通用定时器④-编码器接口

编码器接口（EncoderInterface）

        编码器接口可接收增量(正交) 编码器的信号根据编码器旋转产生的正交信号脉冲，自动控制CNT自增或自减，从而指示编码器的位置、旋转方向和旋转速度；

        每个高级定时器和通用定时器都只拥有1个编码器接口；基本定时器没有编码器接口；

        两个输入引脚借用了输入捕获的通道1和通道2；

 

 

  实现步骤：

1、开启时钟

2、使能GPIO

3、开启时基单元

4、开启滤波器、边沿检测极性选择

5、打开编码器接口

6、时钟使能

  代码步骤： 

        //1
		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	    //2
		GPIO_InitTypeDef GPIO_InitStructure;
		GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU; 
		GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7;
		GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
		GPIO_Init(GPIOA,&GPIO_InitStructure);
		//3
		TIM_TimeBaseInitTypeDef TIM_BaseInitInstructure;
		TIM_BaseInitInstructure.TIM_ClockDivision= TIM_CKD_DIV1;
		TIM_BaseInitInstructure.TIM_CounterMode=TIM_CounterMode_Up;
		TIM_BaseInitInstructure.TIM_Period=65536-1;//ARR
		TIM_BaseInitInstructure.TIM_Prescaler=1-1;//PSC
		TIM_BaseInitInstructure.TIM_RepetitionCounter=0;
		TIM_TimeBaseInit(TIM3,&TIM_BaseInitInstructure);
		//4
		TIM_ICInitTypeDef TIM_ICInitStructure;
		//因为结构体配置不完整，加这个防止报错
		TIM_ICStructInit(&TIM_ICInitStructure);
		TIM_ICInitStructure.TIM_Channel=TIM_Channel_1;
		TIM_ICInitStructure.TIM_ICFilter=0xF;
	    //因为后面配置编码器接口的时候会重新覆盖该代码，所以可以注释
        //	TIM_ICInitStructure.TIM_ICPolarity=TIM_ICPolarity_Rising;
		TIM_ICInit(TIM3,&TIM_ICInitStructure);
		
		TIM_ICInitStructure.TIM_Channel=TIM_Channel_2;
		TIM_ICInitStructure.TIM_ICFilter=0xF;
	//	TIM_ICInitStructure.TIM_ICPolarity=TIM_ICPolarity_Rising;
		TIM_ICInit(TIM3,&TIM_ICInitStructure);
 
		//5配置编码器接口
		TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
	    //6
		TIM_Cmd(TIM3,ENABLE);
​

        //1
		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	    //2
		GPIO_InitTypeDef GPIO_InitStructure;
		GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU; 
		GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7;
		GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
		GPIO_Init(GPIOA,&GPIO_InitStructure);
		//3
		TIM_TimeBaseInitTypeDef TIM_BaseInitInstructure;
		TIM_BaseInitInstructure.TIM_ClockDivision= TIM_CKD_DIV1;
		TIM_BaseInitInstructure.TIM_CounterMode=TIM_CounterMode_Up;
		TIM_BaseInitInstructure.TIM_Period=65536-1;//ARR
		TIM_BaseInitInstructure.TIM_Prescaler=1-1;//PSC
		TIM_BaseInitInstructure.TIM_RepetitionCounter=0;
		TIM_TimeBaseInit(TIM3,&TIM_BaseInitInstructure);
		//4
		TIM_ICInitTypeDef TIM_ICInitStructure;
		//因为结构体配置不完整，加这个防止报错
		TIM_ICStructInit(&TIM_ICInitStructure);
		TIM_ICInitStructure.TIM_Channel=TIM_Channel_1;
		TIM_ICInitStructure.TIM_ICFilter=0xF;
	    //因为后面配置编码器接口的时候会重新覆盖该代码，所以可以注释
        //	TIM_ICInitStructure.TIM_ICPolarity=TIM_ICPolarity_Rising;
		TIM_ICInit(TIM3,&TIM_ICInitStructure);
		
		TIM_ICInitStructure.TIM_Channel=TIM_Channel_2;
		TIM_ICInitStructure.TIM_ICFilter=0xF;
	//	TIM_ICInitStructure.TIM_ICPolarity=TIM_ICPolarity_Rising;
		TIM_ICInit(TIM3,&TIM_ICInitStructure);
 
		//5配置编码器接口
		TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
	    //6
		TIM_Cmd(TIM3,ENABLE);
//传参
int16_t Encoder_Get(void)	
{
	int16_t temp;

	temp= TIM_GetCounter(TIM3);
	TIM_SetCounter(TIM3,0);
	return temp;
}