STM32單片機(jī)對(duì)正交編碼器的驅(qū)動(dòng)

STM32正交編碼器驅(qū)動(dòng)，引入（突變）帶進(jìn)位的位置環(huán)和速度環(huán)

#include “stm32f10x.h”

#include “stm32f10x_encoder.h”

#include “sys.h”

#include “usart.h”

#include “led.h”

#define COUNTER_RESET（u16）0

#define ICx_FILTER（u8） 0 // 6《-》 670nsec

#define TIMx_PRE_EMPTION_PRIORITY 1

#define TIMx_SUB_PRIORITY 0

//#define MAX_COUNT ENCODER_TIM_PERIOD/2

volatile s16 Right_hEncoder_Timer_Overflow; //編碼器計(jì)數(shù)值溢出標(biāo)志

volatile s16 Right_hEncoder_Timer_Overflow_High;//編碼器計(jì)數(shù)值溢出標(biāo)志高位

volatile s16 Right_hRot_Speed;//當(dāng)前的速度

volatile s16 Right_hRot_Acceleration;//當(dāng)前的加速度

s32 Right_CurrentCount = 0;//編碼器當(dāng)前的總計(jì)數(shù)值

s32 Right_CurrentCount_high = 0;//編碼器當(dāng)前的總計(jì)數(shù)值高位計(jì)算公式，注意結(jié)果可能超過(guò)32位的表示范圍Left_CurrentCount_high*S32_MAX+Left_CurrentCount

volatile s16 Left_hEncoder_Timer_Overflow;

volatile s16 Left_hEncoder_Timer_Overflow_High;

volatile s16 Left_hRot_Speed;

volatile s16 Left_hRot_Acceleration;

s32 Left_CurrentCount = 0;

s32 Left_CurrentCount_high = 0;

void ENC_Right_Init（void）

{

TIM_TimeBaseInitTypeDefTIM_TimeBaseStructure;

TIM_ICInitTypeDef TIM_ICInitStructure;

GPIO_InitTypeDef GPIO_InitStructure;

NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB1PeriphClockCmd（RCC_APB1Periph_TIM3， ENABLE）;

RCC_APB2PeriphClockCmd（RCC_APB2Periph_GPIOA， ENABLE）;

GPIO_StructInit（&GPIO_InitStructure）;

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;//A7接靠近紅色的編碼器輸入一端

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;

GPIO_Init（GPIOA， &GPIO_InitStructure）;

NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init（&NVIC_InitStructure）;

TIM_DeInit（ENCODER_Right_TIMER）;

TIM_TimeBaseStructInit（&TIM_TimeBaseStructure）;

TIM_TimeBaseStructure.TIM_Prescaler = 0x0;// No prescaling

TIM_TimeBaseStructure.TIM_Period = （4*ENCODER_PPR）-1;

TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInit（ENCODER_Right_TIMER， &TIM_TimeBaseStructure）;

//TIMx_SMCR 寄存器中的 SMS=011 = TIM_EncoderMode_TI12；

TIM_EncoderInterfaceConfig（ENCODER_Right_TIMER， TIM_EncoderMode_TI12，

TIM_ICPolarity_Rising， TIM_ICPolarity_Rising）; //ICx 不反相輸入捕獲在上升沿

TIM_ICStructInit（&TIM_ICInitStructure）; //TIM_Channel_1 TIM_ICPSC_DIV1 TIM_ICPolarity_Rising

TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;//輸入濾波 0110：采樣頻率fSAMPLING=fDTS/4， N=6

TIM_ICInit（ENCODER_Right_TIMER， &TIM_ICInitStructure）;

// Clear all pending interrupts

TIM_ClearFlag（ENCODER_Right_TIMER， TIM_FLAG_Update）;

TIM_ITConfig（ENCODER_Right_TIMER， TIM_IT_Update， ENABLE）;

//Reset counter

ENCODER_Right_TIMER-》CNT = COUNTER_RESET;

TIM_Cmd（ENCODER_Right_TIMER， ENABLE）;

__nop（）;

Right_hEncoder_Timer_Overflow = 0;

Right_hEncoder_Timer_Overflow_High = 0;

Right_hRot_Speed = 0;

Right_ENC_Get_Electrical_Angle（）; //第一次不要這個(gè)數(shù)據(jù)??！lastCount

}

void ENC_Left_Init（void）

{

TIM_TimeBaseInitTypeDefTIM_TimeBaseStructure;

TIM_ICInitTypeDef TIM_ICInitStructure;

GPIO_InitTypeDef GPIO_InitStructure;

NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB1PeriphClockCmd（RCC_APB1Periph_TIM2， ENABLE）;

RCC_APB2PeriphClockCmd（RCC_APB2Periph_GPIOA， ENABLE）;

GPIO_StructInit（&GPIO_InitStructure）;

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;//A7接靠近紅色的編碼器輸入一端

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;

GPIO_Init（GPIOA， &GPIO_InitStructure）;

NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY+1;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init（&NVIC_InitStructure）;

TIM_DeInit（ENCODER_Left_TIMER）;

TIM_TimeBaseStructInit（&TIM_TimeBaseStructure）;

TIM_TimeBaseStructure.TIM_Prescaler = 0x0;// No prescaling

TIM_TimeBaseStructure.TIM_Period = （4*ENCODER_PPR）-1;

TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInit（ENCODER_Left_TIMER， &TIM_TimeBaseStructure）;

