STM32编码测速问题

/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************

* File Name          : stm32f10x_encoder.c 

* Author             : IMS Systems Lab  

* Date First Issued  : 21/11/07

* Description        : This file contains the software implementation for the

*                      encoder unit

********************************************************************************

* History:

* 21/11/07 v1.0

********************************************************************************

* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS

* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.

* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,

* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE

* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING

* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.

*******************************************************************************/

/* Includes ------------------------------------------------------------------*/

//#include <stm32f10x_lib.h>

#include "encoder.h"

#include "lcd1602.h"

#include "usart.h"



/* Private variables ---------------------------------------------------------*/

 s16 hPrevious_angle, hSpeed_Buffer[SPEED_BUFFER_SIZE], hRot_Speed;

//static s16 hPrevious_angle, hSpeed_Buffer[SPEED_BUFFER_SIZE];

static u8 bSpeed_Buffer_Index = 0;

static volatile u16 hEncoder_Timer_Overflow; 



#define TRUE 1

#define FALSE 0

static unsigned char bIs_First_Measurement = TRUE;



/*******************************************************************************

* Function Name  : ENC_Init

* Description    : General Purpose Timer x set-up for encoder speed/position 

*                  sensors

* Input          : None

* Output         : None

* Return         : None

*******************************************************************************/

void ENC_Init(void)

{

  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;

  TIM_ICInitTypeDef TIM_ICInitStructure;

  

/* Encoder unit connected to TIM3, 4X mode */    

  GPIO_InitTypeDef GPIO_InitStructure;

  NVIC_InitTypeDef NVIC_InitStructure;

  

  /* TIM3 clock source enable */

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

  /* Enable GPIOA, clock */

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

  

  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;

  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         //72M捕获？

  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_TIMER, &TIM_TimeBaseStructure);

 

  TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12, 

                             TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

  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);

  TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE);

  //Reset counter

  TIM2->CNT = COUNTER_RESET;

  

  ENC_Clear_Speed_Buffer();

  

  TIM_Cmd(ENCODER_TIMER, ENABLE);  

}



/*******************************************************************************

* Function Name  : ENC_Get_Electrical_Angle

* Description    : Returns the absolute electrical Rotor angle 

* Input          : None

* Output         : None

* Return         : Rotor electrical angle: 0 -> 0 degrees, 

*                                          S16_MAX-> 180 degrees, 

*                                          S16_MIN-> -180 degrees                  

*******************************************************************************/

s16 ENC_Get_Electrical_Angle(void)

{

  s32 temp;

  

  temp = (s32)(TIM_GetCounter(ENCODER_TIMER)) * (s32)(4294967295 / (4*ENCODER_PPR)); 

  return((s16)(temp/65536)); // s16 result

}



/*******************************************************************************

* Function Name  : ENC_Clear_Speed_Buffer

* Description    : Clear speed buffer used for average speed calculation  

* Input          : None

* Output         : None

* Return         : None

*******************************************************************************/

void ENC_Clear_Speed_Buffer(void)

{   

  u32 i;



  for (i=0;i<SPEED_BUFFER_SIZE;i++)

  {

    hSpeed_Buffer[i] = 0;

  }

  bIs_First_Measurement = TRUE;

}



/*******************************************************************************

* Function Name  : ENC_Calc_Rot_Speed

* Description    : Compute return latest speed measurement 

* Input          : None

* Output         : s16

* Return         : Return the speed in 0.1 Hz resolution.                    

*******************************************************************************/

s16 ENC_Calc_Rot_Speed(void)

{   

  s32 wDelta_angle;

  u16 hEnc_Timer_Overflow_sample_one, hEnc_Timer_Overflow_sample_two;

  u16 hCurrent_angle_sample_one, hCurrent_angle_sample_two;

  signed long long temp;

  s16 haux;

  

  if (!bIs_First_Measurement)

  {

    // 1st reading of overflow counter    

    hEnc_Timer_Overflow_sample_one = hEncoder_Timer_Overflow; 

    // 1st reading of encoder timer counter

    hCurrent_angle_sample_one = ENCODER_TIMER->CNT;

    // 2nd reading of overflow counter

    hEnc_Timer_Overflow_sample_two = hEncoder_Timer_Overflow;  

    // 2nd reading of encoder timer counter

    hCurrent_angle_sample_two = ENCODER_TIMER->CNT;      



    // Reset hEncoder_Timer_Overflow and read the counter value for the next

    // measurement

    hEncoder_Timer_Overflow = 0;

    haux = ENCODER_TIMER->CNT;   

    

    if (hEncoder_Timer_Overflow != 0) 

    {

      haux = ENCODER_TIMER->CNT; 

      hEncoder_Timer_Overflow = 0;            

    }

     

    if (hEnc_Timer_Overflow_sample_one != hEnc_Timer_Overflow_sample_two)

