148 lines
5.2 KiB
C
148 lines
5.2 KiB
C
/***********************************************
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公司：轮趣科技（东莞）有限公司
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品牌：WHEELTEC
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官网：wheeltec.net
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淘宝店铺：shop114407458.taobao.com
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速卖通: https://minibalance.aliexpress.com/store/4455017
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版本：5.7
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修改时间：2021-04-29
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Brand: WHEELTEC
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Website: wheeltec.net
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Taobao shop: shop114407458.taobao.com
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Aliexpress: https://minibalance.aliexpress.com/store/4455017
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Version:5.7
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Update：2021-04-29
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All rights reserved
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***********************************************/
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#include "encoder.h"
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#include "stm32f10x_gpio.h"
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/**************************************************************************
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Function: Initialize TIM2 to encoder interface mode
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Input : none
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Output : none
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函数功能：把TIM2初始化为编码器接口模式
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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 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; //滤波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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/**************************************************************************
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Function: Initialize TIM4 to encoder interface mode
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Input : none
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Output : none
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函数功能：把TIM4初始化为编码器接口模式
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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 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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Function: Read encoder count per unit time
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Input : TIMX：Timer
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Output : none
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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：TIMX：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=0;break;
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case 3: Encoder_TIM= (short)TIM3 -> CNT; TIM3 -> CNT=0;break;
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case 4: Encoder_TIM= (short)TIM4 -> CNT; TIM4 -> CNT=0;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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Function: TIM4 interrupt service function
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Input : none
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Output : none
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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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Function: TIM2 interrupt service function
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Input : none
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Output : none
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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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