STM32单片机定时器1设置成为AB项编码器模式

STM32单片机定时器1设置成为AB项编码器模式

大家好·，我是DXZ，这篇博客是使用STM32单片机定时器1设置成为AB项编码器模式，下面贴出代码。

void TIM1_Init()
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;
    

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);//
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Prescaler = 0x0; //
    TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;//TIM1高级定时器特有
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
    TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = 10;
    TIM_ICInit(TIM1, &TIM_ICInitStructure);
 
    TIM_ClearFlag(TIM1, TIM_FLAG_Update);
    TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);

    TIM_SetCounter(TIM1,0);
    TIM_Cmd(TIM1, ENABLE);
}

使用TIM8进行编码器值采集

void TIM8_Init(u16 arr,u16 psc)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE); //时钟使能

    TIM_TimeBaseStructure.TIM_Period = arr; //设置自动重装载寄存器周期值
    TIM_TimeBaseStructure.TIM_Prescaler =psc;//设置预分频值
    TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数模式
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;//重复计数设置
    TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure); //参数初始化
    TIM_ClearFlag(TIM8, TIM_FLAG_Update);//清中断标志位

    TIM_ITConfig(      //使能或者失能指定的TIM中断
        TIM8,            //TIM1
        TIM_IT_Update  | //TIM 更新中断源
        TIM_IT_Trigger,  //TIM 触发中断源
        ENABLE  	     //使能
    );

    //设置优先级
    NVIC_InitStructure.NVIC_IRQChannel = TIM8_UP_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;//先占优先级0级
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;  	   //从优先级0级
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    TIM_Cmd(TIM8, ENABLE);  //使能TIMx外设

}

TIM8中断服务函数进行编码器值累计求和

void TIM8_UP_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET)//检查指定的TIM中断发生与否:TIM 中断源
    {
        TIM_ClearITPendingBit(TIM8, TIM_IT_Update);//清除TIMx的中断待处理位:TIM 中断源
        
			  Encoder1=(short)TIM1->CNT;
			  Encoder2=(short)TIM2->CNT;
			  Encoder3=(short)TIM3->CNT;
			  Encoder4=(short)TIM4->CNT;
			
			  //加上'0'转换成为字符型
			
			  //四路电机编码值
			  MasterToSlvaeData[0]=Encoder1+'0';
			  MasterToSlvaeData[1]=Encoder2+'0';
			  MasterToSlvaeData[2]=Encoder3+'0';
			  MasterToSlvaeData[3]=Encoder4+'0';
			
        //小车偏航角
			  MasterToSlvaeData[4]=YawToSlvae+'0';
			
			
		    SendDataToSlave(USART3,MasterToSlvaeData,0,5);
			
			  TIM1->CNT=0;
			  TIM2->CNT=0;
			  TIM3->CNT=0;
			  TIM4->CNT=0;
			
			  
			
    }
}