Rt-thread encoder 编码器不会溢出中断问题

参考文章https://blog.csdn.net/qq_41285788/article/details/102729020

并参考按照官方文档指导，编译成功后下载运行测试发现，虽然编码能计数，但不能产生溢出中断，没法进行累积计数，在经过研究后发现，驱动代码有一处问题：

rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
{
    TIM_Encoder_InitTypeDef sConfig;
    TIM_MasterConfigTypeDef sMasterConfig;
    struct stm32_pulse_encoder_device *stm32_device;
    stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder;

    stm32_device->tim_handler.Init.Prescaler = 0;
    stm32_device->tim_handler.Init.CounterMode = TIM_COUNTERMODE_UP;
    stm32_device->tim_handler.Init.Period = AUTO_RELOAD_VALUE;
    stm32_device->tim_handler.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    stm32_device->tim_handler.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;

    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC1Filter = 15;
    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
    sConfig.IC2Filter = 15;

    if (HAL_TIM_Encoder_Init(&stm32_device->tim_handler, &sConfig) != HAL_OK)
    {
        LOG_E("pulse_encoder init failed");
        return -RT_ERROR;
    }

    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;

    if (HAL_TIMEx_MasterConfigSynchronization(&stm32_device->tim_handler, &sMasterConfig))
    {
        LOG_E("TIMx master config failed");
        return -RT_ERROR;
    }
    else
    {
        HAL_NVIC_SetPriority(stm32_device->encoder_irqn, 3, 0);

        /* enable the TIMx global Interrupt */
        HAL_NVIC_EnableIRQ(stm32_device->encoder_irqn);

        /* clear update flag */
        __HAL_TIM_CLEAR_FLAG(&stm32_device->tim_handler, TIM_FLAG_UPDATE);
        /* enable update request source */
        __HAL_TIM_URS_ENABLE(&stm32_device->tim_handler);
		__HAL_TIM_ENABLE_IT(&stm32_device->tim_handler, TIM_IT_UPDATE);
    }

    return RT_EOK;
}

上面__HAL_TIM_ENABLE_IT(&stm32_device->tim_handler, TIM_IT_UPDATE);补充上去以后可以产生溢出中断，正反转均可计数。

把测试代码的计数清零函数注释掉后，边可以进行计数累计：

//for(rt_uint32_t i = 0; i <= 100; i++)
		while(1)
    {
        rt_thread_mdelay(100);
        /* 读取脉冲编码器计数值 */
        rt_device_read(pulse_encoder_dev, 0, &count, 1);
        /* 清空脉冲编码器计数值 */
        //rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
        rt_kprintf("get count %d\n",count);
    }