由于芯片行业局势动荡，目前公司好多产品开始考虑应用国产芯片替代，目前拿到中电的送样GD32F470VGT6进行驱动移植，在移植过程中都很顺利，唯独在定时器的编码模式出现一些小插曲，耽误了我两天时间。以下将针对调试过程和最终结果来详细介绍如何在GD32F4XX中正确应用定时器编码模式。
首先带大家看一下ST32F4XX的定时器编码模式驱动：
1）定时器通道引脚初始化
<div>void Coder_PinConfig(TIM_TypeDef* pTimPort)</div><div>{</div><div><span style="white-space:pre"> </span>GPIO_InitTypeDef GPIO_InitStructure;</div><div><span style="white-space:pre"> </span>if(pTimPort == TIM3)</div><div><span style="white-space:pre"> </span>{</div><div><span style="white-space:pre"> </span>RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);</div><div><span style="white-space:pre"> </span>RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD,ENABLE); //TIM4,GPIOC,GPIOD时钟使能</div><div><span style="white-space:pre"> </span>GPIO_PinAFConfig(GPIOC,GPIO_PinSource6, GPIO_AF_TIM3); //GPIOD6复用为TIM3_CH1,GPIOD7复用为TIM3_CH2</div><div> GPIO_PinAFConfig(GPIOC,GPIO_PinSource7, GPIO_AF_TIM3);</div><div><span style="white-space:pre"> </span></div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;</div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; <span style="white-space:pre"> </span></div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;<span style="white-space:pre"> </span> //无上下拉</div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;<span style="white-space:pre"> </span></div><div><span style="white-space:pre"> </span>GPIO_Init(GPIOC, &GPIO_InitStructure); </div><div>
</div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //key:GPIO_Pin_9;</div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;</div><div><span style="white-space:pre"> </span>GPIO_Init(GPIOC, &GPIO_InitStructure); </div><div><span style="white-space:pre"> </span>}</div><div><span style="white-space:pre"> </span>else if(pTimPort == TIM4)</div><div><span style="white-space:pre"> </span>{</div><div><span style="white-space:pre"> </span>RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);</div><div><span style="white-space:pre"> </span>RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD,ENABLE); //TIM4,GPIOC,GPIOD时钟使能</div><div><span style="white-space:pre"> </span>GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4); //GPIOD12复用为TIM4_CH1,GPIOD13复用为TIM4_CH2</div><div><span style="white-space:pre"> </span>GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4);</div><div> </div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13; //key:GPIO_Pin_11;</div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; <span style="white-space:pre"> </span> </div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;<span style="white-space:pre"> </span> //无上下拉</div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;<span style="white-space:pre"> </span> </div><div><span style="white-space:pre"> </span>GPIO_Init(GPIOD, &GPIO_InitStructure);</div><div><span style="white-space:pre"> </span></div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //key:GPIO_Pin_8;</div><div><span style="white-space:pre"> </span>GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;</div><div><span style="white-space:pre"> </span>GPIO_Init(GPIOC, &GPIO_InitStructure); <span style="white-space:pre"> </span></div><div><span style="white-space:pre"> </span>} </div><div>}</div>
void Drv_CoderConfig(TIM_TypeDef* pTimPort,uint16 CoderType)
{
TIM_ICInitTypeDef TIM_ICInitStructure;
if(pTimPort == TIM1)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
}
else if(pTimPort == TIM2)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
}
else if(pTimPort == TIM3)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
}
else if(pTimPort == TIM4)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
}
else if(pTimPort == TIM8)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
}
//配置编码器模式触发源和极性 Falling 反向 1 Rising 不反向 0
TIM_EncoderInterfaceConfig(pTimPort, TIM_EncoderMode_TI1, CoderType,
TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure); //配置滤波器
TIM_ICInitStructure.TIM_ICFilter = 6;
TIM_ICInit(pTimPort, &TIM_ICInitStructure);
TIM_SetCounter(pTimPort,DRV_CODER_CNT_MIDDLE);
TIM_Cmd(pTimPort, ENABLE);
}
1）void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode,uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity)函数分析
/**
* [url=home.php?mod=space&uid=247401]@brief[/url] Configures the TIMx Encoder Interface.
