STM32—TIM编码器接口

1.编码器接口简介

编码器接口可接收增量（正交）编码器的信号，根据编码器旋转产生的正交信号脉冲，自动控制CNT自增或自减，从而指示编码器的位置、旋转方向和旋转速度

每个高级定时器和通用定时器都拥有1个编码器接口，在使用编码器接口后，该定时器一般就做不了其他事了

两个输入引脚借用输入捕获的通道1和通道2

 

2.正交编码器

抗噪声实例

3.编码器接口相关标准库函数介绍

//定时器编码器接口配置，第一个参数：选择定时器，第二个参数：选择编码器模式，第三、四个参数：分别选择通道1和通道2的电平极性
void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode,uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity);

4.案例（编码器接口测速）

main.c

#include "stm32f10x.h"    // Device header
#include "Delay.h"
#include "OLED.h"
#include "Timer.h"
#include "Encoder.h"


int16_t speed;

int main(void)
{
	OLED_Init();
	Timer_Init();
	Encoder_Init();
	
	OLED_ShowString(1,1,"Speed:");	
	
	while(1)
	{
		OLED_ShowSignedNum(1,7,speed,5);
	}
}

void TIM2_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM2,TIM_IT_Update) == SET)
	{
		speed = Encoder_Get();
		TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
	}
}

Encoder.c

#include "stm32f10x.h"                  // Device header


void Encoder_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	
	GPIO_InitTypeDef GPIO_InitStructure;
 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;  
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
 	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
    //不需要选择时钟源，因为编码器相当于一个时钟源
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 65536-1;       //ARR，满量程且方便转化为负数
	TIM_TimeBaseInitStructure.TIM_Prescaler = 1-1;     //PSC，不分频
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);

	TIM_ICInitTypeDef TIM_ICInitStructure;
	TIM_ICStructInit(&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
	TIM_ICInitStructure.TIM_ICFilter = 0xF;
	TIM_ICInit(TIM3,&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
	TIM_ICInitStructure.TIM_ICFilter = 0xF;
	TIM_ICInit(TIM3,&TIM_ICInitStructure);

    //rising表示不反转，更换其中一个的值就能反转方向
	TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);

	TIM_Cmd(TIM3,ENABLE);
}

int16_t Encoder_Get(void)
{
	int16_t temp;
	temp = TIM_GetCounter(TIM3);    //返回CNT的值
	TIM_SetCounter(TIM3,0);         //清零CNT的值
	return temp;
}

Timer.c

#include "stm32f10x.h"                  // Device header

void Timer_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	
	TIM_InternalClockConfig(TIM2);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 10000-1;
	TIM_TimeBaseInitStructure.TIM_Prescaler = 7200-1;
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
	
	TIM_ClearFlag(TIM2,TIM_FLAG_Update);
	TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	
	NVIC_InitTypeDef NVIC_InitStructure;
	NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
	NVIC_Init(&NVIC_InitStructure);
	
	TIM_Cmd(TIM2,ENABLE);
}