写一段stm32 的encoder代码
时间: 2024-06-12 11:08:10 浏览: 12
以下是一个简单的STM32编码器代码示例:
```
#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_tim.h"
void GPIO_Configuration(void);
void TIM_Configuration(void);
void TIM1_IRQHandler(void);
int main(void)
{
GPIO_Configuration();
TIM_Configuration();
while(1)
{
//在这里添加你要执行的代码
}
}
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//使能GPIOA时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
//初始化PA8和PA9为输入模式
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//将PA8和PA9映射到TIM1_CH1和TIM1_CH2
GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_TIM1);
}
void TIM_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//使能TIM1时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
//设置TIM1的时基参数
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
//设置TIM1的输入捕获参数
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0F;
TIM_ICInit(TIM1, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM1, &TIM_ICInitStructure);
//使能TIM1的输入捕获中断
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//使能TIM1
TIM_Cmd(TIM1, ENABLE);
}
void TIM1_IRQHandler(void)
{
static uint16_t last_count = 0;
uint16_t current_count = TIM_GetCapture1(TIM1);
uint16_t count_diff = current_count - last_count;
if(count_diff > 32768) //如果差值超过了65535/2,说明计数器溢出了
{
count_diff -= 65535;
}
//在这里处理编码器计数器的变化,count_diff为当前计数器变化量
//可以根据count_diff的正负判断编码器是顺时针还是逆时针旋转
last_count = current_count;
TIM_ClearITPendingBit(TIM1, TIM_IT_CC1);
}
```
这个代码示例使用了STM32的TIM1模块作为编码器计数器,将PA8和PA9引脚映射到了TIM1_CH1和TIM1_CH2通道。代码中使用了TIM1的输入捕获中断来处理编码器计数器的变化。当捕获到TIM1的输入捕获事件时,会触发TIM1_IRQHandler中断服务程序,在其中计算当前计数器变化量,然后根据其正负来判断编码器的旋转方向。需要注意的是,当计数器溢出时,需要对计数器变化量进行适当的调整。