void Encoder_Init_TIM2(void)
{
NVIC_InitTypeDef NVIC_InitStruct;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定時器2的時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PA端口時鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置 PA0 PA1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空輸入
GPIO_Init(GPIOA, &GPIO_InitStructure); //根據(jù)設定參數(shù)初始化GPIOA
NVIC_InitStruct.NVIC_IRQChannel = TIM2_IRQn; //定時器2中斷
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE; //使能IRQ通道
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1;//搶占優(yōu)先級1
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 3; //響應優(yōu)先級3
NVIC_Init(&NVIC_InitStruct);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 預分頻器
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //設定計數(shù)器自動重裝值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//選擇時鐘分頻：不分頻
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//邊沿計數(shù)模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //初始化定時器
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用編碼器模式3
TIM_ICStructInit(&TIM_ICInitStructure); //把TIM_ICInitStruct 中的每一個參數(shù)按缺省值填入
TIM_ICInitStructure.TIM_ICFilter = 10; //設置濾波器長度
TIM_ICInit(TIM2, &TIM_ICInitStructure);//根據(jù) TIM_ICInitStruct 的參數(shù)初始化外設 TIMx
TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新標志位
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);//使能定時器中斷
//TIM_SetCounter(TIM2,0);
TIM_Cmd(TIM2, ENABLE); //使能定時器
}
/**************************************************************************
函數(shù)功能：把TIM3初始化為編碼器接口模式
入口參數(shù)：無
返回 值：無
**************************************************************************/
void Encoder_Init_TIM3(void)
{
NVIC_InitTypeDef NVIC_InitStruct;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//使能定時器3的時鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PA端口時鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置 PA6 PA7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空輸入
GPIO_Init(GPIOA, &GPIO_InitStructure); //根據(jù)設定參數(shù)初始化GPIOA
NVIC_InitStruct.NVIC_IRQChannel = TIM3_IRQn; //TIM3中斷
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE; //使能IRQ通道
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1; //搶占優(yōu)先級 1
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 3; //響應優(yōu)先級3
NVIC_Init(&NVIC_InitStruct);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 預分頻器
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //設定計數(shù)器自動重裝值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//選擇時鐘分頻：不分頻
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//邊沿計數(shù)模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //初始化定時器
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用編碼器模式3
TIM_ICStructInit(&TIM_ICInitStructure); //把TIM_ICInitStruct 中的每一個參數(shù)按缺省值填入
TIM_ICInitStructure.TIM_ICFilter = 10; //設置濾波器長度
TIM_ICInit(TIM3, &TIM_ICInitStructure);//根據(jù) TIM_ICInitStruct 的參數(shù)初始化外設 TIMx
TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除TIM的更新標志位
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);//使能定時器中斷
//TIM_SetCounter(TIM3,0);
TIM_Cmd(TIM3, ENABLE); //使能定時3
}
/**************************************************************************
函數(shù)功能：單位時間讀取編碼器計數(shù)
入口參數(shù)：定時器
返回 值：速度值
**************************************************************************/
int Read_Encoder(u8 TIMX)
{
int Encoder_TIM;
switch(TIMX)
{
case 2: Encoder_TIM= (short)TIM2 -> CNT; TIM2 -> CNT=0; break;
case 3: Encoder_TIM= (short)TIM3 -> CNT; TIM3 -> CNT=0; break;
case 4: Encoder_TIM= (short)TIM4 -> CNT; TIM4 -> CNT=0; break;
default: Encoder_TIM=0;
}
return Encoder_TIM;
}
/**************************************************************************
函數(shù)功能：TIM3中斷服務函數(shù)
入口參數(shù)：無
返回 值：無
**************************************************************************/
void TIM3_IRQHandler(void)//中斷處理函數(shù)為空，清除中斷標志位后結束中斷
{
if(TIM_GetFlagStatus(TIM3,TIM_FLAG_Update)==SET)//溢出中斷
{
}
TIM_ClearITPendingBit(TIM3,TIM_IT_Update); //清除中斷標志位
}
/**************************************************************************
函數(shù)功能：TIM2中斷服務函數(shù)
入口參數(shù)：無
返回 值：無
**************************************************************************/
void TIM2_IRQHandler(void)//中斷處理函數(shù)為空，清除中斷標志位后結束中斷
{
if(TIM_GetFlagStatus(TIM2,TIM_FLAG_Update)==SET)//溢出中斷
{
}
TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中斷標志位
}
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