/***************************************************
定时器2;位数:32位;输入时钟频率:84M
***************************************************/
void Encoder_TIM2_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); ///使能TIM2时钟
TIM_TimeBaseInitStructure.TIM_Period = 65535;//1024-1;//20-1;//20; //自动重装载值
TIM_TimeBaseInitStructure.TIM_Prescaler=0; //定时器分频
TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Down;//TIM_CounterMode_Up;//TIM_CounterMode_Down; //向上计数模式
TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);//初始化TIM2
// 上升下降双计数 双触发
//TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
//TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI12,TIM_ICPolarity_Falling,TIM_ICPolarity_Falling); //Cnt++方向
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1 ;
TIM_ICInitStructure.TIM_ICFilter = 0; //0; //最大为15
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2 ;
TIM_ICInitStructure.TIM_ICFilter = 0; //0; 滤波
TIM_ICInit(TIM2, &TIM_ICInitStructure);
//溢出中断设置
TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE); //允许TIM2溢出中断
NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x00;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x01;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_SetCounter(TIM2,10000);//应该不能为0
TIM_Cmd(TIM2,ENABLE);
}
void Encoder_TIM2_IO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_TIM2);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//GPIO_PuPd_DOWN;//GPIO_PuPd_UP;//GPIO_PuPd_NOPULL
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
void Encoder_Init(void)
{
Encoder_TIM2_IO_Init();
Encoder_TIM2_Init();
}
void TIM2_IRQHandler(void)
{
if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET)
{
if((TIM2->CR1>>4 & 0x01)==0) //DIR==0
{
// GlPara.Tim_AS5311Pluse--;
}
else if((TIM2->CR1>>4 & 0x01)==1)//DIR==1
{
// GlPara.Tim_AS5311Pluse++;
}
}
TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
}