/**************************************************************************************
********???ìê?è??ì2a*********°′?üê?è?
TIM3 ó?à′?ì2a???ì
PA.6-> RUN-A2 TIM3-CH1//
PA.7-> RUN-B2 TIM3-CH2//
PB.0-> RUN-A1 TIM3-CH3//
PB.1-> RUN-B1 TIM3-CH4//
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****************************************************************************************/
#define ENCODER_TIMER TIM3 // Encoder unit connected to TIM3
#define ENCODER_PPR (u16)(100) // number of pulses per revolution
#define SPEED_BUFFER_SIZE 8
#define COUNTER_RESET (u16)0
#define ICx_FILTER (u8) 6 // 6<-> 670nsec
#define TIMx_PRE_EMPTION_PRIORITY 1
#define TIMx_SUB_PRIORITY 0
#define ENCODER_TIM_PERIOD 0xffff//???????65536-1
#define MAX_COUNT 10000//10000???1ms?????10000???
void EncodingDisk_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
/* Encoder unit connected to TIM1, 4X mode */
GPIO_InitTypeDef GPIO_InitStructure;
//NVIC_InitTypeDef NVIC_InitStructure;
/* TIM1 clock source enable */
RCC_APB2PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//
/* Enable GPIOA, clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//??GPIOA??
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PA.06,07 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//PA8 PA9????
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Enable the TIM3 Update Interrupt */
// NVIC_InitStructure.NVIC_IRQChannel = TIM3_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_TIMER);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling //??????????0,???
//TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1; //????????
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//?????? T_dts = T_ck_int
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM????
TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//???????3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter =ICx_FILTER;//?????????
TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);//??TIM1??????
TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE);
//ENC_Clear_Speed_Buffer();
//Reset counter
TIM3->CNT = 0;
//CurrentCount = TIM1->CNT;
TIM_Cmd(ENCODER_TIMER, ENABLE);
// System.Device.Encoder.Enc_GetCount = Enc_GetCount;
}
s16 Enc_GetCount(void)
{
static u16 lastCount = 0;
u16 curCount = ENCODER_TIMER->CNT;//?????
s32 dAngle = curCount - lastCount;
if(dAngle >= MAX_COUNT)
{
dAngle -= ENCODER_TIM_PERIOD;
}
else if(dAngle < -MAX_COUNT)
{
dAngle += ENCODER_TIM_PERIOD;
}
lastCount = curCount;
return (s16)dAngle;
}
我的程序死活不行，请楼主帮忙分析下，谢谢。
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楼主