    { //Compare sample 1 & 2 and check if an overflow has been generated right 

      //after the reading of encoder timer. If yes, copy sample 2 result in 

      //sample 1 for next process 

      hCurrent_angle_sample_one = hCurrent_angle_sample_two;

      hEnc_Timer_Overflow_sample_one = hEnc_Timer_Overflow_sample_two;

    }

    

    if ( (ENCODER_TIMER->CR1 & TIM_CounterMode_Down) == TIM_CounterMode_Down)  

    {// encoder timer down-counting

      wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle - 

                    (hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR));

    }

    else  

    {//encoder timer up-counting

      wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle + 

                    (hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR));

    }

    

    // speed computation as delta angle * 1/(speed sempling time)

    temp = (signed long long)(wDelta_angle * SPEED_SAMPLING_FREQ);

    temp *= 10;  // 0.1 Hz resolution

    temp /= (4*ENCODER_PPR);

        

  } //is first measurement, discard it

  else

  {

    bIs_First_Measurement = FALSE;

    temp = 0;

    hEncoder_Timer_Overflow = 0;

    haux = ENCODER_TIMER->CNT;       

    // Check if Encoder_Timer_Overflow is still zero. In case an overflow IT 

    // occured it resets overflow counter and wPWM_Counter_Angular_Velocity

    if (hEncoder_Timer_Overflow != 0) 

    {

      haux = ENCODER_TIMER->CNT; 

      hEncoder_Timer_Overflow = 0;            

    }

  }

  

  hPrevious_angle = haux;  

 

  return((s16) temp);

}



/*******************************************************************************

* Function Name  : ENC_Calc_Average_Speed

* Description    : Compute smoothed motor speed based on last SPEED_BUFFER_SIZE

                   informations and store it variable  

* Input          : None

* Output         : s16

* Return         : Return rotor speed in 0.1 Hz resolution. This routine 

                   will return the average mechanical speed of the motor.

*******************************************************************************/

void ENC_Calc_Average_Speed(void)

{   

  s32 wtemp,wtemp_1=0;

  u32 i;

  

//  wtemp = ENC_Calc_Rot_Speed();

//        

///* Compute the average of the read speeds */  

//  hSpeed_Buffer[bSpeed_Buffer_Index] = (s16)wtemp;

//  bSpeed_Buffer_Index++;

//  

//  if (bSpeed_Buffer_Index == SPEED_BUFFER_SIZE) 

//  {

//    bSpeed_Buffer_Index = 0;

//  }



//  wtemp=0;



//  for (i=0;i<SPEED_BUFFER_SIZE;i++)

//  {

//    wtemp += hSpeed_Buffer[i];

//  }

//  wtemp /= SPEED_BUFFER_SIZE;





                for (i=0;i<SPEED_BUFFER_SIZE;i++)

                {

                  if (bSpeed_Buffer_Index == SPEED_BUFFER_SIZE) 

                        {

                                bSpeed_Buffer_Index = 0;

                        }



                        wtemp = ENC_Calc_Rot_Speed();

                        hSpeed_Buffer[bSpeed_Buffer_Index] = (s16)wtemp;

                        bSpeed_Buffer_Index++;

                        wtemp_1 += wtemp;        

                }        

  wtemp_1 /= SPEED_BUFFER_SIZE;

  

  hRot_Speed = ((s16)(wtemp_1));

}



/*******************************************************************************

* Function Name  : LCD_Display

* Description    : This function handles the display of timer counter, theta and

                    electronical frequency:

                    theta --- resolution: 1 degree;

                    electronical frequency --- resolution: 0.1Hz.

* Input          : None

* Output         : None

* Return         : None

*******************************************************************************/

//void LCD_Display(DisplayType DisplayStatus)

//{

//  u16 hValue;

//  s16 Theta;

//  s16 hSpeed;

//  char *pstr;

//  

//  switch (DisplayStatus)

//  {

//    case DISPLAY_TIMCNT: 

//      hValue = TIM_GetCounter(ENCODER_TIMER);

//      LCD_ShowNum(0,0,(hValue),5);  

//                        printf("%d,",hValue);

//    break;

//    

//    case DISPLAY_THETA:      

//      Theta = ENC_Get_Electrical_Angle()*360/65535;        //U16_MAX;

//      if (Theta < 0) 

//      {

//        hValue = (u16)(-Theta);

////        pstr = int2char(hValue);

//        *pstr = '-';

//      }

//      else

//      {

//        hValue = (u16)Theta;

////        pstr = int2char(hValue);

//        if (hValue != 0) *pstr = '+';  

//      }

//     LCD_ShowChar(0,8,*pstr);

//                LCD_ShowNum(0,9,hValue,5);

//    break;

//    

//    default:

//      hSpeed = hRot_Speed;

//      if (hSpeed < 0) 

//      {

//        hValue = (u16)(-hSpeed);

////        pstr = int2char(hValue);

//        *pstr = '-';

//      }

//      else

//      {

//        hValue = (u16)hSpeed;

////        pstr = int2char(hValue);

//        if (hValue != 0) *pstr = '+';  

//      }

//                        LCD_ShowChar(0,8,*pstr);

//      LCD_ShowNum(1,0,*pstr,5);

//    break;

//  }

//}



/*******************************************************************************

* Function Name  : TIM2_IRQHandler

* Description    : This function handles TIMx Update interrupt request.

