     
115.         /* 自动输出 */
     
116.   TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
     
117. 
     
118.   TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
     
119. 
     
120.   TIM_CCPreloadControl(TIM1, ENABLE);
     
121. 
     
122.   TIM_ITConfig(TIM1, TIM_IT_COM, ENABLE);
     
123. 
     
124.   /* TIM1 counter enable */
     
125.   TIM_Cmd(TIM1, ENABLE);
     
126. 
     
127.   /* Main Output Enable */
     
128.   TIM_CtrlPWMOutputs(TIM1, ENABLE);
     
129. }
     
130. 
     
131. void TIMx_Config(void)
     
132. {
     
133.         SysTickConfig();
     
134.         TIMx_GPIO_Config();
     
135.         TIMx_MODE_Config();
     
136. }
     
137. 
     
138. static void SysTickConfig(void)
     
139. {
     
140.   /* Setup SysTick Timer for 100 msec interrupts  */
     
141.   if (SysTick_Config((SystemCoreClock) / 190))//166))//165))
     
142.   {
     
143.     /* Capture error */
     
144.     while (1);
     
145.   }
     
146. 
     
147.   NVIC_SetPriority(SysTick_IRQn, 0);
     
148. }
     

复制代码

截图截长一点吧，这个有点短，不过你这个MOS这么长时间才完全关断确实有些问题，你把MCU发出的PWM和gate driver输出的信号放在一起对比，看一下是不是driver输出信号不正常。MOS关断不完全有可能是gate driver设计的问题。

断开负载和藕和电路，看波形输出是否还这样，如若无，那是负载和藕和电路不合理，如有，改引脚的输出控制试试。

找到问题了，下面这句dai ma的问题，系统滴答定时器，如果不传入能够被168000000（系统时钟）整除的数给计数器，

就会出现问题。很无奈，不知道里面是什么构造，是什么原理。

if (SysTick_Config(840000))//(SystemCoreClock) / 200))//190))//166))//165))

感谢：子曰好人，麦克凯




（可以结贴了吗？）

很赞