如题,送给自己做警醒。
% k/ c1 Q) h" q, J! [6 K8 G! D
" }; Y! `9 K0 x- w( L注意:
! r3 O+ {( o/ Z- U" k/ F% w7 D* v9 {6 D! a& E9 a. ^# W- y
如果stm32f2xx系列上面的网址的代码要做适当修改。" D' C, s3 p/ E
以下说重点:stm32f2xx系列,在调试中对GPIO的初始化,切记选择GPIO_Mode_AF模式,即端口复用。
, Z3 X- c8 [, k5 c- p5 C
8 v' v- s- ~/ U$ t" E& {, r随后,要做端口映射处理,即调用:GPIO_PinAFConfig()函数。
# w: M/ u2 i/ b) ~这2个方式不选择,timer是不会有反应的' C. w, t5 M- Q( |2 \0 @
2 V* B9 k& H. _8 c; g0 b2 g L: m0 y
本人是stm32f207,花了4天惨痛代价。1 r# L: X/ K8 @8 K8 Q1 v
" I6 q! J, L4 z/ @# T5 w
以下贴代码:
3 V: x( @6 `- A8 Y- /* Private define ------------------------------------------------------------*// o% [9 j: p8 ~% b# x
- #define ENCODER_TIMER TIM3 // Encoder unit connected to TIM3& L' A4 D: O8 o* i3 r ]( I
- #define ENCODER_PPR (u16)(1000) // number of pulses per revolution
" _! w7 L- K0 z: _ - #define SPEED_BUFFER_SIZE 8
0 g1 f8 z0 ~( E0 _2 e+ w1 n `$ J
: L5 c2 I7 a8 X2 F3 R9 I6 L- #define COUNTER_RESET (u16)107 ~5 m5 u8 _1 S* d: s! I
- #define ICx_FILTER (u8) 6 // 6<-> 670nsec
- A1 U! f7 J3 R2 v2 M* K8 @
/ j ?7 H" A% b- }7 J- #define TIMx_PRE_EMPTION_PRIORITY 0x0F- `# y3 x. D9 v
- #define TIMx_SUB_PRIORITY 0x0F
5 S& `7 G( n! C4 q* C5 H
. G8 U; d* q' _+ h' W- 3 {1 O7 A+ i9 S* {1 J, j
- " }- B% d; J7 O4 Z6 ]* I
- *******************************************************************************; ]; ^8 q0 |& e
- * Function Name : ENC_Init
, K: `& S' N! J* Y3 C/ Q - * Description : General Purpose Timer x set-up for encoder speed/position 6 f7 v, C9 h+ f
- * sensors
& \4 F* i' n6 D0 m; p% V! a6 M0 [5 k - * Input : None1 I0 X3 V5 Q# l; `. c8 }
- * Output : None: P+ r. D' f! i6 P- n# a, N
- * Return : None
_" g9 d7 S% D/ E& v4 H8 v2 H - *******************************************************************************/
l5 S9 P, X! |+ O' O9 S+ ^ - void Encoder_Init(void)% d, O2 L8 d4 Y2 K, z
- {
% x& \$ z6 Q2 ?# b - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
% @! l w0 g& ^/ E( n! O - TIM_ICInitTypeDef TIM_ICInitStructure;2 D6 e8 g% i1 e6 c D
- # o( n* N) @ e* Q0 p
- /* Encoder unit connected to TIM3, 4X mode */ . J \/ x8 l, W
- GPIO_InitTypeDef GPIO_InitStructure;
& m8 }8 ?8 A i) w - NVIC_InitTypeDef NVIC_InitStructure;3 K a3 _8 c3 K8 i
8 v7 \/ h+ [1 L$ m" k- F# z: e* S- /* TIM3 clock source enable */
) a5 q7 p- b2 I0 _7 u; v4 z' c5 y - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);0 p4 l/ v) V0 E( j+ d1 J o
- /* Enable GPIOC, clock */
4 b7 m4 x* y, A% S - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);( k& g' p7 t: I# c- x
- //GPIO_Init
1 I9 E4 N. Q9 C! w8 B9 ?8 I - GPIO_StructInit(&GPIO_InitStructure);
* A1 K. S; `& t4 I - /* Configure PC.06,07 as encoder input */. V+ ]: m9 b" Y* E: d( S& W( w: ~- l
- GPIO_InitStructure.GPIO_Pin = INTA_PIN | INTB_PIN;
, v9 r) u6 Z& n: P: v7 ~6 L - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //这个地方注意# B6 d8 E, O [* {- n$ O6 K
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;+ ~+ V* E, J; L
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
) {9 t! A' Y1 G8 x - GPIO_Init(GPIOC, &GPIO_InitStructure); B; r* s8 J. C
- * B) t2 o5 ]( g' |
- /* Connect TIM3 pins to AF2 */ " _, b- \ E0 {* b
- GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3); //这个地方注意! U8 V' |# `% {. g9 Q" c; A
- GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3); //这个地方注意
( T" W% R. X& g8 E- b
/ i$ Q: S9 e+ X2 f; A$ E$ F- 7 [* C" V0 r/ A, N7 T$ d+ T" v
- /* Enable the TIM3 Update Interrupt */
8 z4 O, H( L8 D4 _, e# Z3 k6 X$ Q - NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;- A9 y: h! l( D4 B5 P7 k- G
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
8 x# }( ? z0 y" p& N - NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
$ o# @8 i7 o& ^9 { - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;, ?1 o! J9 u5 i$ S% `, y9 a
- NVIC_Init(&NVIC_InitStructure);5 Q" A3 P7 p$ Y% B2 h3 o5 `
- - d' X7 [, i5 S' m
- /* Timer configuration in Encoder mode */
6 \" L! G& V7 ?% Q - TIM_DeInit(ENCODER_TIMER);
! p2 i) O* }- \2 x4 j1 Y5 _ - TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
1 Z' k5 b- g+ W# q) M6 `
8 a( V; `' V7 Y5 P5 |( @5 I- TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling 1 w/ |) I. _$ u! F4 x2 J& g: V4 y
- TIM_TimeBaseStructure.TIM_Period = 0x0F;//(4*ENCODER_PPR)-1; - A* `/ r# Q1 b
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;. L9 A- D; X# i0 _" [! w
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; - v0 E& C) l {! S+ w* [
- TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure);
& z7 V5 }3 I) {5 `0 g: l
$ s' F) N$ T: o2 S+ D2 a- TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI1, 1 A0 A4 k& \+ \( g/ n3 R: z% i, G
- TIM_ICPolarity_Falling, TIM_ICPolarity_Falling);& E9 s4 s- C2 p
- TIM_ICStructInit(&TIM_ICInitStructure);
+ ^* M: X" h/ y) {! Q - TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER; //--?--2 K4 R. ^0 j* q, @& M, h7 \( ?- `
- TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);
1 [: g5 W# L8 H# @
9 o* `4 p% @: U9 t+ V6 J6 S. S- // Clear all pending interrupts5 U1 N0 W, S X6 F- r5 s6 E
- TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);1 e6 a' G" N- R/ Y* J$ q+ }, Z; o
- TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE);
f% F/ S0 N$ E: A$ \2 O2 y - //Reset counter% \+ h+ P L3 e' V1 E+ B
- //ENCODER_TIMER->CNT = COUNTER_RESET;1 o% U3 l( }0 o1 Y1 w
- ]) ~- K- k5 t' T3 ^8 N
- ENC_Clear_Speed_Buffer();* c' v* G) H6 Q& P3 B' R
) m: `- g5 u" H2 ?# I$ h- TIM_Cmd(ENCODER_TIMER, ENABLE);
% Y$ p# l b' W' h& u - }
+ I9 ~/ d$ k; Y% x6 W$ ? - 1 e# o# F/ }. Y) G+ \$ Y" ?2 U4 `* R
- /*******************************************************************************
. S; j! o, Y! K0 R) G - * Function Name : TIM3_IRQHandler2 q7 c' X) Q* O G: n* h+ ]7 ?
- * Description : This function handles TIMx Update interrupt request.' T, L# D7 H$ ?8 N$ n5 g- Q
- Encoder unit connected to TIM3; }5 |2 Z2 J4 L0 N: F% z0 W4 g
- * Input : None2 _8 M5 q! y* A- k9 o
- * Output : None2 `; ^7 c$ o# m, f
- * Return : None/ L: `& v5 n- B% N @+ q6 ~& b
- *******************************************************************************/' Z1 k! p" V! ] K' f) U
- void TIM3_IRQHandler(void)4 U+ l/ ~ {1 q# S% @. ^
- {
9 O- x0 {, P, w0 M, u - /* Clear the interrupt pending flag */% G% _ ^, x& Z8 X f- _8 z1 ]& ]+ q1 r
- TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);
0 L$ M" i, w4 K# S - 3 B, d0 r) H! Z% }. t) h5 d
- } $ H$ b/ r5 F6 e# Z7 ^* B
- 1 S8 }2 E! F6 o: P h+ |# {9 ]8 l
复制代码
; k( P$ B, Y2 k: q2 q5 _7 U" c |