timer.c
int Temp1= 0 ;
int Temp2= 0 ;
u32 encod3 = 0 ;
u32 encod4 = 0 ;
long all3_Count = 0 ;
long all4_Count = 0 ;
void TIM4_Encoder_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4|RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA, ENABLE);
/*- 正交编码器输入引脚 PB->6 PB->7 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/*- TIM4编码器模式配置 -*/
TIM_DeInit(TIM4);
TIM_TimeBaseStructure.TIM_Period =arr;
TIM_TimeBaseStructure.TIM_Prescaler = psc;
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM4 , TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);//使用编码器模式3,上升下降都计数
TIM_ICStructInit(&TIM_ICInitStructure); //配置滤波器
TIM_ICInitStructure.TIM_ICFilter = 8;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM4->CNT =3999;
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
TIM_ITConfig( TIM4, TIM_IT_Update , ENABLE );
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; //TIM4中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_Cmd(TIM4, ENABLE); //启动TIM4定时器
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
}
void TIM2_Encoder_Init(u16 arr,u16 psc)
{
TIM_ICInitTypeDef TIM2_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //使能TIM2时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA时钟
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
/* 编码器引脚初始化 ,PA-2 和 PA-3*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_0; //PA2 清除之前设置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* 初始化定时器2 TIM2定时器的配置*/
TIM_DeInit(TIM2);
TIM_TimeBaseStructure.TIM_Period = arr; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_EncoderInterfaceConfig(TIM2 , TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);//使用编码器模式3,上升下降都计数
TIM_ICStructInit(&TIM2_ICInitStructure); //配置滤波器
// TIM2_ICInitStructure.TIM_Channel = TIM_Channel_3|TIM_Channel_4 ;
// TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1 ;
TIM2_ICInitStructure.TIM_ICFilter = 8;
TIM_ICInit(TIM2, &TIM2_ICInitStructure);
TIM2->CNT =3999;
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ITConfig( TIM2, TIM_IT_Update , ENABLE );
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //TIM4中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_Cmd(TIM2, ENABLE); //启动TIM4定时器
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
}
void TIM2_IRQHandler(void)
{
if ( TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET )
{
if ( (TIM2->CR1&0x0010)==0 )
{
encod3++ ;
}
else
{
encod3-- ;
}
LED0 = !LED0 ;
}
TIM_ClearITPendingBit(TIM2, TIM_IT_CC1|TIM_IT_Update); //清除中断标志位
}
void TIM4_IRQHandler()
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
{
if ( (TIM4->CR1&0x0010)==0 )
{
encod4++ ;
}
else
{
encod4-- ;
}
LED1 = !LED1 ;
}
TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
}
main.c
*
定时器4 :B 接 PB6 , A 接 PB7.面向自己顺时针为正 , CNT的值增加。
*/
/*
定时器2 :B 接 PA0 , A 接 PA1.面向自己顺时针为正 , CNT的值增加。
*/
int main(void)
{
u8 tab = 0;
float all_num4 = 0 ; //转过的圈数
float all_num3 = 0 ;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 设置中断优先级分组2
delay_init(); //延时函数初始化
uart_init(9600); //9600
LED_Init();
KEY_Init(); //初始化与LED连接的硬件接口
TIM2_Encoder_Init(7999,0);
TIM4_Encoder_Init( 7999 ,0); //以1Mhz的频率计数,以微秒级别进行捕获计时
while(1)
{
///////////定时器4 的参数////////////////////////////
printf("定时器4: %d\r\n" , TIM4->CNT ) ;
if (encod4 ==0 )
all4_Count = TIM4->CNT-3999 ;
else
{
all4_Count = 3999 + (encod4 - 1) *8000 +TIM4->CNT ;
}
all_num4 = all4_Count/4000.000 ;
printf("encoder4 的值是:%d--捕获到的总数是%ld*****转过的圈数是%lf\r\n" , encod4,all4_Count , all_num4 );
///////////定时器2 的参///////////////////////////
printf("定时器2: %d\r\n" , TIM2->CNT ) ;
if (encod3 ==0 )
all3_Count = TIM2->CNT-3999 ;
else
{
all3_Count = 3999 + (encod3 - 1) *8000 +TIM2->CNT ;
}
all_num3 = all3_Count/4000.000 ;
printf("encoder2 的值是:%d--捕获到的总数是%ld*****转过的圈数是%lf\r\n" , encod3 ,all3_Count , all_num3 );
}
}
|