STM32编码器模式计算减速电机AB相脉冲个数

zhoumi · 发表于 2016-5-5 11:24

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小弟用STM32定时器编码器模式计算减速电机AB相脉冲个数，目的是想通过 AB相脉冲的上升沿和下降沿触发，然后计数器加一，那么如果检测到一个周期，有AB两相，两个上升沿两个下降沿的话，计数器就会四个加一。现在的问题是检测出来总是出现两次加一，只是检测到了上升沿，感觉没有检测到下降沿呀。希望论坛里的大哥们帮忙解答一下。

void TIM3_Int_Init(u16 arr,u16 psc)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
      NVIC_InitTypeDef NVIC_InitStructure;

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //时钟使能

      //定时器TIM3初始化
      TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
      TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
      TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
      TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx的时间基数单位
// TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Trigger);//选择TIMx从模式
      TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); //使能指定的TIM3中断,允许更新中断

      //中断优先级NVIC设置
      NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;  //TIM3中断
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //先占优先级3级
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  //从优先级3级
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
      NVIC_Init(&NVIC_InitStructure);  //初始化NVIC寄存器

  //TIM3_Encoder_Write(65416) ;

      TIM_Cmd(TIM3, ENABLE);  //使能TIMx
}

/**********TIM2_Encoder******/

void TIM2_Encoder_Init(u16 arr,u16 psc)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
      NVIC_InitTypeDef NVIC_InitStructure;
      TIM_ICInitTypeDef TIM_ICInitStructure;

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //时钟使能

      //定时器TIM2初始化
      TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
      TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
      TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
      TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx的时间基数单位
      //TIM_SetCounter(TIM3, 0xFF88);//设置TIMx自动重装载寄存器值

      TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12,
                              TIM_ICPolarity_Falling, TIM_ICPolarity_Falling);
      TIM_ICStructInit(&TIM_ICInitStructure);
      TIM_ICInitStructure.TIM_ICFilter = 6;
      TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;       //上升沿捕获
      TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;       //配置输入分频,不分频
      TIM_ICInit(TIM2, &TIM_ICInitStructure);
  //TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Trigger);//选择TIMx从模式
  TIM_ClearFlag(TIM2, TIM_FLAG_Update);
      TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE ); //使能指定的TIM3中断,允许更新中断
  //TIM2->CNT = 120;
      //中断优先级NVIC设置
      NVIC_InitStructure.NVIC_IRQChannel = TIM_Channel_1|TIM_Channel_2;  //TIM3中断
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //先占优先级3级
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  //从优先级3级
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
  NVIC_Init(&NVIC_InitStructure);  //初始化NVIC寄存器

  //TIM3_Encoder_Write(65416) ;

      TIM_Cmd(TIM2, ENABLE);  //使能TIMx
}

//定时器3中断服务程序
void TIM3_IRQHandler(void) //TIM3中断
{
      if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //检查TIM3更新中断发生与否
            {
            TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //清除TIMx更新中断标志
TIM2->SMCR ^= 0x8000  ;

                     EncVal = TIM_GetCounter(TIM2);

                     if(EncVal>=240)
                     {
      EncVal = 240;
   }
                     LCD_DrawPoint(i, 5+EncVal);
                     if(i==320)
                     {
                                 i =0;
                              LCD_Clear(WHITE);
                                 coordinate()  ; //横坐标

         //delay_ms(50);
                     }
                     i++ ;
                     TIM2->CNT = 240;
               Frequent() ;
   //fre = 1000/(90 /(720*100/72)) ;
               //sprintf((char*)speed,"speed : %d ",EncVal );//将LCD ID打印到lcd_id数组。
            //sprintf((char*)lcd_id,"LCD ID:%04X",lcddev.id);
                     //LCD_ShowString(200,200,200,16,16,"EncVal");
                     LCD_ShowxNum(250,200,EncVal,5,16,0);
            printf("%d\r\n",EncVal) ;
TIM_SetAutoreload(TIM1, 0xFF88);//设置TIMx自动重装载寄存器值
               }
}