* @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9 or 12 to select the TIM
* peripheral.
* @param TIM_EncoderMode: specifies the TIMx Encoder Mode.
* This parameter can be one of the following values:
* [url=home.php?mod=space&uid=2817080]@ARG[/url] TIM_EncoderMode_TI1: Counter counts on TI1FP1 edge depending on TI2FP2 level.
* @arg TIM_EncoderMode_TI2: Counter counts on TI2FP2 edge depending on TI1FP1 level.
* @arg TIM_EncoderMode_TI12: Counter counts on both TI1FP1 and TI2FP2 edges depending
* on the level of the other input.
* @param TIM_IC1Polarity: specifies the IC1 Polarity
* This parameter can be one of the following values:
* @arg TIM_ICPolarity_Falling: IC Falling edge.
* @arg TIM_ICPolarity_Rising: IC Rising edge.
* @param TIM_IC2Polarity: specifies the IC2 Polarity
* This parameter can be one of the following values:
* @arg TIM_ICPolarity_Falling: IC Falling edge.
* @arg TIM_ICPolarity_Rising: IC Rising edge.
* @retval None
*/
void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode,
uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity)
{
uint16_t tmpsmcr = 0;
uint16_t tmpccmr1 = 0;
uint16_t tmpccer = 0;
/* Check the parameters */
assert_param(IS_TIM_LIST2_PERIPH(TIMx));
assert_param(IS_TIM_ENCODER_MODE(TIM_EncoderMode));
assert_param(IS_TIM_IC_POLARITY(TIM_IC1Polarity));
assert_param(IS_TIM_IC_POLARITY(TIM_IC2Polarity));
/* Get the TIMx SMCR register value */
tmpsmcr = TIMx->SMCR;
/* Get the TIMx CCMR1 register value */
tmpccmr1 = TIMx->CCMR1;
/* Get the TIMx CCER register value */
tmpccer = TIMx->CCER;
/* Set the encoder Mode */
tmpsmcr &= (uint16_t)~TIM_SMCR_SMS;
tmpsmcr |= TIM_EncoderMode;
/* Select the Capture Compare 1 and the Capture Compare 2 as input */
tmpccmr1 &= ((uint16_t)~TIM_CCMR1_CC1S) & ((uint16_t)~TIM_CCMR1_CC2S);
tmpccmr1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
/* Set the TI1 and the TI2 Polarities */
tmpccer &= ((uint16_t)~TIM_CCER_CC1P) & ((uint16_t)~TIM_CCER_CC2P);
tmpccer |= (uint16_t)(TIM_IC1Polarity | (uint16_t)(TIM_IC2Polarity << (uint16_t)4));
/* Write to TIMx SMCR */
TIMx->SMCR = tmpsmcr;
/* Write to TIMx CCMR1 */
TIMx->CCMR1 = tmpccmr1;
/* Write to TIMx CCER */
TIMx->CCER = tmpccer;
}
void timer_quadrature_decoder_mode_config(uint32_t timer_periph, uint32_t decomode, uint16_t ic0polarity, uint16_t ic1polarity)
\brief configure TIMER quadrature decoder mode
\param[in] timer_periph: TIMERx(x=0..4,7)
\param[in] decomode:
only one parameter can be selected which is shown as below:
\arg TIMER_ENCODER_MODE0: counter counts on CI0FE0 edge depending on CI1FE1 level
\arg TIMER_ENCODER_MODE1: counter counts on CI1FE1 edge depending on CI0FE0 level
\arg TIMER_ENCODER_MODE2: counter counts on both CI0FE0 and CI1FE1 edges depending on the level of the other input
\param[in] ic0polarity:
only one parameter can be selected which is shown as below:
\arg TIMER_IC_POLARITY_RISING: capture rising edge
\arg TIMER_IC_POLARITY_FALLING: capture falling edge
\param[in] ic1polarity:
only one parameter can be selected which is shown as below:
\arg TIMER_IC_POLARITY_RISING: capture rising edge
