利用STM32F407的编码器接口去测量两个电机的转速，电机编码器信息如下：
现在的问题是：用定时器2的编码器接口测量A电机没问题，能够采集到转速；但是用定时器3的编码器接口采集B电机，始终采集不到转速，已经排除硬件问题！按理说这两个代码应该是一样的呀！？不知道为什么不好使，请大神指点！ /************************************************************************** 函数功能：把TIM2初始化为编码器接口模式 入口参数：无 返回 值：无 **************************************************************************/ void Encoder_Init_TIM2(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能定时器2的时钟 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); //使能PA端口时钟
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置 GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOBA
/*复用*/ GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2); GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_TIM2);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Prescaler = 0;//8400-1;//0x0; //预分频器 TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //选择时钟分频：不分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数 TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0X01 ;//抢占优先级3 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0X02; //子优先级3 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器 */
//使用编码器模式3 TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = 10; TIM_ICInit(TIM2, &TIM_ICInitStructure);
//清除TIM的更新标志位 TIM_ClearFlag(TIM2, TIM_FLAG_Update); //允许更新中断 TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
//Reset counter TIM_SetCounter(TIM2,0); TIM_Cmd(TIM2, ENABLE); } /************************************************************************** 函数功能：把TIM3初始化为编码器接口模式 入口参数：无 返回 值：无 **************************************************************************/ void Encoder_Init_TIM3(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PB端口时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3的时钟
GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;//端口配置 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOB
/*复用*/ GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_TIM3); GPIO_PinAFConfig(GPIOA,GPIO_PinSource7,GPIO_AF_TIM3);
TIM_DeInit(TIM3); TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure); TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Prescaler = 0x0; //预分频器 TIM_TimeBaseStructure.TIM_Period = 0xffff;//ENCODER_TIM_PERIOD;//设定计数器自动重装值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //选择时钟分频：不分频 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//TIM向上计数 TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); /* NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =0X01 ;//抢占优先级3 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0X02; //子优先级3 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器 */ //使用编码器模式3 TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = 6; TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除TIM的更新标志位 TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
//Reset counter TIM_SetCounter(TIM3,0); TIM_Cmd(TIM3, ENABLE); }
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发表于 2017-12-27 20:32:53
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发表于 2017-12-28 00:50:19
