MotorPid/仿真/code/HARDWARE/ENCODER/encoder.c

#include "encoder.h"
#include "stm32f10x_gpio.h"
  /**************************************************************************
<EFBFBD><EFBFBD><EFBFBD>ߣ<EFBFBD>ƽ<EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD>
<EFBFBD>ҵ<EFBFBD><EFBFBD>Ա<EFBFBD>С<EFBFBD>꣺http://shop114407458.taobao.com/
**************************************************************************/
/**************************************************************************
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>TIM2<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>ģʽ
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
void Encoder_Init_TIM2(void)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
  TIM_ICInitTypeDef TIM_ICInitStructure;  
  GPIO_InitTypeDef GPIO_InitStructure;
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//ʹ<EFBFBD>ܶ<EFBFBD>ʱ<EFBFBD><EFBFBD>4<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//ʹ<EFBFBD><EFBFBD>PB<EFBFBD>˿<EFBFBD>ʱ<EFBFBD><EFBFBD>
	
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;	//<EFBFBD>˿<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  GPIO_Init(GPIOA, &GPIO_InitStructure);					      //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>GPIOB
  
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
  TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // Ԥ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD> 
  TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //<EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>װֵ
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//ѡ<EFBFBD><EFBFBD>ʱ<EFBFBD>ӷ<EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM<EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD><EFBFBD><EFBFBD>  
  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
  TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//ʹ<EFBFBD>ñ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ3
  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 10;
  TIM_ICInit(TIM2, &TIM_ICInitStructure);
  TIM_ClearFlag(TIM2, TIM_FLAG_Update);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIM<EFBFBD>ĸ<EFBFBD><EFBFBD>±<EFBFBD>־λ
  TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
  //Reset counter
  TIM_SetCounter(TIM2,0);
  TIM_Cmd(TIM2, ENABLE); 
}
/**************************************************************************
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>TIM4<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>ģʽ
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
void Encoder_Init_TIM4(void)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
  TIM_ICInitTypeDef TIM_ICInitStructure;  
  GPIO_InitTypeDef GPIO_InitStructure;
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//ʹ<EFBFBD>ܶ<EFBFBD>ʱ<EFBFBD><EFBFBD>4<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//ʹ<EFBFBD><EFBFBD>PB<EFBFBD>˿<EFBFBD>ʱ<EFBFBD><EFBFBD>
	
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;	//<EFBFBD>˿<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  GPIO_Init(GPIOB, &GPIO_InitStructure);					      //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>GPIOB
  
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
  TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // Ԥ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD> 
  TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //<EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>װֵ
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//ѡ<EFBFBD><EFBFBD>ʱ<EFBFBD>ӷ<EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM<EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD><EFBFBD><EFBFBD>  
  TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
  TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//ʹ<EFBFBD>ñ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ3
  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 10;
  TIM_ICInit(TIM4, &TIM_ICInitStructure);
  TIM_ClearFlag(TIM4, TIM_FLAG_Update);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIM<EFBFBD>ĸ<EFBFBD><EFBFBD>±<EFBFBD>־λ
  TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
  //Reset counter
  TIM_SetCounter(TIM4,0);
  TIM_Cmd(TIM4, ENABLE); 
}

/**************************************************************************
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>λʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ֵ
**************************************************************************/
int Read_Encoder(u8 TIMX)
{
    int Encoder_TIM;    
   switch(TIMX)
	 {
	   case 2:  Encoder_TIM= (short)TIM2 -> CNT;  TIM2 -> CNT=0;break;
		 case 3:  Encoder_TIM= (short)TIM3 -> CNT;  TIM3 -> CNT=0;break;	
		 case 4:  Encoder_TIM= (short)TIM4 -> CNT;  TIM4 -> CNT=0;break;	
		 default:  Encoder_TIM=0;
	 }
		return Encoder_TIM;
}
/**************************************************************************
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD>TIM4<EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
void TIM4_IRQHandler(void)
{ 		    		  			    
	if(TIM4->SR&0X0001)//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
	{    				   				     	    	
	}				   
	TIM4->SR&=~(1<<0);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־λ 	    
}
/**************************************************************************
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD>TIM2<EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
void TIM2_IRQHandler(void)
{ 		    		  			    
	if(TIM2->SR&0X0001)//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
	{    				   				     	    	
	}				   
	TIM2->SR&=~(1<<0);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־λ 	    
}