定时器编码器模式问题求解

只看该作者 · 2018-7-16 10:22

我用的是 STM32F407VET6核心板
想用定时器的编码器模式测增量AB式编码器的速度编码器为5V 供电在配置完之后发现没有反馈希望大神能帮我看看代码谢啦。。

//前左的编码器初始化 //****** PA0 TIM5_CH1 PA1 TIM5_CH2****** //
void ENC_Init(void)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;

/* Encoder unit connected to TIM5, 4X mode */
  GPIO_InitTypeDef GPIO_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

  /* TIM4 clock source enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
  /* Enable GPIOD, clock */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

  GPIO_StructInit(&GPIO_InitStructure);       //将GPIO_InitStruct中的参数按缺省值输入
  /* Configure PD.12,13 as encoder input */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0| GPIO_Pin_1;    //
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
  GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_NOPULL;                      // 输入浮空
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  /* Enable the TIM3 Update Interrupt */
  NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  /* Timer configuration in Encoder mode */
  TIM_DeInit(ENCODER_Q1);
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

  TIM_TimeBaseStructure.TIM_Prescaler = 0x0;  //                                        No prescaling
  TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1;
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(ENCODER_Q1, &TIM_TimeBaseStructure);

  TIM_EncoderInterfaceConfig(ENCODER_Q1, TIM_EncoderMode_TI12,
                           TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge);                                  //  ???

  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;                                                 // 什么作用
  TIM_ICInit(ENCODER_Q1, &TIM_ICInitStructure);

// Clear all pending interrupts
  TIM_ClearFlag(ENCODER_Q1, TIM_FLAG_Update);
  TIM_ITConfig(ENCODER_Q1, TIM_IT_Update, ENABLE);
  //Reset counter
  TIM5->CNT = COUNTER_RESET;

  TIM_Cmd(ENCODER_Q1, ENABLE);

}

void TIM5_IRQHandler(void) // 轮胎完成一圈旋转
{
  /* Clear the interrupt pending flag */
  TIM_ClearFlag(ENCODER_Q1, TIM_FLAG_Update);

}

int speedMeasure2()
{
      int count;

      TIM5->CNT = COUNTER_RESET;
      TIM_Cmd(TIM5, ENABLE);
      delay_ms(100);       // 100ms
      count = TIM5->CNT;
      TIM_Cmd(TIM5, DISABLE);

      count = count - COUNTER_RESET;
      return count;//返回负数，直接表示反转了
}

main（）
{
其他的函数略。。
  void ENC_Init(void)；
while(1)
      {

            delay_ms(100);
            FeedBack_Count=speedMeasure2();
            OLED_ShowNum(10,40,FeedBack_Count,5,12);
            OLED_Refresh_Gram();//更新显示到OLED
      }
}

定时器编码器模式问题求解

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