定时器编码器模式问题求解

jackmao · 发表于 2016-3-28 19:47:07

我用的是 STM32F407VET6核心板
想用定时器的编码器模式测增量AB式编码器的速度编码器为5V 供电在配置完之后发现没有反馈希望大神能帮我看看代码谢啦。。

//前左的编码器初始化 //****** PA0 TIM5_CH1 PA1 TIM5_CH2****** //
void ENC_Init(void)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;

/* Encoder unit connected to TIM5, 4X mode */
  GPIO_InitTypeDef GPIO_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

  /* TIM4 clock source enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
  /* Enable GPIOD, clock */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

  GPIO_StructInit(&GPIO_InitStructure); //将GPIO_InitStruct中的参数按缺省值输入
  /* Configure PD.12,13 as encoder input */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0| GPIO_Pin_1;    //
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
  GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_NOPULL;          // 输入浮空
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  /* Enable the TIM3 Update Interrupt */
  NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  /* Timer configuration in Encoder mode */
  TIM_DeInit(ENCODER_Q1);
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

  TIM_TimeBaseStructure.TIM_Prescaler = 0x0;  // No prescaling
  TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1;
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(ENCODER_Q1, &TIM_TimeBaseStructure);

  TIM_EncoderInterfaceConfig(ENCODER_Q1, TIM_EncoderMode_TI12,
                           TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge);    //  ???

  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;                // 什么作用
  TIM_ICInit(ENCODER_Q1, &TIM_ICInitStructure);

// Clear all pending interrupts
  TIM_ClearFlag(ENCODER_Q1, TIM_FLAG_Update);
  TIM_ITConfig(ENCODER_Q1, TIM_IT_Update, ENABLE);
  //Reset counter
  TIM5->CNT = COUNTER_RESET;

  TIM_Cmd(ENCODER_Q1, ENABLE);

}

void TIM5_IRQHandler(void) // 轮胎完成一圈旋转
{
  /* Clear the interrupt pending flag */
  TIM_ClearFlag(ENCODER_Q1, TIM_FLAG_Update);

}

int speedMeasure2()
{
int count;

TIM5->CNT = COUNTER_RESET;
TIM_Cmd(TIM5, ENABLE);
delay_ms(100);       // 100ms
count = TIM5->CNT;
TIM_Cmd(TIM5, DISABLE);

count = count - COUNTER_RESET;
return count;//返回负数，直接表示反转了
}

main（）
{
其他的函数略。。
  void ENC_Init(void)；
while(1)
{

delay_ms(100);
FeedBack_Count=speedMeasure2();
OLED_ShowNum(10,40,FeedBack_Count,5,12);
OLED_Refresh_Gram();//更新显示到OLED
}
}

jackmao · 发表于 2016-4-3 15:58:06

GPIO_PinAFConfig(GPIOA,GPIO_Pin_0,GPIO_AF_TIM5);

GPIO_PinAFConfig(GPIOA,GPIO_Pin_1,GPIO_AF_TIM5);

现将IO口的模式改为啦定时器复用模式发现编码器似乎开始工作但是反馈回来的脉冲数量只有0或则 (4*ENCODER_PPR)-1 这两个值