【嵌入式STM32-08】STM32编码器模式程序代码

STM32 Encoder

编码器

STM32F103RCT6
各定时器通道和重映射
/*****************
TIM1_CH1 PA8
TIM1_CH2 PA9
TIM1_CH3 PA10
TIM1_CH4 PA11

TIM2_CH1 PA0, PA15
TIM2_CH2 PA1, PB3
TIM2_CH3 PA2, PB10
TIM2_CH4 PA3, PB11

TIM3_CH1 PA6, PB4, PC6
TIM3_CH2 PA7, PB5, PC7
TIM3_CH3 PB0, PC8
TIM3_CH4 PB1, PC9

TIM4_CH1 PB6
TIM4_CH2 PB7
TIM4_CH3 PB8
TIM4_CH4 PB9

TIM5_CH1 PA0
TIM5_CH2 PA1
TIM5_CH3 PA2
TIM5_CH4 PA3

TIM8_CH1 PC6
TIM8_CH2 PC7
TIM8_CH3 PC8
TIM8_CH4 PC9
****************/
定时器1.8和2.3.4.5有编码器功能，其他没，而且都是通道1.2

void Encoder_Init_TIM4(void)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
	TIM_ICInitTypeDef TIM_ICInitStructure;  
	GPIO_InitTypeDef GPIO_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;	
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);    //使能定时器4的时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);   //使能PB端口时钟

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;	//端口配置
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;   //浮空输入
	GPIO_Init(GPIOB, &GPIO_InitStructure);					//根据设定参数初始化GPIOB

	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
	TIM_TimeBaseStructure.TIM_Prescaler = 0x0;              // 预分频器 
	TIM_TimeBaseStructure.TIM_Period = 799;  //设定计数器自动重装值
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //选择时钟分频：不分频
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数  
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
	
	TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising,               TIM_ICPolarity_Rising);//使用编码器模式3
	TIM_ICStructInit(&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_ICFilter = 10;
	TIM_ICInit(TIM4, &TIM_ICInitStructure);
	
    TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
 
    NVIC_InitStructure.NVIC_IRQChannel=TIM4_IRQn; 
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01; 
    NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x01; 
    NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
    NVIC_Init(&NVIC_InitStructure);
	
	TIM_ClearFlag(TIM4, TIM_FLAG_Update);                   //清除TIM的更新标志位
	
	//Reset counter
	TIM_SetCounter(TIM4,0);
	//===============================================
	//TIM4->CNT = 799;
	//TIM4->CNT = 0;
	//===============================================
	TIM_Cmd(TIM4, ENABLE); 
}


int circle_count=0;//圈数
void TIM4_IRQHandler(void)   //TIM4中断
{
    if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)  //检查TIM4更新中断发生与否
    {
        if((TIM4->CR1>>4 & 0x01)==0) //DIR==0
            circle_count++;
        else if((TIM4->CR1>>4 & 0x01)==1)//DIR==1
            circle_count--;
    }
		printf("圈数%d\r\n",circle_count);
    TIM_ClearITPendingBit(TIM4, TIM_IT_Update);  //清除TIM4更新中断标志
}

定时器2部分重映射编码器模式

void TIM2_Encoder_Init(void)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
	TIM_ICInitTypeDef TIM_ICInitStructure;  
	GPIO_InitTypeDef GPIO_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;	
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);    //使能定时器4的时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB| RCC_APB2Periph_AFIO, ENABLE);   //使能PB端口时钟
	GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2, ENABLE);
	
	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);     //禁用JTAG，PA13.14.15 PB4被占用，需关闭JATG

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;	//端口配置
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;   //浮空输入
	GPIO_Init(GPIOA, &GPIO_InitStructure);					//根据设定参数初始化GPIOB
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;	//端口配置
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;   //浮空输入
	GPIO_Init(GPIOB, &GPIO_InitStructure);					//根据设定参数初始化GPIOB

	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
	TIM_TimeBaseStructure.TIM_Prescaler = 0x0;              // 预分频器 
	TIM_TimeBaseStructure.TIM_Period = 799;  //设定计数器自动重装值
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //选择时钟分频：不分频
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数  
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
	
	TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
	TIM_ICStructInit(&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_ICFilter = 10;
	TIM_ICInit(TIM2, &TIM_ICInitStructure);
	
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
 
    NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn; 
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01; 
    NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x01; 
    NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
    NVIC_Init(&NVIC_InitStructure);
	
	TIM_ClearFlag(TIM2, TIM_FLAG_Update);                   //清除TIM的更新标志位
	
	//===============================================
	TIM2->CNT = 0;
	//===============================================
	TIM_Cmd(TIM2, ENABLE); 
}