初学STM32，自己看了下编码器接口，写了个简单的码

只看该作者 · 2015-12-14 20:07

看到编码器接口模式，自己尝试写了个代码（读出计数器的累积的脉冲数值，通过串口1打印输出），很不完善，但理解了正交编码器，继续整复杂的控制！求大神给指点，勿藐视。

#include "pbdata.h"
void RCC_Configuration(void);
void GPIO_Configuration(void);
void TIM3_Configuration(void);
void NVIC_Configuration(void);
void USART_Configuration(void);
int fputc(int ch,FILE *f)
{
   USART_SendData(USART1,(u8)ch);
   while(USART_GetFlagStatus(USART1,USART_FLAG_TXE)==RESET);
   return ch;
}
int main(void)
{
   u16 data;
   RCC_Configuration();//系统时钟初始化
   GPIO_Configuration();//端口初始化
   USART_Configuration();//串口配置
   NVIC_Configuration();//优先级配置函数
   TIM3_Configuration();//定时器及编码器设置
   while(1)
      {
            data=TIM_GetCounter(TIM3);
            printf("计数器的值为：data=%d\r\n",data);
            delay_ms(1000);
            delay_ms(1000);
            delay_ms(1000);
      }

}
void RCC_Configuration(void)
{
      SystemInit();//72MHz
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
}

void GPIO_Configuration(void)
{
   GPIO_InitTypeDef GPIO_InitStructure;
   //TX
   GPIO_InitStructure.GPIO_Pin=GPIO_Pin_9;
   GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
   GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
   GPIO_Init(GPIOA,&GPIO_InitStructure);
   //RX
   GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10;
   GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;
   GPIO_Init(GPIOA,&GPIO_InitStructure);
   //增量式正交编码器-使用TIM3的CH1和CH2
   GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7;
   GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;
   GPIO_Init(GPIOA,&GPIO_InitStructure);
}

void TIM3_Configuration(void)
{
   TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
   TIM_ICInitTypeDef TIM_ICInitStructure;

   TIM_TimeBaseStructure.TIM_Period = 0xffff; //初值
   TIM_TimeBaseStructure.TIM_Prescaler = 0x0; //预分频
   TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上
   TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
   //编码器设置
   TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
   TIM_ICStructInit(&TIM_ICInitStructure);
   TIM_ICInitStructure.TIM_ICFilter = 10;
   TIM_ICInit(TIM3,&TIM_ICInitStructure);
   TIM3->CNT = RESET;
   TIM_Cmd(TIM3,ENABLE);
}

void NVIC_Configuration(void)
{
   NVIC_InitTypeDef NVIC_InitStructure;
   NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
   NVIC_InitStructure.NVIC_IRQChannel=USART1_IRQn;
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0; //抢占优先级
   NVIC_InitStructure.NVIC_IRQChannelSubPriority=1; //响应优先级
   NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;    //使能
   NVIC_Init(&NVIC_InitStructure); //初始化

   NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
   NVIC_Init(&NVIC_InitStructure);

}
void USART_Configuration(void)
{
   USART_InitTypeDef USART_InitStructure;
   USART_InitStructure.USART_BaudRate=9600; //配置波特率
   USART_InitStructure.USART_WordLength=USART_WordLength_8b;//配置数据位
   USART_InitStructure.USART_StopBits=USART_StopBits_1;//停止位
   USART_InitStructure.USART_Parity=USART_Parity_No;//96N81格式无奇偶校验
   USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;//无硬件流控制
   USART_InitStructure.USART_Mode=USART_Mode_Rx|USART_Mode_Tx;//打开接收发射使能
   USART_Init(USART1, &USART_InitStructure);
   USART_ITConfig(USART1,USART_IT_RXNE,ENABLE);//打开接收中断，每接收一个产生一次中断
   USART_Cmd(USART1,ENABLE);
   USART_ClearFlag(USART1,USART_FLAG_TC);
}