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GeBalanceBot/4.WHEELTEC B570 平衡小车源码（库函数精.../MiniBalance_HARDWARE/ENCODER/encoder.c

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更新初版工程
2024-01-14 19:28:00 +08:00
/***********************************************
<EFBFBD><EFBFBD>˾<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȥ<EFBFBD>Ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޹<EFBFBD>˾
Ʒ<EFBFBD>ƣ<EFBFBD>WHEELTEC
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wheeltec.net
<EFBFBD>Ա<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD>shop114407458.taobao.com
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ: https://minibalance.aliexpress.com/store/4455017
<EFBFBD>汾<EFBFBD><EFBFBD>5.7
<EFBFBD>޸<EFBFBD>ʱ<EFBFBD>䣺2021-04-29
Brand: WHEELTEC
Website: wheeltec.net
Taobao shop: shop114407458.taobao.com
Aliexpress: https://minibalance.aliexpress.com/store/4455017
Version:5.7
Update<EFBFBD><EFBFBD>2021-04-29
All rights reserved
***********************************************/
#include "encoder.h"
#include "stm32f10x_gpio.h"
/**************************************************************************
Function: Initialize TIM2 to encoder interface mode
Input : none
Output : none
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>TIM2<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>ģʽ
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
void Encoder_Init_TIM2(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//ʹ<>ܶ<EFBFBD>ʱ<EFBFBD><CAB1>4<EFBFBD><34>ʱ<EFBFBD><CAB1>
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//ʹ<><CAB9>PB<50>˿<EFBFBD>ʱ<EFBFBD><CAB1>
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //<2F>˿<EFBFBD><CBBF><EFBFBD><EFBFBD><EFBFBD>
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
GPIO_Init(GPIOA, &GPIO_InitStructure); //<2F><><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>GPIOB
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // Ԥ<><D4A4>Ƶ<EFBFBD><C6B5>
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //<2F>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD>װֵ
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//ѡ<><D1A1>ʱ<EFBFBD>ӷ<EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM<49><4D><EFBFBD>ϼ<EFBFBD><CFBC><EFBFBD>
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//ʹ<>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD><EFBFBD>ģʽ3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10; //<2F>˲<EFBFBD>10
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM_ClearFlag(TIM2, TIM_FLAG_Update);//<2F><><EFBFBD><EFBFBD>TIM<49>ĸ<EFBFBD><C4B8>±<EFBFBD>־λ
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM2,0);
TIM_Cmd(TIM2, ENABLE);
}
/**************************************************************************
Function: Initialize TIM4 to encoder interface mode
Input : none
Output : none
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>TIM4<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>ģʽ
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
void Encoder_Init_TIM4(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//ʹ<>ܶ<EFBFBD>ʱ<EFBFBD><CAB1>4<EFBFBD><34>ʱ<EFBFBD><CAB1>
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//ʹ<><CAB9>PB<50>˿<EFBFBD>ʱ<EFBFBD><CAB1>
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //<2F>˿<EFBFBD><CBBF><EFBFBD><EFBFBD><EFBFBD>
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
GPIO_Init(GPIOB, &GPIO_InitStructure); //<2F><><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>GPIOB
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // Ԥ<><D4A4>Ƶ<EFBFBD><C6B5>
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //<2F>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD>װֵ
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//ѡ<><D1A1>ʱ<EFBFBD>ӷ<EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM<49><4D><EFBFBD>ϼ<EFBFBD><CFBC><EFBFBD>
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//ʹ<>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD><EFBFBD>ģʽ3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update);//<2F><><EFBFBD><EFBFBD>TIM<49>ĸ<EFBFBD><C4B8>±<EFBFBD>־λ
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM4,0);
TIM_Cmd(TIM4, ENABLE);
}
/**************************************************************************
Function: Read encoder count per unit time
Input : TIMX<EFBFBD><EFBFBD>Timer
Output : none
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>λʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIMX<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ֵ
**************************************************************************/
int Read_Encoder(u8 TIMX)
{
int Encoder_TIM;
switch(TIMX)
{
case 2: Encoder_TIM= (short)TIM2 -> CNT; TIM2 -> CNT=0;break;
case 3: Encoder_TIM= (short)TIM3 -> CNT; TIM3 -> CNT=0;break;
case 4: Encoder_TIM= (short)TIM4 -> CNT; TIM4 -> CNT=0;break;
default: Encoder_TIM=0;
}
return Encoder_TIM;
}
/**************************************************************************
Function: TIM4 interrupt service function
Input : none
Output : none
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD>TIM4<EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
void TIM4_IRQHandler(void)
{
if(TIM4->SR&0X0001)//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
{
}
TIM4->SR&=~(1<<0);//<2F><><EFBFBD><EFBFBD><EFBFBD>жϱ<D0B6>־λ
}
/**************************************************************************
Function: TIM2 interrupt service function
Input : none
Output : none
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD>TIM2<EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
void TIM2_IRQHandler(void)
{
if(TIM2->SR&0X0001)//<2F><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
{
}
TIM2->SR&=~(1<<0);//<2F><><EFBFBD><EFBFBD><EFBFBD>жϱ<D0B6>־λ
}