RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c

#ifdef __cplusplus
extern "C"
{
#endif

#include "encoder.h"
#include "nvic.h"
#include "print.h"

#define ENCODER_TIM_PERIOD (u16)(60000) // number of pulses per revolution

void Encoder_InitGPIO(TIM_TypeDef *TIMx, unsigned char GPIO_AF) // Initialize encoder mode, input parameter TIM1 TIM2 TIM3
{
    TIM_ICInitTypeDef TIM_ICInitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    if (TIMx == TIM2)
    {

        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); /* enable clock */
        if (GPIO_AF == 0)
        {
            // TIM2 CHI1 CHI2---PA0 PA1;
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
            GPIO_StructInit(&GPIO_InitStructure);
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
            GPIO_Init(GPIOA, &GPIO_InitStructure);
        }
        else if (GPIO_AF == 1)
        {
            //---------------------------------------------------------------TIM2 CHI1 CHI2---PA15 PB3;
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
            GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, ENABLE);
            GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // This is very important!

            GPIO_StructInit(&GPIO_InitStructure);
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
            GPIO_Init(GPIOA, &GPIO_InitStructure);

            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
            GPIO_Init(GPIOB, &GPIO_InitStructure);
        }
        TIM2_NVIC_Configuration(); // enable interrupt
    }

    else if (TIMx == TIM3)
    {
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOA, ENABLE); /* enable clock */
        if (GPIO_AF == 0)
        {
            // TIM3 CHI1 CHI2---PA6 PA7;
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
            GPIO_StructInit(&GPIO_InitStructure);
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
            GPIO_Init(GPIOA, &GPIO_InitStructure);
        }
        else if (GPIO_AF == 1)
        {
            // TIM3 CHI1 CHI2---PB4 PB5;
            GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
            GPIO_StructInit(&GPIO_InitStructure);
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
            GPIO_Init(GPIOB, &GPIO_InitStructure);
        }
        TIM3_NVIC_Configuration(); // enable interrupt
    }

    else if (TIMx == TIM4)
    {
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); /* enable clock */
        if (GPIO_AF == 0)
        {
            // TIM4 CHI1 CHI2---PB6 PB7;
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
            GPIO_StructInit(&GPIO_InitStructure);
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
            GPIO_Init(GPIOB, &GPIO_InitStructure);
        }
        else if (GPIO_AF == 1)
        {
            // TIM4 CHI1 CHI2---PD12 PD13;
            GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE);
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE);
            GPIO_StructInit(&GPIO_InitStructure);
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
            GPIO_Init(GPIOD, &GPIO_InitStructure);
        }
        TIM4_NVIC_Configuration();
    }
    else if (TIMx == TIM5)
    {

        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);

        if (GPIO_AF == 0)
        {
            // TIM5 CHI1 CHI2---PA0 PA1;
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
            GPIO_StructInit(&GPIO_InitStructure);
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
            GPIO_Init(GPIOA, &GPIO_InitStructure);
        }
        TIM5_NVIC_Configuration();
    }

	// 设定TIM_CKD_DIV1和TIM_ICFilter主要起到的是滤除高频信号噪声的作用
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Prescaler = 0x0; /* prescler : 72M/72 */
    TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; /* count upwards */
    TIM_TimeBaseInit(TIMx, &TIM_TimeBaseStructure);

    TIM_EncoderInterfaceConfig(TIMx, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = 10;
    TIM_ICInit(TIMx, &TIM_ICInitStructure);
    TIM_Cmd(TIMx, ENABLE);
    TIMx->CNT = 0x7fff;
}

float Encoder_GetTIM2(void)
{
    float cnt;
    cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM2->CNT)); //! (float) is must
    TIM2->CNT = 0x7fff;
    return cnt;
}

float Encoder_GetTIM3(void)
{
    float cnt;
    cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM3->CNT));
    TIM3->CNT = 30000;
    return cnt;
}

float Encoder_GetTIM4(void)
{
    float cnt;
    cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM4->CNT));
    TIM4->CNT = 30000;
    return cnt;
}

float Encoder_GetTIM5(void)
{
    float cnt;
    cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM5->CNT));
    TIM5->CNT = 0x7fff;
    return cnt;
}

#ifdef __cplusplus
}
#endif