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1、/* (C) COPYRIGHT 2007 STMicroelectronics * File Name : stm32f10x_encoder.c * Author : IMS Systems Lab * Date First Issued : 21/11/07* Description : This file contains the software implementation for the* encoder unit* History:* 21/11/07 v1.0* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT P

2、ROVIDING CUSTOMERS* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE

3、BY CUSTOMERS OF THE CODING* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.*/* Includes -*/#include <stm32f10x_lib.h>#include "encoder.h"#include "lcd1602.h"#include "usart.h"/* Private variables -*/ s16 hPrevious_angle, hSpeed_BufferSPEED_BUFFER_S

4、IZE, hRot_Speed;/static s16 hPrevious_angle, hSpeed_BufferSPEED_BUFFER_SIZE;static u8 bSpeed_Buffer_Index = 0;static volatile u16 hEncoder_Timer_Overflow; #define TRUE 1#define FALSE 0static unsigned char bIs_First_Measurement = TRUE;/* Function Name : ENC_Init* Description : General Purpose Timer x

5、 set-up for encoder speed/position * sensors* Input : None* Output : None* Return : None*/void ENC_Init(void) TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; /* Encoder unit connected to TIM3, 4X mode */ GPIO_InitTypeDef GPIO_InitStructure; NVIC_InitTypeDef NVIC

6、_InitStructure; /* TIM3 clock source enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); /* Enable GPIOA, clock */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); GPIO_StructInit(&GPIO_InitStructure); /* Configure PA.06,07 as encoder input */ GPIO_InitStructure.GPIO_Pin = GPIO_P

7、in_6 | GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA, &GPIO_InitStructure); /* Enable the TIM3 Update Interrupt */ NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY; NVIC_InitStruct

8、ure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); /* Timer configuration in Encoder mode */ TIM_DeInit(ENCODER_TIMER); TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Prescaler = 0x0;

9、/ No prescaling /72M捕获？ TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1; TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure); TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM

10、_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER; TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure); / Clear all pending interrupts TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update); TIM_ITConfig

11、(ENCODER_TIMER, TIM_IT_Update, ENABLE); /Reset counter TIM2->CNT = COUNTER_RESET; ENC_Clear_Speed_Buffer(); TIM_Cmd(ENCODER_TIMER, ENABLE); /* Function Name : ENC_Get_Electrical_Angle* Description : Returns the absolute electrical Rotor angle * Input : None* Output : None* Return : Rotor electric

12、al angle: 0 -> 0 degrees, * S16_MAX-> 180 degrees, * S16_MIN-> -180 degrees */s16 ENC_Get_Electrical_Angle(void) s32 temp; temp = (s32)(TIM_GetCounter(ENCODER_TIMER) * (s32)(4294967295 / (4*ENCODER_PPR); return(s16)(temp/65536); / s16 result/* Function Name : ENC_Clear_Speed_Buffer* Descrip

13、tion : Clear speed buffer used for average speed calculation * Input : None* Output : None* Return : None*/void ENC_Clear_Speed_Buffer(void) u32 i; for (i=0;i<SPEED_BUFFER_SIZE;i+) hSpeed_Bufferi = 0; bIs_First_Measurement = TRUE;/* Function Name : ENC_Calc_Rot_Speed* Description : Compute return

14、 latest speed measurement * Input : None* Output : s16* Return : Return the speed in 0.1 Hz resolution. */s16 ENC_Calc_Rot_Speed(void) s32 wDelta_angle; u16 hEnc_Timer_Overflow_sample_one, hEnc_Timer_Overflow_sample_two; u16 hCurrent_angle_sample_one, hCurrent_angle_sample_two; signed long long temp

15、; s16 haux; if (!bIs_First_Measurement) / 1st reading of overflow counter hEnc_Timer_Overflow_sample_one = hEncoder_Timer_Overflow; / 1st reading of encoder timer counter hCurrent_angle_sample_one = ENCODER_TIMER->CNT; / 2nd reading of overflow counter hEnc_Timer_Overflow_sample_two = hEncoder_Ti

