旋转编码器的原理
在对编码器进行转动时,交替挡光引起对应引脚高低电平变化,同时顺时针与逆时针可由两端口相位差进行判断
代码部分
#include "stm32f10x.h" // Device header
#include "Delay.h"
int count=0;
void sensor_exti_init(void){
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_InitTypeDef gpioa8;
gpioa8.GPIO_Mode=GPIO_Mode_IPU;
gpioa8.GPIO_Pin=GPIO_Pin_8 | GPIO_Pin_1| GPIO_Pin_0;
gpioa8.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&gpioa8);
GPIO_InitTypeDef gpioa6;
gpioa6.GPIO_Mode=GPIO_Mode_Out_PP;
gpioa6.GPIO_Pin=GPIO_Pin_6;
gpioa6.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&gpioa6);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource8);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource1);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource0);
EXTI_InitTypeDef extia8;
extia8.EXTI_Line=EXTI_Line8 | EXTI_Line1| EXTI_Line0;
extia8.EXTI_LineCmd=ENABLE;
extia8.EXTI_Mode=EXTI_Mode_Interrupt;
extia8.EXTI_Trigger=EXTI_Trigger_Falling;
EXTI_Init(&extia8);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_InitTypeDef nvica8;
nvica8.NVIC_IRQChannel=EXTI9_5_IRQn;
nvica8.NVIC_IRQChannelCmd=ENABLE;
nvica8.NVIC_IRQChannelPreemptionPriority=1;
nvica8.NVIC_IRQChannelSubPriority=5;
NVIC_Init(&nvica8);
NVIC_InitTypeDef nvica1;
nvica1.NVIC_IRQChannel= EXTI1_IRQn;
nvica1.NVIC_IRQChannelCmd=ENABLE;
nvica1.NVIC_IRQChannelPreemptionPriority=1;
nvica1.NVIC_IRQChannelSubPriority=3;
NVIC_Init(&nvica1);
NVIC_InitTypeDef nvica0;
nvica0.NVIC_IRQChannel= EXTI0_IRQn;
nvica0.NVIC_IRQChannelCmd=ENABLE;
nvica0.NVIC_IRQChannelPreemptionPriority=1;
nvica0.NVIC_IRQChannelSubPriority=4;
NVIC_Init(&nvica0);
}
int getcountsensor(void){
return count;
}
void EXTI9_5_IRQHandler(void){
if(EXTI_GetITStatus(EXTI_Line8)==SET){
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_8)==0){
count--;
}
EXTI_ClearITPendingBit(EXTI_Line8);
}}
void EXTI1_IRQHandler(void){
if(EXTI_GetITStatus(EXTI_Line1)==SET){
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_1)==0){
count++;
}
EXTI_ClearITPendingBit(EXTI_Line1);
}}
void EXTI0_IRQHandler(void){
if(EXTI_GetITStatus(EXTI_Line0)==SET){
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0)==0){
count=0;
}
EXTI_ClearITPendingBit(EXTI_Line0);
}}
这里为了使用EXTI外部中断,先后进行了时钟使能gpio,afio口,gpio口初始化,并且将gpio口进行中断引脚选择,之后进行中断初始化, 再进行优先级选择, 再执行中断函数
同时旋转编码器提供了下压使得sw口电平置低功能,这里添加对gpioa_pin_0的中断控制