本帖最后由 Beancurd2333 于 2022-9-5 23:23 编辑
- 目的：通过编码器模式，硬件获取电机编码值，从而计算速度和获取转向。
- 我看过手册也是有这个功能的，但是给的例程没有编码器模式，我也试过自己配置，仿真寄存器值没错（和手册对应），GPIO，定时器也配置过，但就是弄不出来，在这里想问问有没有成功过的大佬，麻烦指教下！感谢！
void Encoder_TIM2_Init(void)
{
GPIO_InitType GPIO_InitStructure;
TIM_TimeBaseInitType TIM_TimeBaseStructure;
TIM_ICInitType TIM_ICInitStructure;
RCC_AHB_Peripheral_Clock_Enable(RCC_AHB_PERIPH_GPIOA);
RCC_APB2_Peripheral_Clock_Enable(RCC_APB2_PERIPH_AFIO); //开启复用时钟
RCC_Pclk1_Config(RCC_HCLK_DIV4); //配置低速APB时钟(PCLK1)
RCC_APB1_Peripheral_Clock_Enable(RCC_APB1_PERIPH_TIM2); //开启定时器2时钟
GPIO_InitStructure.Pin = EN_TIM2_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_MODE_INPUT;
GPIO_Peripheral_Initialize(EN_TIM2_GPIO_PORT, &GPIO_InitStructure);
TIM_Base_Struct_Initialize(&TIM_TimeBaseStructure); //填入缺省值
TIM_TimeBaseStructure.Period = 65535;
TIM_TimeBaseStructure.Prescaler = 0;
TIM_TimeBaseStructure.ClkDiv = TIM_CLK_DIV1;
TIM_TimeBaseStructure.CntMode = TIM_CNT_MODE_UP;
TIM_Base_Initialize(TIM2, &TIM_TimeBaseStructure);
TIM_Encoder_Interface_Set(TIM2, TIM_ENCODE_MODE_TI12, TIM_IC_POLARITY_RISING, TIM_IC_POLARITY_RISING);
TIM_Input_Struct_Initialize(&TIM_ICInitStructure);
TIM_ICInitStructure.IcFilter = 10;
TIM_Input_Channel_Initialize(TIM2, &TIM_ICInitStructure);
TIM_Interrupt_Status_Clear(TIM2, TIM_INT_UPDATE); //配置溢出更新中断标志位
TIM_Base_Count_Set(TIM2, 0); //清零定时器计数值
TIM_On(TIM2);
}
void Encoder_TIM3_Init(void)
{
}
int Read_Speed(int TIMx)
{
int value_1;
switch(TIMx) //【*】为什么要强制转换short
{
case 2:value_1=(short)TIM_Base_Count_Get(TIM2); TIM_Base_Count_Set(TIM2,0); break;//IF是定时器2，1.采集编码器的计数值并保存。2.将定时器的计数值清零。
//case 3:value_1=(short)TIM_Base_Count_Get(TIM3); TIM_Base_Count_Set(TIM3,0); break;
default:value_1=0;
}
return value_1;
}
问题已经解决了——GPIO的复用没打开，这个在STM32上面是不用的，总是有不一样的地方，能找到问题就好
下面是我的代码：
void Encoder_TIM3_Init(void)
{
GPIO_InitType GPIO_InitStructure;
TIM_TimeBaseInitType TIM_TimeBaseStructure;
TIM_ICInitType TIM_ICInitStructure;
GPTIMClockFrequency = Common_GPTIM_RCC_Initialize(TIM3, RCC_HCLK_DIV4); //配置相关时钟
GPIO_InitStructure.Pin = EN_TIM3_GPIO_PIN; //IO口
GPIO_InitStructure.GPIO_Mode = GPIO_MODE_INPUT; //输入模式
GPIO_InitStructure.GPIO_Alternate = GPIO_AF3_TIM3; //TIM3复用PA6 PA7【就是这里了，具体要看看手册，搜“AF3”就会有很多相关的】
GPIO_Peripheral_Initialize(EN_TIM3_GPIO_PORT, &GPIO_InitStructure); //配置GPIO
//Common_TIM_NVIC_Initialize(TIM3_IRQn, ENABLE); //需要中断再配置
TIM_Base_Struct_Initialize(&TIM_TimeBaseStructure); //填入缺省值
TIM_TimeBaseStructure.Period = 65535; //重装载值
TIM_TimeBaseStructure.Prescaler = 0; //不分频
TIM_TimeBaseStructure.ClkDiv = TIM_CLK_DIV1; //CK_INT（定时器时钟）和 DTS（用于死区时间发生器和数字滤波器（ETR、TIx）的时钟）之间的分频比
TIM_TimeBaseStructure.CntMode = TIM_CNT_MODE_UP; //向上计数
TIM_Base_Initialize(TIM3, &TIM_TimeBaseStructure);
TIM_Encoder_Interface_Set(TIM3, TIM_ENCODE_MODE_TI12, TIM_IC_POLARITY_RISING, TIM_IC_POLARITY_RISING); //编码器模式
TIM_Input_Struct_Initialize(&TIM_ICInitStructure); //输入捕获配置
TIM_ICInitStructure.Channel = TIM_CH_1;
TIM_ICInitStructure.IcPolarity = TIM_IC_POLARITY_RISING;
TIM_ICInitStructure.IcSelection = TIM_IC_SELECTION_DIRECTTI;
TIM_ICInitStructure.IcPrescaler = TIM_IC_PSC_DIV1;
TIM_ICInitStructure.IcFilter = 0;
TIM_Input_Channel_Initialize(TIM3, &TIM_ICInitStructure);
TIM_Interrupt_Status_Clear(TIM3, TIM_INT_UPDATE); //配置溢出中断标志位
TIM_Interrupt_Enable(TIM3, TIM_INT_UPDATE); //使能定时器2中断
TIM_Base_Count_Set(TIM3, 0); //清零定时器计数值
TIM_On(TIM3); //开始定时器2
}
int Read_Speed(int TIMx)
{
int value_1;
switch(TIMx) //【*】为什么要强制转换short
{
case 2:value_1=(short)TIM_Base_Count_Get(TIM2); TIM_Base_Count_Set(TIM2,0); break;//IF是定时器2，1.采集编码器的计数值并保存。2.将定时器的计数值清零。
case 3:value_1=(short)TIM_Base_Count_Get(TIM3); TIM_Base_Count_Set(TIM3,0); break;
default:value_1=0;
}
return value_1;
}
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void Encoder_TIM3_Init(void) { GPIO_InitType GPIO_InitStructure; TIM_TimeBaseInitType TIM_TimeBaseStructure; TIM_ICInitType TIM_ICInitStructure; GPTIMClockFrequency = Common_GPTIM_RCC_Initialize(TIM3, RCC_HCLK_DIV4); //配置相关时钟 GPIO_InitStructure.Pin = EN_TIM3_GPIO_PIN; //IO口 GPIO_InitStructure.GPIO_Mode = GPIO_MODE_INPUT; //输入模式 GPIO_InitStructure.GPIO_Alternate = GPIO_AF3_TIM3; //TIM3复用PA6 PA7 GPIO_Peripheral_Initialize(EN_TIM3_GPIO_PORT,...