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115 lines
4.6 KiB
115 lines
4.6 KiB
#include "encoder.h" |
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#include "stm32f10x_gpio.h" |
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/************************************************************************** |
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作者：平衡小车之家 |
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我的淘宝小店：http://shop114407458.taobao.com/ |
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**************************************************************************/ |
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/************************************************************************** |
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函数功能：把TIM2初始化为编码器接口模式 |
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入口参数：无 |
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返回 值：无 |
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**************************************************************************/ |
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void Encoder_Init_TIM2(void) |
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{ |
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; |
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TIM_ICInitTypeDef TIM_ICInitStructure; |
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GPIO_InitTypeDef GPIO_InitStructure; |
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定时器4的时钟 |
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PB端口时钟 |
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置 |
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 |
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GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOB |
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); |
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TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 |
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TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值 |
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频 |
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数 |
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TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); |
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TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3 |
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TIM_ICStructInit(&TIM_ICInitStructure); |
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TIM_ICInitStructure.TIM_ICFilter = 10; |
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TIM_ICInit(TIM2, &TIM_ICInitStructure); |
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TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位 |
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TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); |
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//Reset counter |
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TIM_SetCounter(TIM2,0); |
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TIM_Cmd(TIM2, ENABLE); |
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} |
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/************************************************************************** |
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函数功能：把TIM4初始化为编码器接口模式 |
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入口参数：无 |
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返回 值：无 |
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**************************************************************************/ |
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void Encoder_Init_TIM4(void) |
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{ |
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; |
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TIM_ICInitTypeDef TIM_ICInitStructure; |
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GPIO_InitTypeDef GPIO_InitStructure; |
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟 |
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟 |
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置 |
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 |
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GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB |
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); |
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TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 |
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TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值 |
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频 |
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数 |
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TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); |
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TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3 |
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TIM_ICStructInit(&TIM_ICInitStructure); |
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TIM_ICInitStructure.TIM_ICFilter = 10; |
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TIM_ICInit(TIM4, &TIM_ICInitStructure); |
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TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位 |
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TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); |
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//Reset counter |
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TIM_SetCounter(TIM4,0); |
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TIM_Cmd(TIM4, ENABLE); |
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} |
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/************************************************************************** |
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函数功能：单位时间读取编码器计数 |
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入口参数：定时器 |
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返回 值：速度值 |
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**************************************************************************/ |
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int Read_Encoder(u8 TIMX) |
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{ |
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int Encoder_TIM; |
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switch(TIMX) |
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{ |
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case 2: Encoder_TIM= (short)TIM2 -> CNT; TIM2 -> CNT=0;break; |
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case 3: Encoder_TIM= (short)TIM3 -> CNT; TIM3 -> CNT=0;break; |
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case 4: Encoder_TIM= (short)TIM4 -> CNT; TIM4 -> CNT=0;break; |
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default: Encoder_TIM=0; |
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} |
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return Encoder_TIM; |
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} |
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/************************************************************************** |
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函数功能：TIM4中断服务函数 |
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入口参数：无 |
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返回 值：无 |
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**************************************************************************/ |
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void TIM4_IRQHandler(void) |
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{ |
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if(TIM4->SR&0X0001)//溢出中断 |
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{ |
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} |
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TIM4->SR&=~(1<<0);//清除中断标志位 |
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} |
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/************************************************************************** |
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函数功能：TIM2中断服务函数 |
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入口参数：无 |
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返回 值：无 |
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**************************************************************************/ |
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void TIM2_IRQHandler(void) |
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{ |
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if(TIM2->SR&0X0001)//溢出中断 |
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{ |
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} |
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TIM2->SR&=~(1<<0);//清除中断标志位 |
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} |
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