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发表于 2015-10-26 16:40:07
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 是的，我的只有AB两相。
我得电路板是F4 的，下图1 是我得IO口代码配置
void Encoder_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
unsigned short PrescalerValue =100*4-1;
/* Encoder unit connected to TIM4, 4X mode */
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM3 clock source enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Enable GPIOB, clock */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB|RCC_AHB1Periph_GPIOA, ENABLE);
/* Configure PB.06,07 as encoder input */
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
// //GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
// GPIO_Init(GPIOB, &GPIO_InitStructure);
//GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
//GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
//GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
//GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
//GPIO_Init(GPIOB, &GPIO_InitStructure);
// GPIO_PinAFConfig(GPIOB,GPIO_Pin_6,GPIO_AF_TIM4);
// GPIO_PinAFConfig(GPIOB,GPIO_Pin_7,GPIO_AF_TIM4);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 ;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 ;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_Pin_6,GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB,GPIO_Pin_5,GPIO_AF_TIM3);
/* Enable the TIM3 Update Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMX_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMX_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Compute the prescaler value 1MHz*/
//????=1000000 /10 /2 =50kHz 10us ????????
#if 0
/* Time base configuration */
TIM_DeInit(TIM3);
//TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 10;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
/* Prescaler configuration */
TIM_PrescalerConfig(TIM4, PrescalerValue, TIM_PSCReloadMode_Immediate);
/* TIM Interrupts enable */
#else
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 1333;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
#endif
//?¨??????
TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI1,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
//??·???????
//??????TIM4???????????? TIM_ICStructInit(&TIM_ICInitStructure)
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICX_FILTER;
TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);
TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);
TIM_ITConfig(TIM3,TIM_IT_Update, ENABLE);
//Reset counter
TIM3->CNT = COUNTER_RESET;
TIM_Cmd(TIM3, ENABLE);
Count=TIM3->CNT;
}
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楼主
楼主很不错。榜样。最近我也在搞增量式编码器的计数，你有没有搞过伺服电机的PWM控制呢？
，参考大神代码。
