STM32的编码器问题

Albert_Wang · 发表于 2016-10-20 20:13:36

本帖最后由 Albert_Wang 于 2016-10-21 19:38 编辑

我的是E6B2的正交编码器，分辨率1000，弄了好几天了，程序反复看了又看改了又改，但是串口反馈回来的数据都不正常

编码器反馈回来的数据

。我并没有转动编码器，反馈回来的数据呈规律向下计数。做了几天了实在弄不好，只能发帖请教大神们。。。感激不尽。[mw_shl_code=c,true]void TIM4_Mode_Config(void)
{
      GPIO_InitTypeDef GPIO_InitStructure;
      TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
      TIM_ICInitTypeDef TIM_ICInitStructure;

      //PB6 ch1  A,PB7 ch2
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能

      GPIO_StructInit(&GPIO_InitStructure);//将结构体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;//浮空输入
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOB, &GPIO_InitStructure);

      NVIC_Config(2);/*此函数为void TIM4_NVIC_Config(NVIC_InitTypeDef NVIC_InitStructure2)
{
      NVIC_InitStructure2.NVIC_IRQChannel = TIM4_IRQn;
      NVIC_InitStructure2.NVIC_IRQChannelPreemptionPriority = 1;//?
      NVIC_InitStructure2.NVIC_IRQChannelSubPriority = 1;//?
      NVIC_InitStructure2.NVIC_IRQChannelCmd = ENABLE;
      NVIC_Init(&NVIC_InitStructure2);
}*/

      TIM_DeInit(TIM4);
      TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
      TIM_TimeBaseStructure.TIM_Period = 10000;  //重装载值
      TIM_TimeBaseStructure.TIM_Prescaler = 0; //分频值
      TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
      TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);


      TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising ,TIM_ICPolarity_Rising);//编码器3模式
      TIM_ICStructInit(&TIM_ICInitStructure);//缺省值输入
      TIM_ICInitStructure.TIM_ICFilter = 6;  //滤波
      TIM_ICInit(TIM4, &TIM_ICInitStructure);
      TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清楚更新标志位
      TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);//运行中断
      TIM4->CNT = 0;

      TIM_Cmd(TIM4, ENABLE); //启用TIM4定时器

}[/mw_shl_code]