新手上路
- 积分
- 21
- 金钱
- 21
- 注册时间
- 2016-3-29
- 在线时间
- 5 小时
|
1金钱
我已stm32的编码器模式测电机编码器输出的脉冲数,电机一圈输出390个脉冲,然后我把定时器3的CNT的值打印到电脑屏幕通过串口也就是变量count,再把进入中断的次数变量n_counter也打印输出
问题是电机我用手稍微拨动一下count要么是0要么是390 ,而n_counter变化很大,我是每间隔1s打印输出一次
下面是程序
u16 n_counter=0;//电机转动的圈数
int main(void)
{
u16 count;//编码器计数
delay_init(); //延时函数初始化
uart_init(115200); //串口初始化为115200
NVIC_Config();
TIM3_Config();//定时器编码器接口初始化
while(1)
{
count = TIM3->CNT/4;//获取计数值
delay_ms(1000);//每隔1s打印一次编码器角度,用手去拨动编码器 使其慢速旋转
printf("count = %d\tn_counter=%d\n",count,n_counter);
}
}
//A(P2)编码器A相-PA6-TIM3_CH1 红 B相-PA7-TIM3_CH2 黄
void TIM3_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//使能TIM3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能GPIOA时钟
GPIO_StructInit(&GPIO_InitStructure);//将GPIO_InitStruct中的参数按缺省值输入
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_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 390*4; //设定计数器重装值 TIMx_ARR = 390*4
TIM_TimeBaseStructure.TIM_Prescaler = 0; //TIM1时钟预分频值
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;//设置时钟分割 T_dts = T_ck_int
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1; //TIM向上计数
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);//使用编码器模式3,上升下降都计数
TIM_ICStructInit(&TIM_ICInitStructure);//将结构体中的内容缺省输入
TIM_ICInitStructure.TIM_ICFilter = 6; //选择输入比较滤波器
TIM_ICInit(TIM3, &TIM_ICInitStructure);//将TIM_ICInitStructure中的指定参数初始化TIM4
TIM_ARRPreloadConfig(TIM3, ENABLE);//使能预装载
TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除TIM3的更新标志位
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);//运行更新中断
//Reset counter
TIM3->CNT = 0;
TIM_Cmd(TIM3, ENABLE); //启动TIM3定时器
}
void NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void TIM3_IRQHandler(void)
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //检查TIM3更新中断发生与否
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //清除TIMx更新中断标志
n_counter++;
}
}
求大神指点一二,,,困扰我好几天了
[img]file:///C:\Users\unique\AppData\Roaming\Tencent\Users\1651796314\QQ\WinTemp\RichOle\}YH}6[M~}NG$G)7TZ87W2)B.png[/img]
|
-
串口调试助手收到的数据
|