16、mer_Overflow; / 2nd reading of encoder timer counter hCurrent_angle_sample_two = ENCODER_TIMER->CNT; / Reset hEncoder_Timer_Overflow and read the counter value for the next / measurement hEncoder_Timer_Overflow = 0; haux = ENCODER_TIMER->CNT; if (hEncoder_Timer_Overflow != 0) haux = ENCODER_TI

17、MER->CNT; hEncoder_Timer_Overflow = 0; if (hEnc_Timer_Overflow_sample_one != hEnc_Timer_Overflow_sample_two) /Compare sample 1 & 2 and check if an overflow has been generated right /after the reading of encoder timer. If yes, copy sample 2 result in /sample 1 for next process hCurrent_angle_s

18、ample_one = hCurrent_angle_sample_two; hEnc_Timer_Overflow_sample_one = hEnc_Timer_Overflow_sample_two; if ( (ENCODER_TIMER->CR1 & TIM_CounterMode_Down) = TIM_CounterMode_Down) / encoder timer down-counting wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle - (hEnc_Timer_Overflo

19、w_sample_one) * (4*ENCODER_PPR); else /encoder timer up-counting wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle + (hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR); / speed computation as delta angle * 1/(speed sempling time) temp = (signed long long)(wDelta_angle * SPEED_SAMPLING

20、_FREQ); temp *= 10; / 0.1 Hz resolution temp /= (4*ENCODER_PPR); /is first measurement, discard it else bIs_First_Measurement = FALSE; temp = 0; hEncoder_Timer_Overflow = 0; haux = ENCODER_TIMER->CNT; / Check if Encoder_Timer_Overflow is still zero. In case an overflow IT / occured it resets over

21、flow counter and wPWM_Counter_Angular_Velocity if (hEncoder_Timer_Overflow != 0) haux = ENCODER_TIMER->CNT; hEncoder_Timer_Overflow = 0; hPrevious_angle = haux; return(s16) temp);/* Function Name : ENC_Calc_Average_Speed* Description : Compute smoothed motor speed based on last SPEED_BUFFER_SIZE

22、informations and store it variable * Input : None* Output : s16* Return : Return rotor speed in 0.1 Hz resolution. This routine will return the average mechanical speed of the motor.*/void ENC_Calc_Average_Speed(void) s32 wtemp,wtemp_1=0; u32 i; / wtemp = ENC_Calc_Rot_Speed();/ /* Compute the averag

23、e of the read speeds */ / hSpeed_BufferbSpeed_Buffer_Index = (s16)wtemp;/ bSpeed_Buffer_Index+;/ / if (bSpeed_Buffer_Index = SPEED_BUFFER_SIZE) / / bSpeed_Buffer_Index = 0;/ / wtemp=0;/ for (i=0;i<SPEED_BUFFER_SIZE;i+)/ / wtemp += hSpeed_Bufferi;/ / wtemp /= SPEED_BUFFER_SIZE; for (i=0;i<SPEED

24、_BUFFER_SIZE;i+) if (bSpeed_Buffer_Index = SPEED_BUFFER_SIZE) bSpeed_Buffer_Index = 0; wtemp = ENC_Calc_Rot_Speed(); hSpeed_BufferbSpeed_Buffer_Index = (s16)wtemp; bSpeed_Buffer_Index+; wtemp_1 += wtemp; wtemp_1 /= SPEED_BUFFER_SIZE; hRot_Speed = (s16)(wtemp_1);/* Function Name : LCD_Display* Descri

25、ption : This function handles the display of timer counter, theta and electronical frequency: theta - resolution: 1 degree; electronical frequency - resolution: 0.1Hz.* Input : None* Output : None* Return : None*/void LCD_Display(DisplayType DisplayStatus)/ u16 hValue;/ s16 Theta;/ s16 hSpeed;/ char

26、 *pstr;/ / switch (DisplayStatus)/ / case DISPLAY_TIMCNT: / hValue = TIM_GetCounter(ENCODER_TIMER);/ LCD_ShowNum(0,0,(hValue),5); / printf("%d,",hValue);/ break;/ / case DISPLAY_THETA: / Theta = ENC_Get_Electrical_Angle()*360/65535; /U16_MAX;/ if (Theta < 0) / / hValue = (u16)(-Theta);/

