stm32f103 TIM2~5 讀取4路編碼器源程序

ID:903104 · 發(fā)表于 2021-5-9 12:10

由于stm32f103定時(shí)器2和5的編碼器模式引腳在TIM2上，所以正常讀取編碼器值時(shí)不準(zhǔn)確，會出現(xiàn)干擾。
將定時(shí)器2的輸入服用到PB3,PA15才能正常使用。
但要注意PB3、PA15是JTAG的功能引腳。需要關(guān)閉JTAG功能。
現(xiàn)上傳一個(gè)可用stm32f103 TIM2~5 讀取4路編碼器初始化，希望對大家有用。

單片機(jī)源程序如下:

#include "Encoder.h"
/**************************************************************************
函數(shù)功能：把TIM3初始化為編碼器接口模式
入口參數(shù)：psc 設(shè)定計(jì)數(shù)器自動重裝值
返回值：無
**************************************************************************/
void Encoder_Init_TIM3(u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//使能定時(shí)器4的時(shí)鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PB端口時(shí)鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空輸入
GPIO_Init(GPIOA, &GPIO_InitStructure); //根據(jù)設(shè)定參數(shù)初始化GPIOB
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 預(yù)分頻器
TIM_TimeBaseStructure.TIM_Period = psc; //設(shè)定計(jì)數(shù)器自動重裝值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//選擇時(shí)鐘分頻：不分頻
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上計(jì)數(shù)
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用編碼器模式3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除TIM的更新標(biāo)志位
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM3,0);
TIM_Cmd(TIM3, ENABLE);
}
/**************************************************************************
函數(shù)功能：把TIM4初始化為編碼器接口模式
入口參數(shù)：psc 設(shè)定計(jì)數(shù)器自動重裝值
返回值：無
**************************************************************************/
void Encoder_Init_TIM4(u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定時(shí)器4的時(shí)鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口時(shí)鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空輸入
GPIO_Init(GPIOB, &GPIO_InitStructure); //根據(jù)設(shè)定參數(shù)初始化GPIOB
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 預(yù)分頻器
TIM_TimeBaseStructure.TIM_Period = psc; //設(shè)定計(jì)數(shù)器自動重裝值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//選擇時(shí)鐘分頻：不分頻
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上計(jì)數(shù)
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用編碼器模式3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新標(biāo)志位
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM4,0);
TIM_Cmd(TIM4, ENABLE);
}
/**************************************************************************
函數(shù)功能：把TIM2初始化為編碼器接口模式
入口參數(shù)：psc 設(shè)定計(jì)數(shù)器自動重裝值
返回值：無
**************************************************************************/
void Encoder_Init_TIM2(u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//PA15 ch1, PB3 ch2
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // 關(guān)閉JTAG功能
GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2,ENABLE); // 重映射TIM2的CH1、CH2到PA15和PB3
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
TIM_DeInit(TIM2);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = psc;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
//Reset counter
TIM2->CNT = 0;
TIM_Cmd(TIM2, ENABLE);
}
/**************************************************************************
函數(shù)功能：把TIM5初始化為編碼器接口模式
入口參數(shù)：psc 設(shè)定計(jì)數(shù)器自動重裝值
返回值：無
**************************************************************************/
void Encoder_Init_TIM5(u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);//使能定時(shí)器4的時(shí)鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PB端口時(shí)鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空輸入
GPIO_Init(GPIOA, &GPIO_InitStructure); //根據(jù)設(shè)定參數(shù)初始化GPIOB
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 預(yù)分頻器
TIM_TimeBaseStructure.TIM_Period = psc; //設(shè)定計(jì)數(shù)器自動重裝值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//選擇時(shí)鐘分頻：不分頻
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上計(jì)數(shù)
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用編碼器模式3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM5, &TIM_ICInitStructure);
TIM_ClearFlag(TIM5, TIM_FLAG_Update);//清除TIM的更新標(biāo)志位
TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM5,0);
TIM_Cmd(TIM5, ENABLE);
}

復(fù)制代碼

以上2個(gè)文件51hei下載地址:

tim0.zip (1.52 KB, 下載次數(shù): 42)

ID:81196 · 發(fā)表于 2021-5-10 09:05

光是標(biāo)題好聽.中斷呢?不完整.

ID:903104 · 發(fā)表于 2021-5-16 22:32

/**************************************************************************
函數(shù)功能：TIM2中斷服務(wù)函數(shù)
入口參數(shù)：無
返回  值：無
**************************************************************************/
void TIM2_IRQHandler(void)
{
if(TIM2->SR&0X0001)//溢出中斷
{
}
TIM2->SR&=~(1<<0);//清除中斷標(biāo)志位
}

ID:903104 · 發(fā)表于 2021-5-16 22:32

Encode= (short)TIM2 -> CNT; TIM2 -> CNT=0;

ID:944437 · 發(fā)表于 2021-7-13 10:55

我這里不行

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stm32f103 TIM2~5 讀取4路編碼器源程序

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