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发表于 2011-9-20 00:09:16
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显示全部楼层
看看下面的程序是否可以
static volatile uint16_t Counter = 100;
/*******************************************************************************
* @brief Configure TIM3
* @param None
* @retval : None
*******************************************************************************/
void xEncoderInit()
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM3 clock source enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Enable GPIOA, clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Enable the TIM3 Update Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* ---------------------------------------------------------------------------
TIM3 Configuration: Encoder Interface Mode:
----------------------------------------------------------------------------*/
/* Timer configuration in Encoder mode */
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 1;// (4*ENCODER_PPR)-1; //Set ARR
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig (TIM3, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
/* Output Compare Inactive Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Disable);
/* Output Compare Toggle Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_Pulse = 1;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
/* TIM enable counter */
TIM_Cmd(TIM3, ENABLE);
/* TIM IT enable */
TIM_ITConfig(TIM3, TIM_IT_CC3 | TIM_IT_CC4 , ENABLE);
}
/*******************************************************************************
* @brief Describes the action when encoder is turned
* @param None
* @retval : None
*******************************************************************************/
void Encoder_Turned(void)
{
if ( (GPIO_ReadInputDataBit(TIM3_CH12_PORT, TIM3_CH1_PIN) == 1) &&
(GPIO_ReadInputDataBit(TIM3_CH12_PORT, TIM3_CH2_PIN) == 1))
{
if(TIM3->CR1 & 0b0010000)
{ // CCW
Counter--;
write_string("Turned CCW!");
write_string( int2char(Counter));
write_string( "\r\n");
}
else
{ // CW
Counter++;
write_string("Turned CW!");
write_string( int2char(Counter));
write_string( "\r\n");
}
}
}
/*******************************************************************************
* @brief This function handles TIM3 capture compare interrupt request.
* @param None
* @retval None
*******************************************************************************/
void TIM3_IRQHandler(void)
{
if (TIM_GetITStatus(TIM3, TIM_IT_CC3) != RESET)
{
/* Clear TIM3 Capture Compare3 interrupt pending bit*/
TIM_ClearITPendingBit(TIM3, TIM_IT_CC3);
Encoder_Turned();
}
else if (TIM_GetITStatus(TIM3, TIM_IT_CC4) != RESET)
{
/* Clear TIM3 Capture Compare4 interrupt pending bit*/
TIM_ClearITPendingBit(TIM3, TIM_IT_CC4);
Encoder_Turned();
}
} |
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