27、 pstr = int2char(hValue);/ *pstr = '-'/ / else/ / hValue = (u16)Theta;/ pstr = int2char(hValue);/ if (hValue != 0) *pstr = '+' / / LCD_ShowChar(0,8,*pstr);/ LCD_ShowNum(0,9,hValue,5);/ break;/ / default:/ hSpeed = hRot_Speed;/ if (hSpeed < 0) / / hValue = (u16)(-hSpeed);/ pstr = i

28、nt2char(hValue);/ *pstr = '-'/ / else/ / hValue = (u16)hSpeed;/ pstr = int2char(hValue);/ if (hValue != 0) *pstr = '+' / / LCD_ShowChar(0,8,*pstr);/ LCD_ShowNum(1,0,*pstr,5);/ break;/ /* Function Name : TIM2_IRQHandler* Description : This function handles TIMx Update interrupt reques

29、t. Encoder unit connected to TIM2* Input : None* Output : None* Return : None*/void TIM3_IRQHandler(void) /* Clear the interrupt pending flag */ TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update); if (hEncoder_Timer_Overflow != 65535) hEncoder_Timer_Overflow+; /寄存器版本/* (C) COPYRIGHT 2007 STMicroelectroni

30、cs *END OF FILE*/#include "encoder.h"/void Encoder_Init(void)/ /* TIM3 clock source enable */ / RCC->APB1ENR|=1<<1; /TIM3时钟使能/ /* Enable GPIOA, clock */ RCC->APB2ENR|=1<<2; /使能PORTA时钟/ /* Configure PA.06,07 as encoder input */ GPIOA->CRL&=0XF0FFFFFF;/PA6/ GPIOA->

31、;CRL|=0X04000000;/浮空输入/ GPIOA->CRL&=0X0FFFFFFF;/PA7/ GPIOA->CRL|=0X40000000;/浮空输入/ /* Enable the TIM3 Update Interrupt */ /这两个东东要同时设置才可以使用中断/ TIM3->DIER|=1<<0; /允许更新中断 / TIM3->DIER|=1<<6; /允许触发中断/ MY_NVIC_Init(1,3,TIM3_IRQChannel,2);/ /* Timer configuration in Encoder mod

32、e */ / TIM3->PSC = 0x0;/预分频器/ TIM3->ARR = ENCODER_TIM_PERIOD-1;/设定计数器自动重装值 / TIM3->CR1 &=(3<<8);/ 选择时钟分频：不分频/ TIM3->CR1 &=(3<<5);/ 选择计数模式:边沿对齐模式/ / TIM3->CCMR1 |= 1<<0; /CC1S='01' IC1FP1映射到TI1/ TIM3->CCMR1 |= 1<<8; /CC2S='01' IC2FP2映射

33、到TI2/ TIM3->CCER &= (1<<1); /CC1P='0' IC1FP1不反相，IC1FP1=TI1/ TIM3->CCER &= (1<<5); /CC2P='0' IC2FP2不反相，IC2FP2=TI2/ TIM3->CCMR1 |= 3<<4; / IC1F='1000' 输入捕获1滤波器/ TIM3->SMCR |= 3<<0; /SMS='011' 所有的输入均在上升沿和下降沿有效/ TIM3->CNT = C

34、OUNTER_RESET;/ TIM3->CR1 |= 0x01; /CEN=1，使能定时器/1. #ifndef _ENCODER_H_2. #define _ENCODER_H_3.4. #include "sys.h"5.6. /void Encoder_Init(void);7.8. /#endif9.10. /* (C) COPYRIGHT 2007 STMicroelectronics *11. * File Name          : stm32f10x_encoder.h12. * Aut

35、hor             : IMS Systems Lab 13. * Date First Issued  : 21/11/0714. * Description        : This file contains the software implementation for the15. *              &

36、#160;       encoder position and speed reading.16. *17. * History:18. * 21/11/07 v1.019. *20. * THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS21. * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.22. * AS A RESULT, STMI

37、CROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,23. * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE24. * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING25. * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.26. */27.28. /* Define to prevent recursive inclusion -*/29.30.31. /* Private typedef -*/32. typedef enum DISPLAY_