#include "encoder.h"
#include "led.h"
void TIM4_Encoder_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);// 使能定時器時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //io口使能使用到的捕獲編碼器AB相借,
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空輸入
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure); //推挽輸出 ,IO口速度為50MHz
//初始化TIM4的時機單元
TIM_TimeBaseStructure.TIM_Period = 899; //設定在下一個更新事件裝入活動的自動重裝載寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =0; //設定用來作為TIMx時鐘頻率除數的預分頻值 不分頻
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設定時鐘分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計數模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數機關
//配置對應寄存器為編碼器接口模式以及配置相關的輸入捕獲配置 //THE MODE OF ENCODER
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
//TIM_ICPolarity_Rising上升沿捕獲
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter=6;
TIM_ICInit(TIM4,&TIM_ICInitStructure);
// 其實中斷可以不用開,因為硬體自行對計數器進行加減。
TIM_Cmd(TIM4, ENABLE); //使能TIM4
TIM_SetCounter(TIM4,0);
}
float HF_Get_Encode_TIM4(void)
{
float cnt;
cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM4->CNT)) ;
TIM4->CNT = 0x7fff;
return cnt;
}
#include "pwm.h"
#include "led.h"
//PWM輸出初始化
//arr:自動重裝值
//psc:時鐘預分頻數
void TIM1_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);// 使能timer1的時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIO外設時鐘使能
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能port of driver,pb01
//電機的兩個方向的引腳,一個高電平一個低電平PB01
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //>PB0 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //通用推挽輸出GPIO_Mode_Out_PP
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度為50MHz,setbits輸出高
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_SetBits(GPIOB,GPIO_Pin_0);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推 PB1
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //I
GPIO_Init(GPIOB, &GPIO_InitStructure); // 輸出低
GPIO_ResetBits(GPIOB,GPIO_Pin_1);
//設定該引腳為複用輸出功能,輸出TIM1 CH1的PWM脈沖波形 PA8
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //推挽複用輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //設定在下一個更新事件裝入活動的自動重裝載寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //設定用來作為TIMx時鐘頻率除數的預分頻值 不分頻
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //設定時鐘分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上計數模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根據TIM_TimeBaseInitStruct中指定的參數初始化TIMx的時間基數機關
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //選擇定時器模式:TIM脈沖寬度調制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStructure.TIM_Pulse = 0; //設定待裝入捕獲比較寄存器的脈沖值
TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_Low; //輸出極性:TIM輸出比較極性高
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根據TIM_OCInitStruct中指定的參數初始化外設TIMx
TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主輸出使能
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1預裝載使能
TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的預裝載寄存器
TIM_Cmd(TIM1, ENABLE); //使能TIM1
}
#include "led.h"
#include "delay.h"
#include "sys.h"
#include "pwm.h"
#include "usart.h"
#include "encoder.h"
#include "delay.h"
int main(void)
{
int cnt;
delay_init(); //延時函數初始化
LED_Init();//初始化與LED連接配接的硬體接口
TIM1_PWM_Init(899,0);//不分頻。PWM頻率=72000/(899+1)=80Khz . 電機的頻率不得小于10K
TIM4_Encoder_Init(899,0);
while(1)
{
TIM_SetCompare1(TIM1,600);
GPIO_ResetBits(GPIOD,GPIO_Pin_2);
delay_ms(100);
GPIO_SetBits(GPIOD,GPIO_Pin_2);
delay_ms(100);
GPIO_SetBits(GPIOD,GPIO_Pin_2);//LED1輸出高
delay_ms(300);
GPIO_ResetBits(GPIOD,GPIO_Pin_2);//LED1輸出低
delay_ms(300);
cnt=HF_Get_Encode_TIM4(TIM4);
}