forked from logzhan/RobotHardware-UESTC
230 lines
8.9 KiB
C
230 lines
8.9 KiB
C
/*
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********************************************************************************************************
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文件名：bsp_timer.c
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功 能：
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备 注：timer3 电机控制pwm,用到了timer3的ch3和ch4，即 PB0-PB1连接电机驱动的使能端PWMA（左电机）和 PWMB（右电机）
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timer1 用于系统100ms定时功能
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timer2 用于左电机编码器计数
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timer4 用于右电机编码器计数
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*********************************************************************************************************
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*/
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#include "bsp_timer.h"
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//***************************定时器3初始化 给电机提供PWM***************************//
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// TIM_Period / Auto Reload Register(ARR) = 1000 TIM_Prescaler--71
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//arr：自动重装寄存器，psc分频系数
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//PWM的频率 = 72MHz/ARR/PCS 例如 20K = 72M/3600/1 = 20K
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//=====初始化PWM 20KHZ 高频可以防止电机低频时的尖叫声
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// ARR= 3599 时频率为20Khz
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//PB0控制PWMA--right moto，PB1控制PWMB--left moto。STBY直接拉高
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//arr：自动重装寄存器，psc分频系数
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//PWM的频率 = 72MHz/ARR/PCS 例如 20K = 72M/3600/1 = 20K
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void MOTO_PWM_Init(u32 arr, int psc)
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{
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TIM_OCInitTypeDef TIM_OCInitSructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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TIM_TimeBaseStructure.TIM_Period = arr-1; //自动重新装载寄存器周期的值澹ㄥ计数值澹)
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TIM_TimeBaseStructure.TIM_Prescaler = psc; //时钟分频系数
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //对外部时钟进行采样的时钟分频
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
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TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure); //参数初始化
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TIM_ClearFlag(TIM3, TIM_FLAG_Update);
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TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
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//配置pwm输出端口
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0| GPIO_Pin_1;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽输出
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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//设置通道3 pwm参数
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TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable;
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TIM_OCInitSructure.TIM_Pulse = 0;//占空比= 50/100
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TIM_OCInitSructure.TIM_OCPolarity = TIM_OCPolarity_High;//当定时器计数值小于CCR1_Val时为高电平
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TIM_OC3Init(TIM3, &TIM_OCInitSructure);//参数初始化
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TIM_OC3PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm
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//设置通道4 pwm参数
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TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable;
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TIM_OCInitSructure.TIM_Pulse = 0;//占空比= 50/100
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TIM_OCInitSructure.TIM_OCPolarity = TIM_OCPolarity_High;//当定时器计数值小于CCR1_Val时为高电平
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TIM_OC4Init(TIM3, &TIM_OCInitSructure);//参数初始化
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TIM_OC4PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm
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TIM_ARRPreloadConfig(TIM3, ENABLE);//启动自动重装
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TIM_Cmd(TIM3, ENABLE);//启动定时
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}
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//占空比 = TIMx_CCRx / TIMx_ARR
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//moto_r：右轮电机，moto_l：左轮电机. 数值 0-100
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void MOTO_PWM_Out(u16 moto_l, u16 moto_r)
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{
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TIM_OCInitTypeDef TIM_OCInitSructure;
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TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable;
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//CH3 右电机
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TIM_OCInitSructure.TIM_Pulse = moto_l;//占空比= ccr/100
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TIM_OC3Init(TIM3, &TIM_OCInitSructure);//参数初始化
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TIM_OC3PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm
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//CH4 左电机
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TIM_OCInitSructure.TIM_Pulse = moto_r;//占空比= ccr /100
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TIM_OC4Init(TIM3, &TIM_OCInitSructure);//参数初始化
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TIM_OC4PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm
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TIM_ARRPreloadConfig(TIM3, ENABLE);//启动自动重装
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}
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//***************************定时器1初始化 系统每10ms处理一次中断，更新数据，更新pwm等***************************//
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void Timer6_Init(void)
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
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TIM_TimeBaseStructure.TIM_Period = 9999;//自动重新装载寄存器周期的值澹ㄥ计数值澹)
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TIM_TimeBaseStructure.TIM_Prescaler = 719;//时钟分频系数
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//对外部时钟进行采样的时钟分频
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数
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TIM_TimeBaseStructure.TIM_RepetitionCounter=0; //高级定时器1是用定时器功能配置这个才可以是正常的计数频率一开始的72mhz 值得注意的地方
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TIM_TimeBaseInit(TIM6,&TIM_TimeBaseStructure);//参数初始化
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TIM_ClearFlag(TIM6, TIM_FLAG_Update);
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TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
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NVIC_InitStructure.NVIC_IRQChannel=TIM6_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=5;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority=0;
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NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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TIM_Cmd(TIM6, ENABLE);//启动定时器
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}
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//***************************定时器2初始化 ，使用编码器功能***************************//
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//左电机编码器计数
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//PA0----接 编码器A相 或者电机驱动的B2B标识
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//PA1----接 编码器B相 或者电机驱动的B2A标识
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void Encoder_Init_TIM2(void)
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_ICInitTypeDef TIM_ICInitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定时器4的时钟
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PB端口时钟
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
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GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOB
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
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TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数
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TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
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TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
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TIM_ICStructInit(&TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_ICFilter = 10;
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TIM_ICInit(TIM2, &TIM_ICInitStructure);
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TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位
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TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
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//Reset counter
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TIM_SetCounter(TIM2,0);
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TIM_Cmd(TIM2, ENABLE);
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}
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//***************************定时器4初始化 ，使用编码器功能***************************//
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//右电机编码器计数
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//PB6----接 编码器B相 或者电机驱动的B1A标识
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//PB7----接 编码器A相 或者电机驱动的B1B标识
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void Encoder_Init_TIM4(void)
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_ICInitTypeDef TIM_ICInitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
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GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
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TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数
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TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
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TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
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TIM_ICStructInit(&TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_ICFilter = 10;
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TIM_ICInit(TIM4, &TIM_ICInitStructure);
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TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位
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TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
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//Reset counter
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TIM_SetCounter(TIM4,0);
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TIM_Cmd(TIM4, ENABLE);
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}
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/**************************************************************************
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函数功能：单位时间读取编码器计数
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入口参数：定时器
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返回 值：速度值
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**************************************************************************/
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int Read_Encoder(u8 TIMX)
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{
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int Encoder_TIM;
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switch(TIMX)
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{
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case 2: Encoder_TIM= (short)TIM2 -> CNT; TIM2 -> CNT=30000;break;
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case 3: Encoder_TIM= (short)TIM3 -> CNT; TIM3 -> CNT=30000;break;
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case 4: Encoder_TIM= (short)TIM4 -> CNT; TIM4 -> CNT=30000;break;
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default: Encoder_TIM=0;
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}
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return Encoder_TIM;
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}
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/**************************************************************************
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函数功能：TIM4中断服务函数
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入口参数：无
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返回 值：无
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**************************************************************************/
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void TIM4_IRQHandler(void)
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{
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if(TIM4->SR&0X0001)//溢出中断
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{
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}
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TIM4->SR&=~(1<<0);//清除中断标志位
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}
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/**************************************************************************
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函数功能：TIM2中断服务函数
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入口参数：无
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返回 值：无
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**************************************************************************/
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void TIM2_IRQHandler(void)
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{
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if(TIM2->SR&0X0001)//溢出中断
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{
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}
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TIM2->SR&=~(1<<0);//清除中断标志位
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}
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