280 lines
11 KiB
C
280 lines
11 KiB
C
#include "encoder.h"
|
||
|
||
/**************************************************************************
|
||
Function: Initialize TIM2 as the encoder interface mode
|
||
Input : none
|
||
Output : none
|
||
函数功能：把TIM2初始化为编码器接口模式
|
||
入口参数：无
|
||
返 回 值：无
|
||
**************************************************************************/
|
||
void Encoder_Init_TIM2(void)
|
||
{
|
||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||
TIM_ICInitTypeDef TIM_ICInitStructure;
|
||
GPIO_InitTypeDef GPIO_InitStructure;
|
||
|
||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能定时器
|
||
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA|RCC_AHB1Periph_GPIOB, ENABLE); //使用A B口
|
||
|
||
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //PA15
|
||
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
|
||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
|
||
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
|
||
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
|
||
GPIO_Init(GPIOA, &GPIO_InitStructure);
|
||
|
||
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; //PB3
|
||
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
|
||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
|
||
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
|
||
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
|
||
GPIO_Init(GPIOB, &GPIO_InitStructure);
|
||
|
||
GPIO_PinAFConfig(GPIOA,GPIO_PinSource15,GPIO_AF_TIM2); //复用为TIM2 编码器接口
|
||
GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_TIM2); //复用为TIM2 编码器接口
|
||
|
||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||
|
||
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling //不分频
|
||
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //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); //初始化定时器
|
||
|
||
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 = 0;
|
||
TIM_ICInit(TIM2, &TIM_ICInitStructure);
|
||
|
||
TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位
|
||
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
|
||
TIM_SetCounter(TIM2,0);
|
||
TIM_Cmd(TIM2, ENABLE);
|
||
}
|
||
|
||
/**************************************************************************
|
||
Function: Initialize TIM3 as the encoder interface mode
|
||
Input : none
|
||
Output : none
|
||
函数功能：把TIM3初始化为编码器接口模式
|
||
入口参数：无
|
||
返回 值：无
|
||
**************************************************************************/
|
||
void Encoder_Init_TIM3(void)
|
||
{
|
||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||
TIM_ICInitTypeDef TIM_ICInitStructure;
|
||
GPIO_InitTypeDef GPIO_InitStructure;
|
||
|
||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器
|
||
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //使用A口
|
||
|
||
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5; //PB4 PB5
|
||
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
|
||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
|
||
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
|
||
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
|
||
GPIO_Init(GPIOB, &GPIO_InitStructure);
|
||
|
||
GPIO_PinAFConfig(GPIOB,GPIO_PinSource4,GPIO_AF_TIM3); //复用为TIM2 编码器接口
|
||
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_TIM3); //复用为TIM2 编码器接口
|
||
|
||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling //不分频
|
||
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //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(TIM3, &TIM_TimeBaseStructure); //初始化定时器
|
||
|
||
TIM_EncoderInterfaceConfig(TIM3, 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 = 0;
|
||
TIM_ICInit(TIM3, &TIM_ICInitStructure);
|
||
|
||
TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除TIM的更新标志位
|
||
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
|
||
TIM_SetCounter(TIM3,0);
|
||
TIM_Cmd(TIM3, ENABLE);
|
||
}
|
||
/**************************************************************************
|
||
Function: Initialize TIM4 as the encoder interface mode
|
||
Input : none
|
||
Output : none
|
||
函数功能：把TIM4初始化为编码器接口模式
|
||
入口参数：无
|
||
返 回 值：无
|
||
**************************************************************************/
|
||
void Encoder_Init_TIM4(void)
|
||
{
|
||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||
TIM_ICInitTypeDef TIM_ICInitStructure;
|
||
GPIO_InitTypeDef GPIO_InitStructure;
|
||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟
|
||
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_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_Speed = GPIO_Speed_100MHz;
|
||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
|
||
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
|
||
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
|
||
GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB
|
||
|
||
GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_TIM4); //复用为TIM4 编码器接口
|
||
GPIO_PinAFConfig(GPIOB,GPIO_PinSource7,GPIO_AF_TIM4); //复用为TIM4 编码器接口
|
||
|
||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||
