stm32编码器接口测速

本文章转自B站江科大自化协

目录结构 

 Encoder.c

#include "stm32f10x.h"                  // Device header

void Encoder_Init(void)
{
	//第一步开启RCC时钟，开启GPIO和定时器的时钟
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	//第二步配置GPIO,把PA6和PA7配置成输入模式
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 |GPIO_Pin_7;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	//第三步配置时基单元，预分频器选择不分频 自动重装最大65535，有个CNT执行计数
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数的模式
	TIM_TimeBaseInitStructure.TIM_Period = 65536 - 1;		//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 1 - 1;		//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);
//第四步配置输入捕获单元 滤波器和极性
	TIM_ICInitTypeDef TIM_ICInitStructure; //定义结构体变量
	TIM_ICStructInit(&TIM_ICInitStructure); //StructInit给结构体赋一个初始值
	TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;//选择通道
	TIM_ICInitStructure.TIM_ICFilter = 0xF;         //配置输入捕获的滤波器
//	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;//极性 选择上升沿触发
	TIM_ICInit(TIM3, &TIM_ICInitStructure);
	
    TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;//选择通道
	TIM_ICInitStructure.TIM_ICFilter = 0xF;         //配置输入捕获的滤波器
//	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;//极性 选择上升沿触发
	TIM_ICInit(TIM3, &TIM_ICInitStructure);
	//第五步配置编码器接口模式   调用个库函数就行
	TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
	//第六步 调用TIM_Cmd，启动定时器
	TIM_Cmd(TIM3,ENABLE);
	
}

int16_t Encoder_Get(void)
{
	int16_t Temp;  //定义一个临时变量Temp
	Temp = TIM_GetCounter(TIM3);//获取CNT
	TIM_SetCounter(TIM3,0);//给CNT清零
	return Temp;   //返回Temp
}

 Encoder.h

#ifndef __ENCODER__H
#define __ENCODER__H

void Encoder_Init(void);
int16_t Encoder_Get(void);
	
#endif

main.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Timer.h"
#include "Encoder.h"
  
int16_t Speed;  //定义一个16位的全局变量Speed
   
int main(void)
{
	OLED_Init();
	Timer_Init();
	Encoder_Init();
	OLED_ShowString(1,1, "Speed:");
	
	while (1)
	{
		OLED_ShowSignedNum(1,7,Speed,5);//看一下CNT计数器值的变化情况
		
	}
}

	//中断函数
void TIM2_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET)
	{
		Speed = Encoder_Get();
		TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
	}
}

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