编码器模式没有反应，这是为什么呢

邵茂峰 · 发表于 2019-9-28 11:03:03

#include "timer.h"
#include "led.h"
#include "delay.h"
TIM_HandleTypeDef TIM3_Handler;       //定时器3PWM句柄
TIM_OC_InitTypeDef TIM3_CH4Handler;       //定时器3通道4句柄
long Interupt_Num=0 ;
long Pulse_Num =0 ;
float Circle_NUm =0;
//TIM3 PWM部分初始化
//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void TIM3_PWM_Init(u16 arr,u16 psc)
{
TIM3_Handler.Instance=TIM3;          //定时器3
TIM3_Handler.Init.Prescaler=psc;    //定时器分频
TIM3_Handler.Init.CounterMode=TIM_COUNTERMODE_UP;//向上计数模式
TIM3_Handler.Init.Period=arr;       //自动重装载值
TIM3_Handler.Init.ClockDivision=TIM_CLOCKDIVISION_DIV1;
HAL_TIM_PWM_Init(&TIM3_Handler);    //初始化PWM

TIM3_CH4Handler.OCMode=TIM_OCMODE_PWM1; //模式选择PWM1
TIM3_CH4Handler.Pulse=arr/2;          //设置比较值,此值用来确定占空比，默认比较值为自动重装载值的一半,即占空比为50%
TIM3_CH4Handler.OCPolarity=TIM_OCPOLARITY_LOW; //输出比较极性为低
HAL_TIM_PWM_ConfigChannel(&TIM3_Handler,&TIM3_CH4Handler,TIM_CHANNEL_4);//配置TIM3通道4
HAL_TIM_PWM_Start(&TIM3_Handler,TIM_CHANNEL_4);//开启PWM通道4
}

//定时器底层驱动，时钟使能，引脚配置
//此函数会被HAL_TIM_PWM_Init()调用
//htim:定时器句柄
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_Initure;
__HAL_RCC_TIM3_CLK_ENABLE(); //使能定时器3
__HAL_RCC_GPIOB_CLK_ENABLE(); //开启GPIOB时钟

GPIO_Initure.Pin=GPIO_PIN_1;            //PB1
GPIO_Initure.Mode=GPIO_MODE_AF_PP;    //复用推挽输出
GPIO_Initure.Pull=GPIO_PULLUP;       //上拉
GPIO_Initure.Speed=GPIO_SPEED_HIGH;    //高速
GPIO_Initure.Alternate= GPIO_AF2_TIM3; //PB1复用为TIM3_CH4
HAL_GPIO_Init(GPIOB,&GPIO_Initure);
}

//设置TIM通道4的占空比
//compare:比较值
void TIM_SetTIM3Compare4(u32 compare)
{
TIM3->CCR4=compare;
}

TIM_HandleTypeDef TIM4_Handler;    //定时器句柄
TIM_Encoder_InitTypeDef TIM4_Encoder_Handler;
void TIM4_Init(u16 arr,u16 psc)
{
TIM4_Handler.Instance=TIM4;
TIM4_Handler.Init.Prescaler=0x0;                   //分频系数
TIM4_Handler.Init.CounterMode=TIM_COUNTERMODE_UP; //向上计数器
TIM4_Handler.Init.Period=3600;                      //自动装载值
TIM4_Handler.Init.ClockDivision=TIM_CLOCKDIVISION_DIV1;//时钟分频银子

TIM4_Encoder_Handler.EncoderMode=TIM_ENCODERMODE_TI12;
TIM4_Encoder_Handler.IC1Filter=0;
TIM4_Encoder_Handler.IC1Polarity=TIM_ICPOLARITY_RISING;
TIM4_Encoder_Handler.IC1Prescaler=TIM_ICPSC_DIV1;
TIM4_Encoder_Handler.IC1Selection=TIM_ICSELECTION_DIRECTTI;

TIM4_Encoder_Handler.IC2Filter=0;
TIM4_Encoder_Handler.IC2Polarity=TIM_ICPOLARITY_RISING;
TIM4_Encoder_Handler.IC2Selection=TIM_ICSELECTION_DIRECTTI;
TIM4_Encoder_Handler.IC2Prescaler=TIM_ICPSC_DIV1;
HAL_TIM_Encoder_Init(&TIM4_Handler,&TIM4_Encoder_Handler);

HAL_TIM_Encoder_Start(&TIM4_Handler,TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start_IT(&TIM4_Handler,TIM_CHANNEL_ALL);//开启中断

__HAL_TIM_ENABLE_IT(&TIM4_Handler,TIM_IT_UPDATE); //使能更新中断
__HAL_TIM_ENABLE(&TIM4_Handler);

   TIM4->CNT=1000;

}

void TIM4_IRQHandler(void)
{
HAL_TIM_IRQHandler(&TIM4_Handler);
}

void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_Initure;
if(htim->Instance==TIM4)
  {
__HAL_RCC_TIM4_CLK_ENABLE();          //使能TIM4时钟
HAL_NVIC_SetPriority(TIM4_IRQn,1,3); //设置中断优先级，抢占优先级1，子优先级3
HAL_NVIC_EnableIRQ(TIM4_IRQn);       //开启ITM4中断
HAL_TIM_Base_Start_IT(&TIM4_Handler); //使能定时器4和定时器4更新中断：TIM_IT_UPDATE

__HAL_RCC_GPIOD_CLK_ENABLE(); //开启GPIOD时钟
GPIO_Initure.Pin=GPIO_PIN_12|GPIO_PIN_13;
GPIO_Initure.Mode=GPIO_MODE_INPUT;    //输入
GPIO_Initure.Pull=GPIO_PULLUP;       //上拉
GPIO_Initure.Alternate=GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOD,&GPIO_Initure);
}
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
TIM4->CNT=0;
delay_ms(100);
printf("%d",TIM4->CNT);
}