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使用的电机是12V的371电机,带光栅编码器,一圈是360线,电机带减速机,减速比是 1:34
加上减速,一圈的脉冲是 360 * 34 = 12240
现在遇到2个问题,
1,一圈的脉冲太高了,因为加上减速机,一圈是12240,算上4倍频,会变成48960,有点吃不销了,也用不上这么精确。
2,很奇怪,按道理算下来,一圈是12440,应该跑完360度,才会激发一次中断,但现在是在180度的时候,就已经产生一次中断,
主要是想解决第1个问题,本来我是想通过输入捕获预分频来控制,如果12240 / 8 = 1530,
可惜怎么试都不行,不知道为什么?
- TIM_ICInitTypeDef IC;
- IC.TIM_ICPrescaler = TIM_ICPSC_DIV8;
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以下是定时器设置模块代码
- static void TIM4_Mode_Config(void)
- {
- GPIO_InitTypeDef GPIO;
- TIM_TimeBaseInitTypeDef TimeBase;
- TIM_ICInitTypeDef IC;
-
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
-
- /*- Õy½»±àÂëÆ÷êäèëòy½Å PB->6 PB->7 -*/
- GPIO.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
- GPIO.GPIO_Mode = GPIO_Mode_IN_FLOATING; // GPIO_Mode_IPU ; //GPIO_Mode_IPD;
- GPIO.GPIO_Speed = GPIO_Speed_10MHz;
- GPIO_Init(GPIOB, &GPIO);
-
- /*- TIM4±àÂëÆ÷Ä£ê½ÅäÖà -*/
- TIM_DeInit(TIM4);
- TimeBase.TIM_Period = 12240;
- TimeBase.TIM_Prescaler = 0;
- TimeBase.TIM_ClockDivision =TIM_CKD_DIV1 ;
- TimeBase.TIM_CounterMode = TIM_CounterMode_Up;
- //TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
- TIM_TimeBaseInit(TIM4, &TimeBase);
-
- //TIM_ICStructInit(&IC);
- IC.TIM_Channel = TIM_Channel_1 | TIM_Channel_2;
- IC.TIM_ICPolarity = TIM_ICPolarity_Rising;
- IC.TIM_ICSelection = TIM_ICSelection_DirectTI;
- /////////////////////////////////////////////
- IC.TIM_ICPrescaler = TIM_ICPSC_DIV8;
- /////////////////////////////////////////////
- IC.TIM_ICFilter = 0; //ÅäÖÃÂË2¨Æ÷
-
- TIM_ICInit(TIM4, &IC);
-
-
- //ÅäÖñàÂëÆ÷Ä£ê½′¥·¢Ô′oí¼«DÔ
- TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI1, TIM_ICPolarity_Rising ,TIM_ICPolarity_Rising);
-
- TIM_ITConfig(TIM4,TIM_IT_Update|TIM_IT_CC1 ,ENABLE);
-
- TIM4->CNT = 0;
-
- TIM_Cmd(TIM4, ENABLE);
- }
-
- void TIM4_IRQHandler(void)
- {
- if(TIM4->SR&0X0001)
- {
-
- u8 dir = TIM4->CR1 & ( 1 << 4 );
-
- if(dir == 0x0000) circle += 1;
- else circle -= 1;
-
- }
- TIM4->SR&=~(1<<0);
- }
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