关于STM32F103C8T6的编码器模式

1楼-- · 2019-08-22 18:16

这个是相关代码

#include "icapture_1.h"
#include "usart.h"
#include "led.h"

/*******************************************************************************
//通用定时器中断初始化
//这里时钟选择为APB1的2倍，而APB1为36M
//arr：自动重装值。
//psc：时钟预分频数
//这里使用的是定时器3!

//定时器5通道1输入捕获配置

void TIM2_Cap_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_ICInitTypeDef  TIM2_ICInitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能TIM5时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);  //使能GPIOA时钟

GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_0;  //PA0 清除之前设置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PA0 输入
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(GPIOA,GPIO_Pin_0);    //PA0 下拉

//初始化定时器5 TIM5
TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

//初始化TIM5输入捕获参数
TIM2_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;    //配置输入分频,不分频
TIM2_ICInitStructure.TIM_ICFilter = 0x0F;//IC1F=0000 配置输入滤波器不滤波
TIM_ICInit(TIM2, &TIM2_ICInitStructure);

//中断分组初始化
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;  //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;  //先占优先级2级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;  //从优先级0级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure);  //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器

TIM_ITConfig(TIM2,TIM_IT_Update|TIM_IT_CC1,ENABLE);//允许更新中断 ,允许CC1IE捕获中断

   TIM_Cmd(TIM2,ENABLE ); //使能定时器5
}

u32 temp1;

//定时器5中断服务程序
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)//捕获1发生捕获事件
{
TIM_ClearITPendingBit(TIM2, TIM_IT_CC1|TIM_IT_Update); //清除中断标志位
LED1=!LED1;
temp1++;
printf("court:%d ",temp1);
}
}
**************************************************************************************/

void Encoder_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_ICInitTypeDef  TIM_ICInitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能TIM2时钟

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_0; //io口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入模式(编码器一定江通道引脚设置为浮空输入)
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

TIM_DeInit(TIM2);
TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装载值
TIM_TimeBaseStructure.TIM_Prescaler = psc; //预分频器
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //选择时钟分频：不分频
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);

// TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
//使用定时器TIM2，编码器模式3，上升沿捕获
// TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);

TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 6;  //
// TIM2_ICInitStructure.TIM_Channel = TIM_Channel_2 | TIM_Channel_3;
// TIM2_ICInitStructure.TIM_ICFilter = 10;
// TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
// TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
// TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInit(TIM2, &TIM_ICInitStructure);

NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //怎么选择未确定，待定
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //怎么选择未确定，待定
NVIC_Init(&NVIC_InitStructure);

// TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位
// TIM_ClearITPendingBit(TIM2,TIM_FLAG_Update);
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
  TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
  //Reset counter
  TIM_SetCounter(TIM2,0);
  TIM_Cmd(TIM2, ENABLE);

}