如何从两相编码器得知电机转向？

巴拉克 · 发表于 2016-10-25 22:46:32

如何从两相编码器得知电机转向？函数应该怎么写？什么思路？
还有定时器的编码器模式怎么使用中断函数？我写的判断条件是if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)为什么始终不进入中断呢？

我的定时器初始化函数是
void TIM2_Cap_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_ICInitTypeDef  TIM2_ICInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能TIM2时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);  //使能GPIOA时钟

GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_0;  //PA0 清除之前设置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PA0 输入
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(GPIOA,GPIO_Pin_0);    //PA0 下拉

GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_1;  //PA1 清除之前设置
  GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(GPIOA,GPIO_Pin_0);    //PA1 下拉

//初始化定时器2 TIM2
TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

//初始化TIM2输入捕获参数
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);

TIM2_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
  //TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
  TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
  TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;    //配置输入分频,不分频
  TIM2_ICInitStructure.TIM_ICFilter = 6;//IC1F=0000 配置输入滤波器不滤波
  TIM_ICInit(TIM2, &TIM2_ICInitStructure);

//中断分组初始化
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;  //TIM2中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;  //先占优先级2级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;  //从优先级0级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure);  //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器

TIM_ClearFlag(TIM2,TIM_FLAG_Update);
TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);//允许更新中断 ,允许CC1IE捕获中断

  TIM2->CNT=0;
TIM_Cmd(TIM2,ENABLE ); //使能定时器2

}