\arg TIMER_IC_POLARITY_FALLING: capture falling edge
\param[out] none
\retval none
*/
void timer_quadrature_decoder_mode_config(uint32_t timer_periph, uint32_t decomode,
uint16_t ic0polarity, uint16_t ic1polarity)
{
TIMER_SMCFG(timer_periph) &= (~(uint32_t)TIMER_SMCFG_SMC);
TIMER_SMCFG(timer_periph) |= (uint32_t)decomode;
TIMER_CHCTL0(timer_periph) &= (uint32_t)(((~(uint32_t)TIMER_CHCTL0_CH0MS)) & ((~(uint32_t)TIMER_CHCTL0_CH1MS)));
TIMER_CHCTL0(timer_periph) |= (uint32_t)(TIMER_IC_SELECTION_DIRECTTI | ((uint32_t)TIMER_IC_SELECTION_DIRECTTI << 8U));
TIMER_CHCTL2(timer_periph) &= (~(uint32_t)(TIMER_CHCTL2_CH0P | TIMER_CHCTL2_CH0NP));
TIMER_CHCTL2(timer_periph) &= (~(uint32_t)(TIMER_CHCTL2_CH1P | TIMER_CHCTL2_CH1NP));
TIMER_CHCTL2(timer_periph) |= ((uint32_t)ic0polarity | ((uint32_t)ic1polarity << 4U));
}
（这里给大家一个小提示，不要盲目查找，依据ST库函数的@brief 能够很快了解该函数的作用，以及定位到GD库函数，想要更准确了解定位函数，就需要去了解函数中所配置的寄存器含义，这就需要大家熟悉ST芯片datasheet和GD芯片datasheet）
接下来的几个函数代码我就不一一贴上去了，大家自行分析，我只说明对应关系
2）配置滤波器函数
在上面的驱动函数中ST应用如下操作
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6;
TIM_ICInit(pTimPort, &TIM_ICInitStructure);
在GD应用中按如下操作
timer_icinitpara.icpolarity = TIMER_IC_POLARITY_RISING;
timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI;
timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
timer_icinitpara.icfilter = 0x06;
timer_input_capture_config(TimPort,TIMER_CH_0,&timer_icinitpara);
3）计数器值配置
ST应用：void TIM_SetCounter(TIM_TypeDef* TIMx, uint32_t Counter)
GD应用：void timer_counter_value_config(uint32_t timer_periph, uint32_t counter)
4）使能外设
ST应用：void TIM_Cmd(TIM_TypeDef* TIMx, FunctionalState NewState)
GD应用：void timer_enable(uint32_t timer_periph)
替换完成库函数以后GD的定时器编码模式驱动如下所示：
1）引脚初始化
void Coder_PinConfig(uint32 TimPort)
{
if(TimPort == TIMER0)
{
}
else if(TimPort == TIMER1)
{
}
else if(TimPort == TIMER2)
{
}
else if(TimPort == TIMER3)
{
rcu_periph_clock_enable(RCU_GPIOD);
rcu_periph_clock_enable(RCU_TIMER3);
gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE,GPIO_PIN_12|GPIO_PIN_13);
gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_12|GPIO_PIN_13);
gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_12);
gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_13);
}
}
void Drv_CoderConfig(uint32 TimPort,uint16 CoderType)
{
timer_ic_parameter_struct timer_icinitpara;
switch(TimPort)
{
case TIMER0:
rcu_periph_clock_enable(RCU_TIMER0);
timer_deinit(TIMER0);
break;
case TIMER1:
rcu_periph_clock_enable(RCU_TIMER1);
timer_deinit(TIMER1);
break;
case TIMER2:
rcu_periph_clock_enable(RCU_TIMER2);
timer_deinit(TIMER2);
break;
case TIMER3:
rcu_periph_clock_enable(RCU_TIMER3);
timer_deinit(TIMER3);
break;
case TIMER4:
rcu_periph_clock_enable(RCU_TIMER4);
timer_deinit(TIMER4);
break;
case TIMER5:
rcu_periph_clock_enable(RCU_TIMER5);
timer_deinit(TIMER5);
break;
case TIMER6:
rcu_periph_clock_enable(RCU_TIMER6);
timer_deinit(TIMER6);
break;
case TIMER7:
rcu_periph_clock_enable(RCU_TIMER7);
timer_deinit(TIMER7);
break;
case TIMER8:
rcu_periph_clock_enable(RCU_TIMER8);
timer_deinit(TIMER8);
break;
case TIMER9:
rcu_periph_clock_enable(RCU_TIMER9);
timer_deinit(TIMER9);
