编码器打印出的脉冲为0

steven · 发表于 2016-5-27 22:00:09

请教大家一个问题，我这个电机编码器用串口打印出来的数据为什么为0；请大家指点一下，帮帮忙。
下面是相应的代码：

#include "timer.h"
#include "dianji.h"
#include "sys.h"

u32  temp;
u32  count=0;
u32  predir;
u32  upcount=0;
u32  temp_mileage;

void EncodeInit(u8 none1,u32 period)
{
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;
  GPIO_InitTypeDef GPIO_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;
  EXTI_InitTypeDef EXTI_InitStructure;

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

   GPIO_Init(GPIOA, &GPIO_InitStructure);

  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
  TIM_TimeBaseStructure.TIM_Prescaler = none1; // No prescaling
  TIM_TimeBaseStructure.TIM_Period = period;
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

  TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 6;
  TIM_ICInit(TIM4, &TIM_ICInitStructure);

  // Clear all pending interrupts
  TIM_ClearFlag(TIM4, TIM_FLAG_Update);
  TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);

//Reset counter
  TIM_SetCounter(TIM4,0);
  TIM_Cmd(TIM4, ENABLE);

// return 0;
}

void TIM4_IRQHandler(void)
{
temp=(TIM_GetCounter(TIM4)&0xffff);

if(TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
   {
      if(temp==9999)
         {
            count--;
            if(predir==0)
            {
                  upcount--;

            }

   else
{
                  predir=0;
            }
         }

         else if(temp==0)
            {
            count++;
            if(predir==1)
            {
                  upcount++;
            }
   else
{
                  predir=1;
            }
         }

         TIM_ClearITPendingBit(TIM4, TIM_IT_Update);

   }
}

void  EncodeGetMileage(void)
{

   u8 i=0;
   temp=(TIM_GetCounter(TIM4)&0xffff);
            if(count<0)
            {
                  temp_mileage=(abs(count)-1)*1000 +(1000-temp);

            }
   else
{
                  temp_mileage=count*1000 +temp;
            }

//          return temp_mileage;

}