STM32 LL库踩坑系列二(TIM编码器)
这个作者很懒,想到什么就写什么!
写在前面:这个是记录学习LL库的踩坑系列,这个资料很少,想要找例程可以在电脑用户文件下的STM32Cube\Repository里,前提是下载好那个单片机的pack,部分没有例程的可以借鉴同系列的文件。
打开cubemx,配置TIM为编码器模式。
注意编码器模式需要对应好硬件,这算上一个小坑。
/* TIM4 init function */
void MX_TIM4_Init(void)
{
LL_TIM_InitTypeDef TIM_InitStruct = {0};
LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
/* Peripheral clock enable */
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOD);
/**TIM4 GPIO Configuration
PD12 ------> TIM4_CH1
PD13 ------> TIM4_CH2
*/
GPIO_InitStruct.Pin = ENC_A_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
GPIO_InitStruct.Alternate = LL_GPIO_AF_2;
LL_GPIO_Init(ENC_A_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = ENC_B_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
GPIO_InitStruct.Alternate = LL_GPIO_AF_2;
LL_GPIO_Init(ENC_B_GPIO_Port, &GPIO_InitStruct);
LL_TIM_SetEncoderMode(TIM4, LL_TIM_ENCODERMODE_X2_TI2);
LL_TIM_IC_SetActiveInput(TIM4, LL_TIM_CHANNEL_CH1, LL_TIM_ACTIVEINPUT_DIRECTTI);
LL_TIM_IC_SetPrescaler(TIM4, LL_TIM_CHANNEL_CH1, LL_TIM_ICPSC_DIV1);
LL_TIM_IC_SetFilter(TIM4, LL_TIM_CHANNEL_CH1, LL_TIM_IC_FILTER_FDIV2_N6);
LL_TIM_IC_SetPolarity(TIM4, LL_TIM_CHANNEL_CH1, LL_TIM_IC_POLARITY_RISING);
LL_TIM_IC_SetActiveInput(TIM4, LL_TIM_CHANNEL_CH2, LL_TIM_ACTIVEINPUT_DIRECTTI);
LL_TIM_IC_SetPrescaler(TIM4, LL_TIM_CHANNEL_CH2, LL_TIM_ICPSC_DIV1);
LL_TIM_IC_SetFilter(TIM4, LL_TIM_CHANNEL_CH2, LL_TIM_IC_FILTER_FDIV2_N6);
LL_TIM_IC_SetPolarity(TIM4, LL_TIM_CHANNEL_CH2, LL_TIM_IC_POLARITY_RISING);
TIM_InitStruct.Prescaler = 0;
TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
TIM_InitStruct.Autoreload = 2000;
TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
LL_TIM_Init(TIM4, &TIM_InitStruct);
LL_TIM_DisableARRPreload(TIM4);
LL_TIM_SetTriggerOutput(TIM4, LL_TIM_TRGO_RESET);
LL_TIM_DisableMasterSlaveMode(TIM4);
}
另外还需要在添加TIM启动
/* Enable counter */
LL_TIM_CC_EnableChannel(TIM4,LL_TIM_CHANNEL_CH1);
LL_TIM_CC_EnableChannel(TIM4,LL_TIM_CHANNEL_CH2);
LL_TIM_EnableCounter(TIM4);
测试使用LL_TIM_GetCounter()读取对应的TIM即可。
关于编码器的可以参考下面代码,其中Tim_ms是使用另一个TIM毫秒计数的,来判断旋钮旋转的速度。MSG_ENC_RIGHT和MSG_ENC_LEFT为自己设置的标志值。
/************************************************************
*
* encoder key detect is norm or fast
*
*************************************************************/
#define MSG_ENC_RIGHT Set_Bit0
#define MSG_ENC_LEFT Set_Bit1
#define CMP_VALUE (500)
#define FAST_RANK_2 (200)
#define FAST_RANK_1 (30)
unsigned char enc_speed_grade;
unsigned char Enc_GetSpeed(void)
{
return enc_speed_grade;
}
unsigned short int Encoder_Process(void)
{
static unsigned char flag = 0;
unsigned short int enc_value;
if(LL_TIM_GetCounter(TIM4) == CMP_VALUE) //获取定时器的值
{
flag = 0;
enc_speed_grade = ENC_SPEED_0;
return 0;
}
if((LL_TIM_GetCounter(TIM4)) > CMP_VALUE)
{
enc_value = MSG_ENC_RIGHT;
LL_TIM_SetCounter(TIM4, CMP_VALUE);
}else if(LL_TIM_GetCounter(TIM4) < CMP_VALUE){
enc_value = MSG_ENC_LEFT;
LL_TIM_SetCounter(TIM4, CMP_VALUE);
}
if(!flag)
{
flag = 1;
Tim_ms = 0;
return enc_value;
}
if(Tim_ms < FAST_RANK_2)
{
enc_speed_grade = ENC_SPEED_2;
if(Tim_ms <= FAST_RANK_1)
{
enc_speed_grade = ENC_SPEED_1;
}
Tim_ms = 0;
}else{
enc_speed_grade = ENC_SPEED_0;
}
return enc_value;
}