编码器配置的代码如下
void Encode_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);//使能GPIOD时钟
GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;//
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化
TIM_TimeBaseInitStructure.TIM_Period = 65535; //自动重装载值
TIM_TimeBaseInitStructure.TIM_Prescaler=0; //定时器分频
TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInitStructure.TIM_ClockDivision=0; //设置时钟分割：TDTS=Tck_tim
TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);//初始化TIM4
TIM_EncoderInterfaceConfig(TIM4,TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 0; //输入滤波器
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update); //清楚所有标志位
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); //允许中断更新
TIM4->CNT = 0;
TIM_Cmd(TIM4, ENABLE); //使能TIM4
}
//定时器3中断服务函数
void TIM4_IRQHandler(void)
{
if(TIM_GetITStatus(TIM4,TIM_IT_Update)==SET) //溢出中断
{
printf("kkkkkkkkk");
}
TIM_ClearITPendingBit(TIM4,TIM_IT_Update); //清除中断标志位
}
|
楼主
标题置顶
标题高亮
