STM32单片机定时器1设置成为AB项编码器模式
大家好·,我是DXZ,这篇博客是使用STM32单片机定时器1设置成为AB项编码器模式,下面贴出代码。
void TIM1_Init()
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);//
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; //
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;//TIM1高级定时器特有
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM1, &TIM_ICInitStructure);
TIM_ClearFlag(TIM1, TIM_FLAG_Update);
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
TIM_SetCounter(TIM1,0);
TIM_Cmd(TIM1, ENABLE);
}
使用TIM8进行编码器值采集
void TIM8_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); //时钟使能
TIM_TimeBaseStructure.TIM_Period = arr; //设置自动重装载寄存器周期值
TIM_TimeBaseStructure.TIM_Prescaler =psc;//设置预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数模式
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;//重复计数设置
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure); //参数初始化
TIM_ClearFlag(TIM8, TIM_FLAG_Update);//清中断标志位
TIM_ITConfig( //使能或者失能指定的TIM中断
TIM8, //TIM1
TIM_IT_Update | //TIM 更新中断源
TIM_IT_Trigger, //TIM 触发中断源
ENABLE //使能
);
//设置优先级
NVIC_InitStructure.NVIC_IRQChannel = TIM8_UP_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;//先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级0级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM8, ENABLE); //使能TIMx外设
}
TIM8中断服务函数进行编码器值累计求和
void TIM8_UP_IRQHandler(void)
{
if (TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET)//检查指定的TIM中断发生与否:TIM 中断源
{
TIM_ClearITPendingBit(TIM8, TIM_IT_Update);//清除TIMx的中断待处理位:TIM 中断源
Encoder1=(short)TIM1->CNT;
Encoder2=(short)TIM2->CNT;
Encoder3=(short)TIM3->CNT;
Encoder4=(short)TIM4->CNT;
//加上'0'转换成为字符型
//四路电机编码值
MasterToSlvaeData[0]=Encoder1+'0';
MasterToSlvaeData[1]=Encoder2+'0';
MasterToSlvaeData[2]=Encoder3+'0';
MasterToSlvaeData[3]=Encoder4+'0';
//小车偏航角
MasterToSlvaeData[4]=YawToSlvae+'0';
SendDataToSlave(USART3,MasterToSlvaeData,0,5);
TIM1->CNT=0;
TIM2->CNT=0;
TIM3->CNT=0;
TIM4->CNT=0;
}
}