读编码器脉冲计数，转动编码器停止计数

顾平生

最近在用E6B2-CW26C编码器A\B\Z相测电机转速，TIM3输出PWM波驱动电机，TIM4作为编码器接口模式，PA1作为Z相的外部中断，串口打印脉冲数，现在编码器一转动，串口打印直接停止。各位大神帮帮。
#include "timer.h"
#include "led.h"
#include "usart.h"

void TIM3_Int_Init(u16 arr,u16 psc)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_TimeBaseStructure.TIM_Period = arr;
TIM_TimeBaseStructure.TIM_Prescaler =psc;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE );
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);  
TIM_Cmd(TIM3, ENABLE);  
}

void TIM3_IRQHandler(void)  
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
  {
  TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  
  //LED1=!LED1;
  }
}

void TIM3_PWM_Init(u16 arr,u16 psc)
{  
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, ENABLE);  
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA  | RCC_APB2Periph_AFIO, ENABLE);

GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //TIM_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);

TIM_TimeBaseStructure.TIM_Period = arr;
TIM_TimeBaseStructure.TIM_Prescaler =psc;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);  
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);


TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);  
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);  

TIM_Cmd(TIM3, ENABLE);
}
void TIM4_Init(void)
{

                        
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;
   NVIC_InitTypeDef NVIC_InitStructure2;

    //PB6 ch1  A,PB7 ch2 B
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//??TIM3??  
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//??GPIOA??
     
    GPIO_StructInit(&GPIO_InitStructure);//½«GPIO¡ªInitStructÖеIJÎÊý°´È±Ê¡ÖµÊäÈë
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;         
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//PA6 PA7¸¡¿ÕÊäÈë
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

   NVIC_InitStructure2.NVIC_IRQChannel = TIM4_IRQn;
    NVIC_InitStructure2.NVIC_IRQChannelPreemptionPriority = 1;
    NVIC_InitStructure2.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure2.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure2);
   // NVIC_Configuration(2);

    TIM_DeInit(TIM4);
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
  TIM_TimeBaseStructure.TIM_Period =999*4; //????????   
    TIM_TimeBaseStructure.TIM_Prescaler = 0; //TIM3??????
    TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;//?????? T_dts = T_ck_int   
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM????
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);              
                     
    //TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);//????
    TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising ,TIM_ICPolarity_Rising);
  TIM_ICStructInit(&TIM_ICInitStructure);      //½«½á¹¹ÌåÖеÄÄÚÈÝȱʡÊäÈë
  TIM_ICInitStructure.TIM_ICFilter = 0; //Â˲¨
    TIM_ICInit(TIM4, &TIM_ICInitStructure);//½«TIM_ICInitStructureÖеÄÖ¸¶¨²ÎÊý³õʼ»¯TIM4
  
    TIM_ClearFlag(TIM4, TIM_FLAG_Update);
    TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
    //Reset counter
    TIM4->CNT = 0;
    TIM_Cmd(TIM4, ENABLE);  
}
void TIM4_IRQHandler(void)   
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET) //¼ì²éÖ¸¶¨µÄTIMÖжϷ¢ÉúÓë·ñ:TIM ÖжÏÔ´
  {
     ;
  }
  TIM_ClearITPendingBit(TIM2, TIM_IT_Update  );  //Çå³ýTIMxµÄÖжϴý´¦Àíλ:TIM ÖжÏÔ´
   TIM4->CNT = 0;//¸ÕÒþ
  //LED1=!LED1;
}
//ZÏà¹éÁã
void EXTI_PA1_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    EXTI_InitTypeDef EXTI_InitStructure;
   NVIC_InitTypeDef NVIC_InitStructure1;
    /* config the extiline(PA1) clock and AFIO clock */
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA  | RCC_APB2Periph_AFIO,ENABLE);
  