                   Encoder unit connected to TIM2

* Input          : None

* Output         : None

* Return         : None

*******************************************************************************/

void TIM3_IRQHandler(void)

{  

  /* Clear the interrupt pending flag */

  TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);

  

  if (hEncoder_Timer_Overflow != 65535)  

  {

   hEncoder_Timer_Overflow++;

  }

}











//寄存器版本

/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/





//#include "encoder.h"



//void Encoder_Init(void)

//{

//        /* TIM3 clock source enable */ 

//        RCC->APB1ENR|=1<<1;       //TIM3时钟使能

//        /* Enable GPIOA, clock */

//        RCC->APB2ENR|=1<<2;    //使能PORTA时钟



//        /* Configure PA.06,07 as encoder input */

//        GPIOA->CRL&=0XF0FFFFFF;//PA6

//        GPIOA->CRL|=0X04000000;//浮空输入

//        GPIOA->CRL&=0X0FFFFFFF;//PA7

//        GPIOA->CRL|=0X40000000;//浮空输入



//        /* Enable the TIM3 Update Interrupt */

//        //这两个东东要同时设置才可以使用中断

//        TIM3->DIER|=1<<0;   //允许更新中断                                

//        TIM3->DIER|=1<<6;   //允许触发中断

//        MY_NVIC_Init(1,3,TIM3_IRQChannel,2);



//        /* Timer configuration in Encoder mode */ 

//        TIM3->PSC = 0x0;//预分频器

//        TIM3->ARR = ENCODER_TIM_PERIOD-1;//设定计数器自动重装值 

//        TIM3->CR1 &=~(3<<8);// 选择时钟分频：不分频

//        TIM3->CR1 &=~(3<<5);// 选择计数模式:边沿对齐模式

//                

//        TIM3->CCMR1 |= 1<<0; //CC1S='01' IC1FP1映射到TI1

//        TIM3->CCMR1 |= 1<<8; //CC2S='01' IC2FP2映射到TI2

//        TIM3->CCER &= ~(1<<1);         //CC1P='0'         IC1FP1不反相，IC1FP1=TI1

//        TIM3->CCER &= ~(1<<5);         //CC2P='0'         IC2FP2不反相，IC2FP2=TI2

//        TIM3->CCMR1 |= 3<<4; //        IC1F='1000' 输入捕获1滤波器

//        TIM3->SMCR |= 3<<0;         //SMS='011' 所有的输入均在上升沿和下降沿有效

//        TIM3->CNT = COUNTER_RESET;

//        TIM3->CR1 |= 0x01;    //CEN=1，使能定时器

//}

#ifndef __ENCODER_H__

#define __ENCODER_H__



#include "sys.h"



//void Encoder_Init(void);



//#endif



/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************

* File Name          : stm32f10x_encoder.h

* Author             : IMS Systems Lab 

* Date First Issued  : 21/11/07

* Description        : This file contains the software implementation for the

*                      encoder position and speed reading.

********************************************************************************

* History:

* 21/11/07 v1.0

********************************************************************************

* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS

* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.

* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,

* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE

* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING

* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.

*******************************************************************************/



/* Define to prevent recursive inclusion -------------------------------------*/





/* Private typedef -----------------------------------------------------------*/

typedef enum {DISPLAY_TIMCNT = 0,DISPLAY_THETA,DISPLAY_W} DisplayType;



/* Private typedef -----------------------------------------------------------*/

/* Private define ------------------------------------------------------------*/

#define ENCODER_TIMER   TIM3  // Encoder unit connected to TIM3

#define ENCODER_PPR           (u16)(200)   // number of pulses per revolution

#define SPEED_BUFFER_SIZE 2//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 SPEED_SAMPLING_FREQ (u16)(2000/(SPEED_SAMPLING_TIME+1))



extern s16 hRot_Speed;





/* Private functions ---------------------------------------------------------*/

s16 ENC_Calc_Rot_Speed(void);





/* Includes ------------------------------------------------------------------*/

/* Private define ------------------------------------------------------------*/

#define SPEED_SAMPLING_TIME  9     // (9+1)*500usec = 5msec



/* Exported functions ------------------------------------------------------- */

void ENC_Init(void);

s16 ENC_Get_Electrical_Angle(void);

void ENC_Clear_Speed_Buffer(void);

void ENC_Calc_Average_Speed(void);

//void LCD_Display(DisplayType DisplayStatus);

s16 ENC_Get_Speed(void);

void TIM3_IRQHandler(void);;



#endif  

/*__STM32F10x_ENCODER_H*/

/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/