//TIMx_SMCR 寄存器中的 SMS=011 = TIM_EncoderMode_TI12；

TIM_EncoderInterfaceConfig（ENCODER_Left_TIMER， TIM_EncoderMode_TI12，

TIM_ICPolarity_Rising， TIM_ICPolarity_Rising）; //ICx 不反相輸入捕獲在上升沿

TIM_ICStructInit（&TIM_ICInitStructure）; //TIM_Channel_1 TIM_ICPSC_DIV1 TIM_ICPolarity_Rising

TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;//輸入濾波 0110：采樣頻率fSAMPLING=fDTS/4， N=0

TIM_ICInit（ENCODER_Left_TIMER， &TIM_ICInitStructure）;

// Clear all pending interrupts

TIM_ClearFlag（ENCODER_Left_TIMER， TIM_FLAG_Update）;

TIM_ITConfig（ENCODER_Left_TIMER， TIM_IT_Update， ENABLE）;

//Reset counter

ENCODER_Left_TIMER-》CNT = COUNTER_RESET;

TIM_Cmd（ENCODER_Left_TIMER， ENABLE）;

__nop（）;

Left_hEncoder_Timer_Overflow = 0;

Left_hEncoder_Timer_Overflow_High = 0;

Left_hRot_Speed = 0;

Left_ENC_Get_Electrical_Angle（）; //第一次不要這個(gè)數(shù)據(jù)??！lastCount

}

s16 Right_ENC_Get_Electrical_Angle（void）

{

static u16lastCount = 0;

u16 curCount ;

s16 dAngle ;

static s16 Last_Overflow = 0;

curCount = ENCODER_Right_TIMER-》CNT;

dAngle = curCount - lastCount;

//ensure |Right_hEncoder_Timer_Overflow - Last_Overflow|《=1

if（Right_hEncoder_Timer_Overflow ！= Last_Overflow）

{

if （（ENCODER_Right_TIMER-》CR1 & TIM_CounterMode_Down） == TIM_CounterMode_Down）//反轉(zhuǎn)

{// encoder timer down-counting

dAngle -= ENCODER_TIM_PERIOD;

}

else

{//encoder timer up-counting

dAngle += ENCODER_TIM_PERIOD;

}

lastCount = curCount;

Last_Overflow = Right_hEncoder_Timer_Overflow;

return （s16）dAngle;

}

s16 Left_ENC_Get_Electrical_Angle（void）

{

static u16lastCount = 0;

u16 curCount ;

s16 dAngle ;

static s16 Last_Overflow = 0;

curCount = ENCODER_Left_TIMER-》CNT;

dAngle = curCount - lastCount;

//ensure |Left_hEncoder_Timer_Overflow - Last_Overflow|《=1

if（Left_hEncoder_Timer_Overflow ！= Last_Overflow）

{

if （（ENCODER_Left_TIMER-》CR1 & TIM_CounterMode_Down） == TIM_CounterMode_Down）//反轉(zhuǎn)

{// encoder timer down-counting

dAngle -= ENCODER_TIM_PERIOD;

}

else

{//encoder timer up-counting

dAngle += ENCODER_TIM_PERIOD;

}

lastCount = curCount;

Last_Overflow = Left_hEncoder_Timer_Overflow;

return （s16）dAngle;

}

void TIM2_IRQHandler（void）

{

TIM_ClearFlag（ENCODER_Left_TIMER， TIM_FLAG_Update）;

if （（Left_hEncoder_Timer_Overflow ！= S16_MAX ）&&（Left_hEncoder_Timer_Overflow ！= S16_MIN ））

{

if （（ENCODER_Left_TIMER-》CR1 & TIM_CounterMode_Down） == TIM_CounterMode_Down）//反轉(zhuǎn)

{// encoder timer down-counting

Left_hEncoder_Timer_Overflow--;

}

else

{//encoder timer up-counting

Left_hEncoder_Timer_Overflow++;

}

if（Left_hEncoder_Timer_Overflow == S16_MAX）

{

Left_hEncoder_Timer_Overflow = 0;

Left_hEncoder_Timer_Overflow_High++;

}

if（Left_hEncoder_Timer_Overflow == S16_MIN ）

{

Left_hEncoder_Timer_Overflow = 0;

Left_hEncoder_Timer_Overflow_High--;

}

void TIM3_IRQHandler（void）

{

TIM_ClearFlag（ENCODER_Right_TIMER， TIM_FLAG_Update）;

if （（Right_hEncoder_Timer_Overflow ！= S16_MAX ）&&（Right_hEncoder_Timer_Overflow ！= S16_MIN ））

{

if （（ENCODER_Right_TIMER-》CR1 & TIM_CounterMode_Down） == TIM_CounterMode_Down）//反轉(zhuǎn)

{// encoder timer down-counting

Right_hEncoder_Timer_Overflow--;

}

else

{//encoder timer up-counting

Right_hEncoder_Timer_Overflow++;

}

if（Right_hEncoder_Timer_Overflow == S16_MAX）

{

Right_hEncoder_Timer_Overflow = 0;

Right_hEncoder_Timer_Overflow_High++;

}

if（Right_hEncoder_Timer_Overflow == S16_MIN ）

{

Right_hEncoder_Timer_Overflow = 0;

Right_hEncoder_Timer_Overflow_High--;

}

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STM32單片機(jī)(60406) STM32單片機(jī)(60406)
正交編碼器(10849) 正交編碼器(10849)

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STM32單片機(jī)對(duì)正交編碼器的驅(qū)動(dòng)

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