|
||
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
|
||
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //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 = 0;
|
||
TIM_ICInit(TIM4, &TIM_ICInitStructure);
|
||
|
||
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
|
||
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
|
||
TIM_SetCounter(TIM4,0);
|
||
TIM_Cmd(TIM4, ENABLE);
|
||
}
|
||
/**************************************************************************
|
||
Function: Initialize TIM5 as the encoder interface mode
|
||
Input : none
|
||
Output : none
|
||
函数功能：把TIM5初始化为编码器接口模式
|
||
入口参数：无
|
||
返回 值：无
|
||
**************************************************************************/
|
||
void Encoder_Init_TIM5(void)
|
||
{
|
||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||
TIM_ICInitTypeDef TIM_ICInitStructure;
|
||
GPIO_InitTypeDef GPIO_InitStructure;
|
||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);//使能定时器4的时钟
|
||
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PB端口时钟
|
||
|
||
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM5); //复用为TIM4 编码器接口
|
||
GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_TIM5); //复用为TIM4 编码器接口
|
||
|
||
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;//端口配置
|
||
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
|
||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
|
||
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
|
||
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
|
||
GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOB
|
||
|
||
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
|
||
|
||
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
|
||
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //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(TIM5, &TIM_TimeBaseStructure);
|
||
|
||
TIM_EncoderInterfaceConfig(TIM5, 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 = 0;
|
||
TIM_ICInit(TIM5, &TIM_ICInitStructure);
|
||
|
||
TIM_ClearFlag(TIM5, TIM_FLAG_Update);
|
||
TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE);
|
||
TIM_SetCounter(TIM5,0);
|
||
TIM_Cmd(TIM5, ENABLE);
|
||
}
|
||
|
||
/**************************************************************************
|
||
Function: Read the encoder count
|
||
Input : The timer
|
||
Output : Encoder value (representing speed)
|
||
函数功能：读取编码器计数
|
||
入口参数：定时器
|
||
返回 值：编码器数值(代表速度)
|
||
**************************************************************************/
|
||
int Read_Encoder(u8 TIMX)
|
||
{
|
||
int Encoder_TIM;
|
||
switch(TIMX)
|
||
{
|
||
case 2: Encoder_TIM= (short)TIM2 -> CNT; TIM2 -> CNT=0; break;
|
||
case 3: Encoder_TIM= (short)TIM3 -> CNT; TIM3 -> CNT=0; break;
|
||
case 4: Encoder_TIM= (short)TIM4 -> CNT; TIM4 -> CNT=0; break;
|
||
case 5: Encoder_TIM= (short)TIM5 -> CNT; TIM5 -> CNT=0; break;
|
||
default: Encoder_TIM=0;
|
||
}
|
||
return Encoder_TIM;
|
||
}
|
||
|
||
/**************************************************************************
|
||
Function: Tim2 interrupt service function
|
||
Input : none
|
||
Output : none
|
||
函数功能：TIM2中断服务函数
|
||
入口参数：无
|
||
返 回 值：无
|
||
**************************************************************************/
|
||
void TIM2_IRQHandler(void)
|
||
{
|
||
if(TIM2->SR&0X0001) //Overflow interrupt //溢出中断
|
||
{
|
||
}
|
||
TIM2->SR&=~(1<<0); //Clear the interrupt flag bit //清除中断标志位
|
||
}
|
||
/**************************************************************************
|
||
Function: Tim3 interrupt service function
|
||
Input : none
|
||
Output : none
|
||
函数功能：TIM3中断服务函数
|
||
入口参数：无
|
||
返 回 值：无
|
||
**************************************************************************/
|
||
void TIM3_IRQHandler(void)
|
||
{
|
||
if(TIM3->SR&0X0001) //Overflow interrupt //溢出中断
|
||
{
|
||
}
|
||
TIM3->SR&=~(1<<0); //Clear the interrupt flag bit //清除中断标志位
|
||
}
|
||
/**************************************************************************
|
||
Function: Tim4 interrupt service function
|
||
Input : none
|
||
Output : none
|
||
函数功能：TIM4中断服务函数
|
||
入口参数：无
|
||
返 回 值：无
|
||
**************************************************************************/
|
||
void TIM4_IRQHandler(void)
|
||
{
|
||
if(TIM4->SR&0X0001) //Overflow interrupt //溢出中断
|
||
{
|
||
}
|
||
TIM4->SR&=~(1<<0); //Clear the interrupt flag bit //清除中断标志位
|
||
}
|
||
|
||
/**************************************************************************
|
||
Function: Tim9 interrupt service function
|
||
Input : none
|
||
Output : none
|
||
函数功能：TIM9中断服务函数
|
||
入口参数：无
|
||
返 回 值：无
|
||
**************************************************************************/
|
||
void TIM5_IRQHandler(void)
|
||
{
|
||
if(TIM5->SR&0X0001) //Overflow interrupt //溢出中断
|
||
{
|
||
}
|
||
TIM5->SR&=~(1<<0); //Clear the interrupt flag bit //清除中断标志位
|
||
}
|
||
|
||
void TIM8_BRK_TIM12_IRQHandler(void)
|
||
{
|
||
if(TIM12->SR&0X0001) //Overflow interrupt //溢出中断
|
||
{
|
||
}
|
||
TIM12->SR&=~(1<<0); //Clear the interrupt flag bit //清除中断标志位
|
||
|
||
}
|