mini STM32F103RCT定时器编码器模式

2018210358a · 发表于 2019-6-30 15:39:45

#include "encode.h"
#include "sys.h"
#include "delay.h"
#include "lcd.h"
#include "string.h"
#include "stdio.h"
#include "usart.h"
#include "led.h"
//编码器
//定时器3通道1和2输入捕获配置
void Encoder_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//使能TIM3时钟
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能GPIOA时钟

//配置IO口PA6和PA7
  GPIO_StructInit(&GPIO_InitStructure);//复位GPIO
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  //配置定时器3
  TIM_DeInit(TIM3);
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
  TIM_TimeBaseStructure.TIM_Prescaler = 0x0;  //不分频
  TIM_TimeBaseStructure.TIM_Period = 500*4;  //计数装载值编码器线数500
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

  //配置编码器模式
  TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,
                        TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 6;//配置输入滤波器
  TIM_ICInit(TIM3, &TIM_ICInitStructure);

  TIM3->CNT = 0;//计数器归零
  TIM_Cmd(TIM3, ENABLE);//使能定时器
}
/*********************************************************/
//输出角度
u8 Show_Data[30]={0};
void Printf_encode_angle(void)
{
// float Theta=0;
TIM3->CNT = 0;
delay_ms(500);
// Theta=(s16)(TIM3->CNT)*0.18;//计算转过的角度0.18=360/500/4
sprintf((char*)Show_Data, "ROTARY ANGLE:%d",(s16)(TIM3->CNT) );
LCD_ShowString(25, 260, 320, 16, 16, Show_Data);
}

编码器放着不去转动它，计数器的数都在不断变化，想知道到底是哪里出了问题

2018210358a · 发表于 2019-6-30 15:39:46

2018210358a 发表于 2019-6-30 19:43
不用中断吧，计数器最大值我可以设为0XFFFF，照理说0.5s的时间也不可能产生更新中断，关键是编码器不动的 ...

终于解决，下面是可以运行的程序，编码器为差分输出，500线。
#include "stm32f10x.h"
#include "extcoder.h"
#include "stdio.h"
#include "stm32f10x_it.h"
static int count_negative=0;
static int count_positive=0;

void TIM3_coder_Init(void)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;//定时器初始化结构体
  TIM_ICInitTypeDef TIM_ICInitStructure;//通道输入比较结构体
  GPIO_InitTypeDef GPIO_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);  // TIM3 时钟源使能
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); // GPIOA时钟使能

  GPIO_StructInit(&GPIO_InitStructure); //将PA6，PA7配置为编码器输入
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//使能TIM3中断
  NVIC_InitStructure.NVIC_IRQChannel =  TIM3_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;//1
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;//0
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  /* 定时器配置在编码器模式 */
  TIM_DeInit(TIM3);
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);//填入缺省值
  TIM_TimeBaseStructure.TIM_Prescaler = 0x0;// 没有预引比例因子，预分频值
  TIM_TimeBaseStructure.TIM_Period = (2000)-1;//计数值,编码器线数为500
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数模式
  TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

//TIMx 使用的定时器
//TIM_EncoderMode 模式，单向计数（只反映速度）；两相计数（速度和方向）
//TIM_IC1Polarity  通道1的捕捉极性
//TIM_IC2Polarity  通道2的捕捉极性
  TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//配置定时器编码器接口函数

TIM_ICStructInit(&TIM_ICInitStructure);//填入缺省值
  TIM_ICInitStructure.TIM_ICFilter = 6; // 设置使用滤波器的长度
  TIM_ICInit(TIM3, &TIM_ICInitStructure);

  TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除定时器3挂起的中断
  TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);//使能定时器3中断
  TIM3->CNT = 0;//计数器归0
  //ENC_Clear_Speed_Buffer();
  TIM_Cmd(TIM3, ENABLE);//开启定时器3
}

float ENC_Get_Electrical_Angle(void)
{
float temp;
if((count_negative+count_positive)>=0)
temp = (TIM_GetCounter(TIM3) * 1.0) * ( 360.0 / (2000)) + (count_negative+count_positive) * 360.0;
else
temp = (TIM_GetCounter(TIM3)*1.0 - 2000) * ( 360.0/ (2000)) + (count_negative+count_positive + 1) * 360.0;
  return(temp);
}
//定时器3中断函数
void TIM3_IRQHandler(void)
{
  TIM_ClearITPendingBit(TIM3, TIM_FLAG_Update);//清除中断标志位
  if((TIM3->CR1 & 0x0010)==0x0010)//如果计数器是向下计数
count_negative--;
  else//计数器是向上计数
count_positive++;
}