   /* config the NVIC */
    NVIC_InitStructure1.NVIC_IRQChannel = EXTI1_IRQn;
    NVIC_InitStructure1.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure1.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure1.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure1);
    /* EXTI line gpio config(PA1) */   
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;      
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;  //ÉÏÀ­ÊäÈë              
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    /* EXTI line(PA1) mode config */
    GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource1); //GPIO¶Ë¿ÚÓëÖжÎÏßÓ³Éä
    EXTI_InitStructure.EXTI_Line = EXTI_Line1;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;      //ϽµÑØÖжϣ¿
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure);
}
void EXTI1_IRQHandler(void)
{
    TIM4->CNT = 0;   // ÿ´ÎÓöµ½Ïà¶ÔÁ㣨ZÐźţ©¾Í½«¼ÆÊýÆ÷¹é0
   TIM_Cmd(TIM4, ENABLE);
    EXTI_ClearITPendingBit(EXTI_Line1);                                      
}

主程序
int main(void)
{  
vu8 key=0;
  //u8 cnt=0;
   u16 pulses=0;
// u8  V=0;
delay_init();       //ÑÓʱº¯Êý³õʼ»¯   
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);   //60¸ö¿ÉÆÁ±ÎÖжϱ»·ÖΪ0£¬1£¬2£¬3£¬4×飬ÿ×é0£»4¡¢1£»3¡¢2£»2µÚ2×éÉèÖÃNVICÖжϷÖ×é2:2λÇÀÕ¼ÓÅÏȼ¶£¬2λÏìÓ¦ÓÅÏȼ¶
uart_init(115200);  //´®¿Ú³õʼ»¯Îª115200
  LED_Init();        //LED¶Ë¿Ú³õʼ»¯
  //TIM4_Mode_Config();
  TIM4_Init();
  EXTI_PA1_Config();
  TIM3_PWM_Init(999,71);  //²»·ÖƵ¡&poundWMƵÂÊ=72000000/900=80Khz   328mv
TIM_SetCompare2(TIM3,850); //led0pwmval  compare=(1000-500)/10

  

   
  while(1)
{
  pulses=TIM_GetCounter(TIM4);
   //pulses=TIM4_CNT/4;
  printf("pulses:%d\r\n",pulses);
  delay_ms(200);

}
}

顾平生

有做过的吗？手动呼唤原子哥

顾平生

自己顶自己

顾平生

各位帮忙看下哈，头秃了

亲亻尔嘴

楼主，这里清除中断出错。
void TIM4_IRQHandler(void)   
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET) //¼ì²éÖ¸¶¨µÄTIMÖжϷ¢ÉúÓë·ñ:TIM ÖжÏÔ´
  {
     ;
  }
  TIM_ClearITPendingBit(TIM2, TIM_IT_Update  ); //Çå³ýTIMxµÄÖжϴý´¦Àíλ:TIM ÖжÏÔ´
   TIM4->CNT = 0;//¸ÕÒþ
  //LED1=!LED1;
}

Acuity

F103不要用Z相，16位计数器，频繁中断。用查询的方式即可。

顾平生

亲亻尔嘴 发表于 2018-8-30 21:47
楼主，这里清除中断出错。
void TIM4_IRQHandler(void)   
{

谢谢提醒，已改正，问题还是老样子。

顾平生

Acuity 发表于 2018-8-31 00:10
F103不要用Z相，16位计数器，频繁中断。用查询的方式即可。

如                       
  while(1)
        {       
                pulses=TIM_GetCounter(TIM4);
                printf("pulses:%d\r\n",pulses);
         delay_ms(200);
                TIM4->CNT=0;       
}果我不用Z相的话，硬件Z相不连接的话就可以了吧？编码器用的是E6B2-CW26C，我直接每200ms读一次数，CNT清一次零，这就不涉及中断了（转速很低，脉冲数四倍频也达不到65535）可是串口读出脉冲数是增长的（比如4 4 4 4 4 6 6 6 9 9 9之类的，数还很小）按理说不应该差不多是个定值啊。

Sun_Fly

最烦上传代码是乱码的人了

顾平生

Sun_Fly 发表于 2018-8-31 15:24
最烦上传代码是乱码的人了

我错了，大佬，我发现乱了后，又补了一个上去。在另一个帖子上，这个我也不会修改。劳烦你了