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標(biāo)題: STM32編碼器測(cè)距程序 [打印本頁(yè)]

作者: 中午 時(shí)間: 2021-6-27 23:41
標(biāo)題: STM32編碼器測(cè)距程序
/*- TIM5編碼器模式配置 -*/
      //TIM_DeInit(TIM5);
      TIM_TimeBaseStructure.TIM_Period = 65535;//計(jì)次數(shù);
      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);       //配置編碼器模式觸發(fā)源和極性

      TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01       選擇輸入端 IC1映射到TI2上
      TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;       //上升沿捕獲
      TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI2上
      TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;       //配置輸入分頻,不分頻?
      TIM_ICInitStructure.TIM_ICFilter = 0x01;//IC1F=0000 配置輸入濾波器不濾

      TIM_ICInit(TIM5, &TIM_ICInitStructure);

      NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;//搶占優(yōu)先級(jí)2
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;             //子優(yōu)先級(jí)3
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;                      //IRQ通道使能
      NVIC_Init(&NVIC_InitStructure);       //根據(jù)指定的參數(shù)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); //啟動(dòng)TIM5定時(shí)器
}

/**************************************************************************
函數(shù)功能：?jiǎn)挝粫r(shí)間讀取編碼器計(jì)數(shù),此函數(shù)在定時(shí)器中斷里面用我的是定時(shí)器6每隔5ms讀取一次
入口參數(shù)：定時(shí)器
返回  值：計(jì)數(shù)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;
}

初始化編碼選擇編碼模式
TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);主函數(shù)，距離可通過(guò)串口打印出來(lái)
int main(void)
{
      uart_init(115200);                                                                //USART1_TX PA9 USART1_RX       PA10
      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);       //設(shè)置NVIC中斷分組2:2位搶占優(yōu)先級(jí)，2位響應(yīng)優(yōu)先級(jí)
      delay_init();
      MOTOR_Init();                                                                   //PC0,1 2 3
      TIM6_Mode_Config_Init();                                                       //使能定時(shí)器6 5ms中斷一次
TIM4_Encoder_Init();                                                             //使能TIM4對(duì)應(yīng)的編碼器                                     //PB6 PB7
      TIM5_Encoder_Init();                                                                //使能TIM5對(duì)應(yīng)的編碼器                                  //PA0 PA1
      while(1)
      {
;
      }
}

void TIM6_IRQHandler(void)                                                             //定是時(shí)間不能太長(zhǎng)否則計(jì)數(shù)器溢出了就會(huì)測(cè)量錯(cuò)誤
{

      if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET)
      {
            danweilenth( Read_Encoder(4),Read_Encoder(5));       //每隔5ms中斷一次讀取對(duì)應(yīng)CNT的值,并計(jì)算路程
            printf("Encoder.M1Lneth=%f\r\n",Encoder.M1Lneth);//打印出電機(jī)1的路程
            printf("Encoder.M2Lneth=%f\r\n",Encoder.M2Lneth);//打印出電機(jī)2的路程
      }
      TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
}

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兩個(gè)編碼器測(cè)距代碼.7z (191.89 KB, 下載次數(shù): 25)

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