江科大学习笔记 _8.编码器测速

1. RCC时钟，GPIO/TIM

2. 配置GPIO，输入模式

3. 配置时基单元

4. 配置输入捕获单元

5. 配置编码器模式

6. TI_Cmd

 

 

1.RCC时钟，GPIO/TIM

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

 

2.配置GPIO，输入模式

GPIO_InitTypeDef GPIO_InitStruct;

    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU;

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;

    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOA, &GPIO_InitStruct);

 

3.配置时基单元

    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;

    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;

    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;

    TIM_TimeBaseInitStruct.TIM_Period = 65536 - 1;//ARR

    TIM_TimeBaseInitStruct.TIM_Prescaler = 1 - 1; //PSC

    TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;

    TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStruct);

4.配置输入捕获单元

    TIM_ICInitTypeDef TIM_ICInitStruct;

    TIM_ICStructInit(&TIM_ICInitStruct);

    TIM_ICInitStruct.TIM_Channel = TIM_Channel_1;

    TIM_ICInitStruct.TIM_ICFilter = 0XF;

    TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;

    TIM_ICInit(TIM3, &TIM_ICInitStruct);

    

    TIM_ICInitStruct.TIM_Channel = TIM_Channel_2;

    TIM_ICInitStruct.TIM_ICFilter = 0XF;

TIM_ICInit(TIM3, &TIM_ICInitStruct);

 

5.配置编码器模式

TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

 

6.TI_Cmd

 

 

 

int16_t Encoder_Get(void)

{

   int16_t temp;

    

   temp =  TIM_GetCounter(TIM3);

   TIM_SetCounter(TIM3, 0);

    

   return temp;

}

 

void TIM2_IRQHandler(void)

{

    

    if(TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)

    { 

        Speed = Encoder_Get();

        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);

    }

}

 

While(1)中显示Speed