STM32编码器测距程序

ID:944437 · 发表于 2021-6-27 23:41

/*- TIM5编码器模式配置 -*/
      //TIM_DeInit(TIM5);
      TIM_TimeBaseStructure.TIM_Period = 65535;//计次数;
      TIM_TimeBaseStructure.TIM_Prescaler = 0;//
      TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
      TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);

      TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);       //配置编码器模式触发源和极性

      TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01       选择输入端 IC1映射到TI2上
      TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;       //上升沿捕获
      TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI2上
      TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;       //配置输入分频,不分频?
      TIM_ICInitStructure.TIM_ICFilter = 0x01;//IC1F=0000 配置输入滤波器不滤

      TIM_ICInit(TIM5, &TIM_ICInitStructure);

      NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;//抢占优先级2
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;             //子优先级3
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;                      //IRQ通道使能
      NVIC_Init(&NVIC_InitStructure);       //根据指定的参数初始化VIC寄存器



      TIM_ClearFlag(TIM5, TIM_FLAG_Update);
   TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE);

      TIM_SetCounter(TIM5,0);
      TIM_Cmd(TIM5, ENABLE); //启动TIM5定时器
}

/**************************************************************************
函数功能：单位时间读取编码器计数,此函数在定时器中断里面用我的是定时器6每隔5ms读取一次
入口参数：定时器
返回  值：计数值
**************************************************************************/
int x=0;
int Read_Encoder(u8 TIMX)
{
int Encoder_TIM;
switch(TIMX)
      {
               case 3:  Encoder_TIM= (short)TIM3 -> CNT;  TIM3 -> CNT=0;break;//
               case 4:  Encoder_TIM= (short)TIM4 -> CNT;  TIM4 -> CNT=0;break;
               case 5:  Encoder_TIM= (short)TIM5 -> CNT;  TIM5 -> CNT=0;break;
               default:  Encoder_TIM=0;
      }
            return Encoder_TIM;
}

初始化编码选择编码模式
TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);主函数，距离可通过串口打印出来
int main(void)
{
      uart_init(115200);                                                                //USART1_TX PA9 USART1_RX       PA10
      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);       //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
      delay_init();
      MOTOR_Init();                                                                   //PC0,1 2 3
      TIM6_Mode_Config_Init();                                                       //使能定时器6 5ms中断一次
TIM4_Encoder_Init();                                                             //使能TIM4对应的编码器                                     //PB6 PB7
      TIM5_Encoder_Init();                                                                //使能TIM5对应的编码器                                  //PA0 PA1
      while(1)
      {
;
      }
}

void TIM6_IRQHandler(void)                                                             //定是时间不能太长否则计数器溢出了就会测量错误
{

      if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET)
      {
            danweilenth( Read_Encoder(4),Read_Encoder(5));       //每隔5ms中断一次读取对应CNT的值,并计算路程
            printf("Encoder.M1Lneth=%f\r\n",Encoder.M1Lneth);//打印出电机1的路程
            printf("Encoder.M2Lneth=%f\r\n",Encoder.M2Lneth);//打印出电机2的路程
      }
      TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
}

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