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还需要一个外部中断，对Z信号敏感，以清0计数TIM->CNT = 0;附上中断配置代码和中断函数代码
[mw_shl_code=c,true]/*void PA_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
// Configure one bit for preemption priority
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
//配置P[A|B|C|D|E]1为中断源
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
*/
/*
* 函数名：NVIC_Configuration
* 描述 ：配置嵌套向量中断控制器NVIC
* 输入 ：无
* 输出 ：无
* 调用 ：内部调用
*/
void EXTI_PA1_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
/* config the extiline(PA1) clock and AFIO clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA| RCC_APB2Periph_AFIO,ENABLE);
/* config the NVIC(PA1) */
NVIC_Configuration(1);
/* EXTI line gpio config(PA1) */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; // 上拉输入
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* EXTI line(PA1) mode config */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource1);
EXTI_InitStructure.EXTI_Line = EXTI_Line1;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; //下降沿中断
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
}[/mw_shl_code]
NVIC(1)是因为我有多个中断，所以使用条件参数配置
[mw_shl_code=c,true]void USART1_NVIC_Config(NVIC_InitTypeDef NVIC_InitStructure4)
{
NVIC_InitStructure4.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure4.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure4.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure4.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure4);
}
void NVIC_Configuration(int Interrupt_flag)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* 配置中断使用组合2 抢占式2位，响应式2位*/
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
if(Interrupt_flag == 1)
{
/*外部中断1，Z相归零----优先级最高 0 0*/
PA_NVIC_Configuration(NVIC_InitStructure);
}
if(Interrupt_flag == 2)
{
/*TIM3中断，编码器解码----优先级 1 1*/
TIM3_NVIC_Config(NVIC_InitStructure);
}
if(Interrupt_flag == 3)
{
/*TIM2中断，数据帧接收完毕判断----优先级 2 2*/
TIM2_NVIC_Config(NVIC_InitStructure);
}
if(Interrupt_flag == 4)
{
/* USART1中断，数据接收----优先级 3 3*/
USART1_NVIC_Config(NVIC_InitStructure);
}
}[/mw_shl_code]
[mw_shl_code=c,true]void PA_NVIC_Configuration(NVIC_InitTypeDef NVIC_InitStructure1)
{
NVIC_InitStructure1.NVIC_IRQChannel = EXTI1_IRQn;
NVIC_InitStructure1.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure1.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure1.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure1);
}[/mw_shl_code]
最后是中断处理函数，比较简单
[mw_shl_code=c,true]void EXTI1_IRQHandler(void)
{
GPIO_WriteBit(GPIOF, GPIO_Pin_8,
(BitAction)((1-GPIO_ReadOutputDataBit(GPIOF, GPIO_Pin_8))));
TIM3->CNT = 0;
EXTI_ClearITPendingBit(EXTI_Line1);
}[/mw_shl_code]
至此，我的编码器模块就完成了。还是那句话花点时间总归是有点收获的！
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|手机版|OpenEdv-开源电子网
( 粤ICP备12000418号-1 )
发表于 2014-7-22 10:35:19
SC = psc;//预分频器不分频
TIM4->CCR1 = arr/2; //占空比为50%
count_val=count-1; //脉冲输出个数
TIM4->CCMR1 |= 7<<4; //CH1 PWM2模式
TIM4->CCMR1 |= 1<<3; //CH1预装载使能
TIM4->CCER |= 1<<0; //TIM4 OC1 PB6 输出使能
TIM4->DIER|=1<<0; //允许更新中断
TIM4->DIER|=1<<6; //允许触发中断
TIM4->EGR |=1<<1; //允许产生比较捕获事件
MY_NVIC_Init(1,3,TIM4_IRQChannel,2);//抢占1，子优先级3，组2
TIM4->CR1 |= 0x0080; //ARPE使能
TIM4->CR1 |= 0x0001; //使能定时器4
TIM4->CCMR1 |= 7<<4; //CH1 PWM2模式
TIM4->CCMR1 |= 1<<3; //CH1预装载使能
TIM4->CR1 |= 0x0080; //ARPE使能
TIM4->CR1 |= 0x0001; //使能定时器3
}
void TIM4_IRQHandler(void)
{
if(TIM4->SR&0X0001)//产生更新中断
{
count++;
if(count==count_val)
{
TIM4->CR1&=~(0x01); //CEN=0，禁止定时器3
count=0;
}
}
TIM4->SR&=~(1<<0);//清除中断标志位
}
void Encoder_Init(void)
{
/* TIM3 clock source enable */
RCC->APB1ENR|=1<<1; //TIM3时钟使能
/* Enable GPIOA, clock */
RCC->APB2ENR|=1<<2; //使能PORTA时钟
/* Configure PA.06,07 as encoder input */
GPIOA->CRL&=0XF0FFFFFF;//PA6
GPIOA->CRL|=0X04000000;//浮空输入
GPIOA->CRL&=0X0FFFFFFF;//PA7
GPIOA->CRL|=0X40000000;//浮空输入
/* Enable the TIM3 Update Interrupt */
//这两个东东要同时设置才可以使用中断
TIM3->DIER|=1<<0; //允许更新中断
TIM3->DIER|=1<<6; //允许触发中断
MY_NVIC_Init(1,3,TIM3_IRQChannel,2);
/* Timer configuration in Encoder mode */
TIM3->
楼主
发表于 2014-7-23 00:05:32
