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標題: stm32光電編碼器例程 [打印本頁]

作者: 亦華 時間: 2019-3-14 12:01
標題: stm32光電編碼器例程
timer.c
int Temp1= 0 ;
int Temp2= 0 ;
u32 encod3 = 0 ;
u32 encod4 = 0 ;

long all3_Count = 0 ;
long all4_Count = 0 ;

void TIM4_Encoder_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef    GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4|RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA, ENABLE);

/*- 正交編碼器輸入引腳 PB->6 PB->7 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);

/*- TIM4編碼器模式配置 -*/
TIM_DeInit(TIM4);
TIM_TimeBaseStructure.TIM_Period =arr;
TIM_TimeBaseStructure.TIM_Prescaler = psc;
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

TIM_EncoderInterfaceConfig(TIM4 , TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);//使用編碼器模式3，上升下降都計數

TIM_ICStructInit(&TIM_ICInitStructure); //配置濾波器
TIM_ICInitStructure.TIM_ICFilter = 8;
TIM_ICInit(TIM4, &TIM_ICInitStructure);

TIM4->CNT =3999;
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
    TIM_ITConfig( TIM4, TIM_IT_Update , ENABLE );

NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;  //TIM4中斷
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure);  //根據NVIC_InitStruct中指定的參數初始化外設NVIC寄存器
TIM_Cmd(TIM4, ENABLE); //啟動TIM4定時器
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
}

void TIM2_Encoder_Init(u16 arr,u16 psc)
{

TIM_ICInitTypeDef  TIM2_ICInitStructure;

GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能TIM2時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);  //使能GPIOA時鐘
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
/*  編碼器引腳初始化，PA-2 和 PA-3*/
GPIO_InitStructure.GPIO_Pin  =  GPIO_Pin_1|GPIO_Pin_0;  //PA2 清除之前設置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

/* 初始化定時器2 TIM2定時器的配置*/
TIM_DeInit(TIM2);
TIM_TimeBaseStructure.TIM_Period = arr; //設定計數器自動重裝值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //預分頻器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //設置時鐘分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上計數模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數單位

TIM_EncoderInterfaceConfig(TIM2 , TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);//使用編碼器模式3，上升下降都計數

TIM_ICStructInit(&TIM2_ICInitStructure); //配置濾波器

// TIM2_ICInitStructure.TIM_Channel = TIM_Channel_3|TIM_Channel_4 ;
// TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1 ;
TIM2_ICInitStructure.TIM_ICFilter = 8;
TIM_ICInit(TIM2, &TIM2_ICInitStructure);

TIM2->CNT =3999;
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
    TIM_ITConfig( TIM2, TIM_IT_Update , ENABLE );

NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;  //TIM4中斷
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure);  //根據NVIC_InitStruct中指定的參數初始化外設NVIC寄存器
TIM_Cmd(TIM2, ENABLE); //啟動TIM4定時器
TIM_ClearFlag(TIM2, TIM_FLAG_Update);

}

void TIM2_IRQHandler(void)
{
if (  TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET )
{

if ( (TIM2->CR1&0x0010)==0 )
{
encod3++ ;
}
else
{
encod3-- ;
}
LED0 = !LED0 ;
}
TIM_ClearITPendingBit(TIM2, TIM_IT_CC1|TIM_IT_Update); //清除中斷標志位

}

void TIM4_IRQHandler()
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
{
if ( (TIM4->CR1&0x0010)==0 )
{
encod4++ ;
}
else
{
encod4-- ;
}
LED1 = !LED1 ;
}
TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
}

main.c
*
定時器4 ：B 接 PB6 , A 接 PB7.面向自己順時針為正， CNT的值增加。
*/
/*
定時器2 ：B 接 PA0 , A 接 PA1.面向自己順時針為正， CNT的值增加。
*/

int main(void)
{
u8 tab = 0;
float all_num4 = 0 ;  //轉過的圈數
float all_num3 = 0 ;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 設置中斷優先級分組2
delay_init();            //延時函數初始化
uart_init(9600);      //9600
LED_Init();
KEY_Init();      //初始化與LED連接的硬件接口

TIM2_Encoder_Init(7999,0);
TIM4_Encoder_Init( 7999 ,0); //以1Mhz的頻率計數，以微秒級別進行捕獲計時
  while(1)
{
///////////定時器4 的參數////////////////////////////
printf("定時器4： %d\r\n" , TIM4->CNT ) ;
if (encod4 ==0 )
all4_Count = TIM4->CNT-3999 ;
else
{
all4_Count = 3999 + (encod4 - 1) *8000 +TIM4->CNT ;
}
all_num4 =  all4_Count/4000.000 ;
printf("encoder4 的值是:%d--捕獲到的總數是%ld*****轉過的圈數是%lf\r\n" , encod4,all4_Count , all_num4 );

///////////定時器2 的參///////////////////////////
printf("定時器2： %d\r\n" , TIM2->CNT ) ;
if (encod3 ==0 )
all3_Count = TIM2->CNT-3999 ;
else
{
all3_Count = 3999 + (encod3 - 1) *8000 +TIM2->CNT ;
}
all_num3 =  all3_Count/4000.000 ;
printf("encoder2 的值是:%d--捕獲到的總數是%ld*****轉過的圈數是%lf\r\n" , encod3 ,all3_Count , all_num3 );

}

}

作者: wangguangyu1234 時間: 2020-1-14 14:13
你用的光電編碼器是什么型號呀

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