双通道输入捕获无法捕获编码器全部脉冲，正转反转都差一些

舒志远 · 发表于 2019-8-6 00:07:41

正在调试平衡车，用到了两个编码器，用到输出捕获捕获脉冲数，单相输出390，四倍频1560，其中一个编码器用旋转大约一周捕获1200左右（用TIM2捕获）脉冲，但是另一个只能捕获600左右（用TIM4捕获），初以为是编码器的问题，后来改变捕获通道发现是捕获通道的问题。不知道大家是怎样解决的？

正点原子 · 发表于 2019-8-6 01:47:58

帮顶

舒志远 · 发表于 2019-8-6 07:27:37

正点原子发表于 2019-8-6 01:47
帮顶

谢谢

舒志远 · 发表于 2019-8-6 07:28:39

初始化代码
void TIM2_init(unsigned short arr,unsigned short psc)
{
GPIO_InitTypeDef GPIO_ITD;
TIM_TimeBaseInitTypeDef TIM_TBITD;
TIM_ICInitTypeDef TIM_ICITD;
NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);

GPIO_ITD.GPIO_Pin=GPIO_Pin_0|GPIO_Pin_1; //PA0-CH1 PA1-CH2
GPIO_ITD.GPIO_Mode=GPIO_Mode_IPD;
GPIO_Init(GPIOA,&GPIO_ITD);

TIM_ICStructInit(&TIM_ICITD); //给结构体以默认值防止GG

TIM_TBITD.TIM_Period=arr;
TIM_TBITD.TIM_Period=psc;
TIM_TBITD.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TBITD.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2,&TIM_TBITD);

TIM_ICITD.TIM_Channel=TIM_Channel_1;
TIM_ICITD.TIM_ICFilter=0; //通过再以次捕获条件中通过多次采样来滤除杂波
TIM_ICITD.TIM_ICPolarity=TIM_ICPolarity_Rising;
TIM_ICITD.TIM_ICPrescaler=TIM_ICPSC_DIV1;
TIM_ICITD.TIM_ICSelection=TIM_ICSelection_DirectTI;
TIM_ICInit(TIM2,&TIM_ICITD);

TIM_ICITD.TIM_Channel=TIM_Channel_2;
TIM_ICInit(TIM2,&TIM_ICITD);

NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;
NVIC_Init(&NVIC_InitStructure);

TIM_ITConfig(TIM2,TIM_IT_Update|TIM_IT_CC1|TIM_IT_CC2,ENABLE);

TIM_Cmd(TIM2,ENABLE);//使能寄存器

}

void TIM4_init(unsigned short arr,unsigned short psc)
{
GPIO_InitTypeDef GPIO_ITD;
TIM_TimeBaseInitTypeDef TIM_TBITD;
TIM_ICInitTypeDef TIM_ICITD;
NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);

GPIO_ITD.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7; //PA0-CH1 PA1-CH2
GPIO_ITD.GPIO_Mode=GPIO_Mode_IPD;
GPIO_Init(GPIOB,&GPIO_ITD);

TIM_ICStructInit(&TIM_ICITD); //给结构体以默认值防止GG

TIM_TBITD.TIM_Period=arr;
TIM_TBITD.TIM_Period=psc;
TIM_TBITD.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TBITD.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM4,&TIM_TBITD);

TIM_ICITD.TIM_Channel=TIM_Channel_1;
TIM_ICITD.TIM_ICFilter=0; //通过再以次捕获条件中通过多次采样来滤除杂波
TIM_ICITD.TIM_ICPolarity=TIM_ICPolarity_Rising;
TIM_ICITD.TIM_ICPrescaler=TIM_ICPSC_DIV1;
TIM_ICITD.TIM_ICSelection=TIM_ICSelection_DirectTI;
TIM_ICInit(TIM4,&TIM_ICITD);

TIM_ICITD.TIM_Channel=TIM_Channel_2;
TIM_ICInit(TIM4,&TIM_ICITD);

NVIC_InitStructure.NVIC_IRQChannel=TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;
NVIC_Init(&NVIC_InitStructure);

TIM_ITConfig(TIM4,TIM_IT_Update|TIM_IT_CC1|TIM_IT_CC2,ENABLE);

TIM_Cmd(TIM4,ENABLE);//使能寄存器
}