TIM编码器接口

编码器接口简介

正交编码器

旋转编码器简介

编码器接口基本结构

工作模式

实例(均不反相)

实例(TI1反相)

编码器接口测速

选择接口和定时器

接线图

代码

Encoder.c

#include "stm32f10x.h"                  // Device header

void Encoder_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStruct;
	GPIO_InitStruct.GPIO_Mode=GPIO_Mode_IPU;
	GPIO_InitStruct.GPIO_Pin=GPIO_Pin_6 | GPIO_Pin_7;
	GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStruct);
	
	//时基单元配置
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
	TIM_TimeBaseInitStruct.TIM_ClockDivision=TIM_CKD_DIV1;
	TIM_TimeBaseInitStruct.TIM_CounterMode=TIM_CounterMode_Up;
	TIM_TimeBaseInitStruct.TIM_Period=65536-1; //ARR 自动装载值
	TIM_TimeBaseInitStruct.TIM_Prescaler=1-1; //PSC 预分频器
	TIM_TimeBaseInitStruct.TIM_RepetitionCounter=0;
	TIM_TimeBaseInit(TIM3,&	TIM_TimeBaseInitStruct);
	
	//输入捕获单元配置
	TIM_ICInitTypeDef TIM_ICInitStruct;
	TIM_ICStructInit(&TIM_ICInitStruct);
	TIM_ICInitStruct.TIM_Channel=TIM_Channel_1 | TIM_Channel_2; 
	TIM_ICInitStruct.TIM_ICFilter=0xF; //值越大效果越好
	TIM_ICInit(TIM3,&TIM_ICInitStruct);
	
	//配置编码器接口
	TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
	
	TIM_Cmd(TIM3,ENABLE);
}

int16_t Encoder_Get(void)
{
	int16_t Temp;
	Temp = TIM_GetCounter(TIM3);
	TIM_SetCounter(TIM3,0);
	return Temp;
}

Encoder.h

#ifndef __ENCODER_H__
#define __ENCODER_H__

void Encoder_Init(void);
int16_t Encoder_Get(void);

#endif

Timer.c

#include "stm32f10x.h"                  // Device header

void Timer_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); //使能时钟
	TIM_InternalClockConfig(TIM2); //配置内部时钟
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
	TIM_TimeBaseInitStruct.TIM_ClockDivision=TIM_CKD_DIV1; //时钟分频
	TIM_TimeBaseInitStruct.TIM_CounterMode=TIM_CounterMode_Up; //向上计数
	TIM_TimeBaseInitStruct.TIM_Period=10000-1; //自动重装器
	TIM_TimeBaseInitStruct.TIM_Prescaler=7200-1; //预分频器
	TIM_TimeBaseInitStruct.TIM_RepetitionCounter=0;
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct); //配置时基单元
	
	TIM_ClearFlag(TIM2,TIM_FLAG_Update); //清除中断标志位,防止初始化时就会进一次中断
	
	//中断配置
	TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE); //更新中断
	
	//NVIC配置
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	NVIC_InitTypeDef NVIC_InitStruct;
	NVIC_InitStruct.NVIC_IRQChannel=TIM2_IRQn;
	NVIC_InitStruct.NVIC_IRQChannelCmd=ENABLE;
	NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority=1;
	NVIC_InitStruct.NVIC_IRQChannelSubPriority=1;
	NVIC_Init(&NVIC_InitStruct);
	//启动定时器
	TIM_Cmd(TIM2,ENABLE);
}

/*
void TIM2_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET)
	{
		
		TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
	}
}
*/

Timer.h

#ifndef __TIMER_H__
#define __TIMER_H__

void Timer_Init(void);

#endif

main.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Timer.h"
#include "Encoder.h"

int16_t Speed;

int main(void)
{
	OLED_Init();
	Encoder_Init();
	Timer_Init();
	OLED_ShowString(1,1,"Speed:");
	while(1)
	{
		OLED_ShowSignedNum(1,7,Speed,5);
	}
}

void TIM2_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET)
	{
		Speed = Encoder_Get();
		TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
	}
}