main.c文件
#include "sys.h"#include "delay.h"#include "usart.h"#include "led.h"#include "SpeedCheck.h"#include "OLED12864.h"extern float speed;int main(void){ delay_init(168); //延时初始化 uart_init(115200); //串口初始化波特率为115200OLED_Init();NVIC_Config();Timer_Init();TIM_Init();while(1){OLEDPritnf("Speed:%0.2f\r\n",speed);delay_ms(1000);}}
SpeedCheck.c文件
//光电编码器测速,TIM3_ETR,PD2
#include "SpeedCheck.h"
uint16_t Qian_Count,Hou_Count;
uint8_t flag;
float speed;
void TIM3_IRQHandler(void)
{
#if 0
if(TIM_GetITStatus(TIM1,TIM_IT_Update) != RESET)
{
//TIM_ClearITPendingBit(TIM1,TIM_IT_Update); //清除标志位
GPIOC-> ODR ^= GPIO_Pin_6;
TIM_ClearITPendingBit(TIM1, TIM_FLAG_Update); //清中断
//TIM1->EGR |= 0x0001;
//TIM_ClearITPendingBit(TIM1, TIM_FLAG_Update); //清中断
}
#endif
if(TIM_GetITStatus(TIM3,TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM3,TIM_IT_Update); //清除标志位
GPIOC-> ODR ^= GPIO_Pin_8;
flag++;
}
}
//定时器2的中断函数
void TIM2_IRQHandler(void)
{
if(TIM_GetITStatus(TIM2,TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除标志位
GPIOC-> ODR ^= GPIO_Pin_9;
Qian_Count = TIM3->CNT;
speed=(800*flag+Qian_Count-Hou_Count)*2.0/200.0;
flag=0;
Hou_Count=Qian_Count;
}
}
void NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置系统中断优先级分组2
NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn; //定时器3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1; // 抢占优先级1
NVIC_InitStructure.NVIC_IRQChannelSubPriority=2; //子优先级2
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置系统中断优先级分组2
NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn; //定时器2中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2; // 抢占优先级2
NVIC_InitStructure.NVIC_IRQChannelSubPriority=2; //子优先级2
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure);
}
void TIM_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); //TIM3时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //使能PORTA时钟
GPIO_PinAFConfig(GPIOD,GPIO_PinSource2,GPIO_AF_TIM3); //GPIOD2复用为定时器3
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //GPIOFD
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOD,&GPIO_InitStructure); //初始化PD2
//配置TIMER3作为计数器
TIM_DeInit(TIM3);
TIM_TimeBaseStructure.TIM_Period = 800; //编码器转四圈,自动重装载值arr
TIM_TimeBaseStructure.TIM_Prescaler = 0x00;//定时器分频psc
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;//设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); // Time base configuration
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ETRClockMode2Config(TIM3, TIM_ExtTRGPSC_OFF, TIM_ExtTRGPolarity_NonInverted, 0);
//使用ETR时钟作为计数时钟需要设置为外部时钟模式2,故调用该函数,在设置时1、关闭预分频:TIM_ExtTRGPSC_OFF
TIM_SetCounter(TIM3, 0);
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);//允许定时器3更新中断
TIM_Cmd(TIM3, ENABLE);//使能定时器3
}
void Timer_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
//打开TIM2外设的时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); //使能TIM2时钟
/*定时器2的设置:72分频,500ms中断一次,向上计数*/
TIM_TimeBaseStructure.TIM_Period = 5000-1; //周期为2S
TIM_TimeBaseStructure.TIM_Prescaler =8400-1 ; //分频后时钟为1KHz
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure); //初始化定时器
TIM_ITConfig(TIM2,TIM_IT_Update, ENABLE); //允许定时器2更新中断
TIM_Cmd(TIM2,ENABLE); //使能定时器2
}
SpeedCheck.h文件
#ifndef __SpeedCheck_H
#define __SpeedCheck_H
#include "sys.h"
void NVIC_Config(void);
void TIM_Init(void);
void TIM3_IRQHandler(void);
void TIM2_IRQHandler(void);
void Timer_Init(void);
#endif