STM32编码器模式，编码器测脉冲

吃咯 · 发表于 2015-5-26 10:06:36

小弟最近在学习编码器，看了论坛关于编码器的帖子，写出了程序
但是屏幕一直显示0。。调试的时候，一直无法进入中断。。。现在把程序发上来，求助各位高手。。

编码器程序

[mw_shl_code=c,true]/* Includes ------------------------------------------------------------------*/ #include "stm32f10x.h" #include "stm32f10x_encoder.h" #include "lcd.h" #include <stdio.h> extern u16 v_counter; extern float v; /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ #define ENCODER_TIMER TIM3 // Encoder unit connected to TIM3 #define ENCODER_PPR (u16)(400) // number of pulses per revolution #define SPEED_BUFFER_SIZE 8 #define COUNTER_RESET (u16)0 #define ICx_FILTER (u8) 6 // 6<-> 670nsec //设定滤波值 /******************************************************************************* 正交编码器接口的初始化，Timer3驱动编码器 * Function Name : ENC_Init * Description : General Purpose Timer x set-up for encoder speed/position * sensors * Input : None * Output : None * Return : None *******************************************************************************/ void Encoder_Init(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; /* Encoder unit connected to TIM3, 4X mode */ GPIO_InitTypeDef GPIO_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; /* TIM3 clock source enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);;//使能TIM3时钟 /* Enable GPIOA, clock */ //串口时钟使能 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能GPIOA时钟 GPIO_StructInit(&GPIO_InitStructure); /* Configure PA.06,07 as encoder input */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//PA6 PA7浮空输入 GPIO_Init(GPIOA, &GPIO_InitStructure); // 初始化 PA6 PA7 /* Enable the TIM3 Update Interrupt */ /*设置编码器溢出中断*/ /*中断频道*/ NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM3中断 /*中断一级优先级设置*/ NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //先占优先级1级 /*中断二级优先级设置*/ NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级0级 /*中断使能*/ NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能 /*设置赋值*/ NVIC_Init(&NVIC_InitStructure); //初始化NVIC寄存器 /* Timer configuration in Encoder mode */ TIM_DeInit(ENCODER_TIMER); TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); /*不需要任何预分频*/ //Tout=(arr+1)*(psc+1)/Tclk； TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1; //设定计数器重装值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割 T_dts = T_ck_int TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数 TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure); /*设置为编码器模式*/ TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3 TIM_ICStructInit(&TIM_ICInitStructure); /*filter设置*/ TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER; //选择输入比较滤波器 /*TIM_ICFilter选择输入比较滤波器。该参数取值在0x0和0xF之间*/ TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure); /*清楚中断标志位*/ TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update); /*开启编码器溢出中断*/ TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE); //Reset counter /*复位编码器*/ ENCODER_TIMER->CNT = COUNTER_RESET; /*使能编码器*/ //允许TIM3工作，也就是使能TIM3 TIM_Cmd(ENCODER_TIMER, ENABLE); //使能TIMx } /******************************************************************************* Timer3的Update中断处理程序 * Function Name : TIM3_IRQHandler * Description : This function handles TIMx Update interrupt request. Encoder unit connected to TIM2 * Input : None * Output : None * Return : None *******************************************************************************/ /*中断溢出处理（测速）*/ void TIM3_IRQHandler(void) //TIM3中断 { if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源 { TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源 v_counter=TIM_GetCounter(TIM3); TIM_SetCounter(TIM3, 0); v=(float)v_counter*120/400; //定时为0.5s v_counter=v; } }[/mw_shl_code]

主程序

[mw_shl_code=c,true]u16 v=0; u16 v_counter=0; int main(void) { delay_init(72); //延时函数初始化 uart_init(9600); //串口初始化为9600 NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级 SystemInit(); Encoder_Init(); LCD_Init(); //初始化LCD屏 delay_ms(100); while(1) { LCD_ShowxNum(20,40, v,2,16,0); } }[/mw_shl_code]