stm32编码器模式.doc

我最近有一个项目要利用stm32的编码器模式计数，我很苦恼，我想用原子的寄存器设置模式，库函数的我没有很好的接触，我自己也配置了，可是lcd上始终显示不到数字，这是库函数的程序：void ENC_Init(void) TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB1PeriphClockCmd(RCC_APBPeriph_ENCODER_TIMER, ENABLE); / ENCODER_TIMER时钟初始化 RCC_APB2PeriphClockCmd(RCC_APBPeriph_ENCODER_GPIO, ENABLE); / ENCODER_GPIO时钟初始化 GPIO_StructInit(&GPIO_InitStructure);/TI1 TI2初始化 GPIO_InitStructure.GPIO_Pin = ENCODER_TI1 | ENCODER_TI2; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;/浮空输入 GPIO_Init(ENCODER_GPIO, &GPIO_InitStructure); NVIC_InitStructure.NVIC_IRQChannel = TIMER_IRQChannel;/设置ENCODER_TIMER的优先级 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY; NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); /* Timer configuration in Encoder mode */设置ENCODER_TIMER为编码器模式 TIM_DeInit(ENCODER_TIMER); /ENCODER_TIMER复位 TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Prescaler = 0x0; / 无分频 TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1; /计数器重载值 设置了在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; /设置时钟分割 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;/向上计数模式 TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure); TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);/编码器接口初始化 /TIM_ICPolarity_Rising: TIM输入捕获上升沿 TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER; /TIM_ICFilter选择输入比较滤波器。该参数取值在0x0和0xF之间 TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);/ Clear all pending interrupts TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);/清除TIMx的待处理标志位 TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE); /使能或者失能指定的TIM中断 /Reset counter TIM2-CNT = COUNTER_RESET; TIM_Cmd(ENCODER_TIMER, ENABLE); / 使能或者失能TIMx外设/*/ 计算马达转子相对于初始位置的角度-180至+180/*void ENC_Get_Electrical_Angle(uint16_t *degree)int32_t temp;int16_t tim_count;tim_count=TIM_GetCounter(ENCODER_TIMER); /获取ENCODER_TIMER的值if(tim_count=400)/如果超过180度，角度为负数degree0=-;degree1=(800-tim_count)*180/(4*ENCODER_PPR/2);/整数部分temp = (int32_t)(800-tim_count) * (int32_t)(1000000/(4*ENCODER_PPR/2)*360-degree1*1000000; degree2=(unsigned char)temp;/小数部分else/如果未超过180度，角度为正数degree0=+;degree1=tim_count*180/(4*ENCODER_PPR/2);/整数部分temp = (int32_t)tim_count * (int32_t)(1000000/(4*ENCODER_PPR/2)*180-degree1*1000000; degree2=(unsigned char)temp; /小数部分/*/TIm2_IRQ 计算编码器每秒钟产生的脉冲数/*void Tim2_IRQ(void)unsigned int temp;if(Count0=0)Count0+;/以便下次读取并计算Count2=Count1;Encoder_TIM_Count0=TIM_GetCounter(ENCODER_TIMER);/第一次读取ENCODER_TIMER的值elsetemp=Count1-Count2;/ENCODER_TIMER溢出次数Encoder_TIM_Count1=TIM_GetCounter(ENCODER_TIMER);/第二次读取ENCODER_TIMER的值Count0=0;Count1=0;if(temp=0) /如果ENCODER_TIMER溢出次数为0if(Encoder_TIM_Count1=Encoder_TIM_Count0)Speed1=(Encoder_TIM_Count1-Encoder_TIM_Count0)*8;/每秒的脉冲数等于两次计数器差的绝对值*4elseSpeed1=(Encoder_TIM_Count0-Encoder_TIM_Count1)*8; else/如果ENCODER_TIMER溢出次数不为0if(Speed0=+) /如果ENCODER_TIMER正向溢出if(Encoder_TIM_Count1=Encoder_TIM_Count0)Speed1=(Encoder_TIM_Count1-Encoder_TIM_Count0+(4*ENCODER_PPR)*temp)*8;else Speed1=(800-Encoder_TIM_Count0+Encoder_TIM_Count1+(4*ENCODER_PPR)*(temp-1)*8;else/如果ENCODER_TIMER逆向溢出Speed1=(800-Encoder_TIM_Count1+Encoder_TIM_Count0+(4*ENCODER_PPR)*(temp-1)*8; /*/TIm4_IRQ 获得溢出此数count1和旋转方向speed/*void Tim4_IRQ(void)unsigned int temp;Count1+;/* Clear the interrupt pending flag */TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);temp