[求助] 码盘问题，正交编码始终出不来结果，求解

qq84395064 2016-3-8 09:02 楼主

#include "encoding_disk.h"
#include "delay.h"

/**************************************************************************************

PA.6-> RUN-A2       TIM3-CH1//
PA.7-> RUN-B2       TIM3-CH2//
PB.0-> RUN-A1       TIM3-CH3//
PB.1-> RUN-B1       TIM3-CH4//

****************************************************************************************/
#define ENCODER_TIMER TIM3  // Encoder unit connected to TIM3
#define ENCODER_PPR          (u16)(100) // number of pulses per revolution
#define SPEED_BUFFER_SIZE 8

#define COUNTER_RESET (u16)0
#define ICx_FILTER    (u8) 6 // 6<-> 670nsec

#define TIMx_PRE_EMPTION_PRIORITY 1
#define TIMx_SUB_PRIORITY 0

#define ENCODER_TIM_PERIOD 0xffff//
#define MAX_COUNT       10000//

void  EncodingDisk_Init(void)
{

  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;

  GPIO_InitTypeDef GPIO_InitStructure;

  RCC_APB2PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//
  /* Enable GPIOA, clock */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//??GPIOA??
  GPIO_StructInit(&GPIO_InitStructure);
  /* Configure PA.06,07 as encoder input */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//PA8 PA9????
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  TIM_DeInit(ENCODER_TIMER);
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
  TIM_TimeBaseStructure.TIM_Prescaler = 0x0;  // No prescaling //??????????0,???
  //TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1;  //????????
  TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD-1;
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//?????? T_dts = T_ck_int
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM????
  TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure);
  TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);/
  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter =ICx_FILTER;

  TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);

  TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);//??TIM1??????
  TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE);

  TIM3->CNT = 0;

  TIM_Cmd(ENCODER_TIMER, ENABLE);

}
s16 Enc_GetCount(void)
{
static  u16 lastCount = 0;
u16  curCount = ENCODER_TIMER->CNT;
s32 dAngle = curCount - lastCount;
if(dAngle >= MAX_COUNT)
{
   dAngle -= ENCODER_TIM_PERIOD;
}
else if(dAngle < -MAX_COUNT)
{
   dAngle += ENCODER_TIM_PERIOD;
}
lastCount = curCount;
return (s16)dAngle;
}

主函数通过
int main(void)
{
      s16 temp,NUM;
      delay_init();
      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
      EncodingDisk_Init();

      Usart_Init(9600);

      GPIO_SetBits (GPIOA,GPIO_Pin_11);
  while(1)
  {


NUM = TIM_GetCounter(TIM3)/2;
if(NUM!=temp)
{
   temp=NUM;
   printf("%d\r\n",NUM);
}
delay_ms(300);
  }