break;
case TIMER10:
rcu_periph_clock_enable(RCU_TIMER10);
timer_deinit(TIMER10);
break;
case TIMER11:
rcu_periph_clock_enable(RCU_TIMER11);
timer_deinit(TIMER11);
break;
case TIMER12:
rcu_periph_clock_enable(RCU_TIMER12);
timer_deinit(TIMER12);
break;
case TIMER13:
rcu_periph_clock_enable(RCU_TIMER13);
timer_deinit(TIMER13);
break;
default:
break;
}
/* TIMER1 CH0 input capture configuration */
timer_icinitpara.icpolarity = TIMER_IC_POLARITY_RISING;
timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI;
timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
timer_icinitpara.icfilter = 0x06;
timer_input_capture_config(TimPort,TIMER_CH_0,&timer_icinitpara);
//timer_input_capture_config(TimPort,TIMER_CH_1,&timer_icinitpara);
timer_quadrature_decoder_mode_config(TimPort, TIMER_ENCODER_MODE0,CoderType,TIMER_IC_POLARITY_RISING);
timer_counter_value_config(TimPort,DRV_CODER_CNT_MIDDLE);
/* TIMER1 counter enable */
timer_enable(TimPort);
}
void Drv_CoderConfig(uint32 TimPort,uint16 CoderType)
{
timer_ic_parameter_struct timer_icinitpara;
timer_parameter_struct timer_initpara;
switch(TimPort)
{
case TIMER0:
rcu_periph_clock_enable(RCU_TIMER0);
timer_deinit(TIMER0);
break;
case TIMER1:
rcu_periph_clock_enable(RCU_TIMER1);
timer_deinit(TIMER1);
break;
case TIMER2:
rcu_periph_clock_enable(RCU_TIMER2);
timer_deinit(TIMER2);
break;
case TIMER3:
rcu_periph_clock_enable(RCU_TIMER3);
timer_deinit(TIMER3);
break;
case TIMER4:
rcu_periph_clock_enable(RCU_TIMER4);
timer_deinit(TIMER4);
break;
case TIMER5:
rcu_periph_clock_enable(RCU_TIMER5);
timer_deinit(TIMER5);
break;
case TIMER6:
rcu_periph_clock_enable(RCU_TIMER6);
timer_deinit(TIMER6);
break;
case TIMER7:
rcu_periph_clock_enable(RCU_TIMER7);
timer_deinit(TIMER7);
break;
case TIMER8:
rcu_periph_clock_enable(RCU_TIMER8);
timer_deinit(TIMER8);
break;
case TIMER9:
rcu_periph_clock_enable(RCU_TIMER9);
timer_deinit(TIMER9);
break;
case TIMER10:
rcu_periph_clock_enable(RCU_TIMER10);
timer_deinit(TIMER10);
break;
case TIMER11:
rcu_periph_clock_enable(RCU_TIMER11);
timer_deinit(TIMER11);
break;
case TIMER12:
rcu_periph_clock_enable(RCU_TIMER12);
timer_deinit(TIMER12);
break;
case TIMER13:
rcu_periph_clock_enable(RCU_TIMER13);
timer_deinit(TIMER13);
break;
default:
break;
}
timer_initpara.period = DRV_CODER_CNT_MIDDLE;
timer_initpara.prescaler = 0;
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_initpara.repetitioncounter = 0;
timer_init(TIMER3, &timer_initpara);
/* TIMER1 CH0 input capture configuration */
timer_icinitpara.icpolarity = TIMER_IC_POLARITY_RISING;
timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI;
timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
timer_icinitpara.icfilter = 0x06;
timer_input_capture_config(TimPort,TIMER_CH_0,&timer_icinitpara);
//timer_input_capture_config(TimPort,TIMER_CH_1,&timer_icinitpara);
timer_quadrature_decoder_mode_config(TimPort, TIMER_ENCODER_MODE0,CoderType,TIMER_IC_POLARITY_RISING);
timer_counter_value_config(TimPort,DRV_CODER_CNT_MIDDLE);
/* TIMER1 counter enable */
timer_enable(TimPort);
}
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