输入捕获只有定时器3接收到脉冲,为什么我把TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);里面的TIM_ICPolarity_BothEdge改成TIM_ICPolarity_Rising就接受不到编码器脉冲了?同样配置和电机,TIM3通道的就可以,其他通道(2.4.5)的都不行,但如果不改的话就只有正值,没有负值
void encoder_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);//开启TIM4时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);//开启GPIOD时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5,ENABLE);//开启TIM3时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);//开启TIM3时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);//开启GPIOA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);//开启TIM3时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD,ENABLE);//开启GPIOE时钟
GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4);//PB0引脚复用
GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4);//PB1引脚服用
GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_TIM2);//PB0引脚复用
GPIO_PinAFConfig(GPIOA,GPIO_PinSource15,GPIO_AF_TIM2);//PB1引脚服用
GPIO_PinAFConfig(GPIOB,GPIO_PinSource4,GPIO_AF_TIM3);//PB0引脚复用
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_TIM3);//PB1引脚服用
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM5);//PB0引脚复用
GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_TIM5);//PB1引脚服用
/*--------------------------------------------------------------*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13; //GPIOD12,GPIOD13
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_15; //GPIOA1.2.15
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_3; //GPIOB4.5.6
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB,&GPIO_InitStructure);
/*--------------------------------------------------------------*/
TIM_TimeBaseStructure.TIM_Period = 65535; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
// TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_TimeBaseStructure.TIM_Period =65535; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
// TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_TimeBaseStructure.TIM_Period =65535; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;; //设置时钟分割:TDTS = Tck_tim
// TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_TimeBaseStructure.TIM_Period = 65535; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;; //设置时钟分割:TDTS = Tck_tim
// TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
TIM_ICStructInit(&TIM_ICInitStructure);
/*--------------------------------------------------------------*/
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_EncoderInterfaceConfig(TIM4,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_ICInitStructure.TIM_ICFilter = 8; //输入滤波器
TIM_ClearFlag(TIM4, TIM_FLAG_Update); //清楚所有标志位
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); //允许中断更新
TIM_SetCounter(TIM4, 0);
TIM_Cmd(TIM4, ENABLE); //使能TIM4
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_ICInitStructure.TIM_ICFilter = 10; //输入滤波器
TIM_ClearFlag(TIM3, TIM_FLAG_Update); //清楚所有标志位
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //允许中断更新
TIM_SetCounter(TIM3, 0);
TIM_Cmd(TIM3, ENABLE); //使能TIM3
// TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
// TIM_ICStructInit(&TIM_ICInitStructure);
// TIM_ICInitStructure.TIM_ICFilter = 10; //输入滤波器
// TIM_ICInit(TIM2, &TIM_ICInitStructure);
// TIM_ClearFlag(TIM2, TIM_FLAG_Update); //清楚所有标志位
// TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //允许中断更新
// TIM2->CNT = 0;
// TIM_Cmd(TIM2, ENABLE); //使能TIM3
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI1,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_ICInitStructure.TIM_ICFilter = 10; //输入滤波器
TIM_ClearFlag(TIM2, TIM_FLAG_Update); //清楚所有标志位
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //允许中断更新
TIM_SetCounter(TIM2, 0);
TIM_Cmd(TIM2, ENABLE); //使能TIM3
TIM_ICInit(TIM5, &TIM_ICInitStructure);
TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
TIM_ICInitStructure.TIM_ICFilter = 10; //输入滤波器
TIM_ClearFlag(TIM5, TIM_FLAG_Update); //清楚所有标志位
TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE); //允许中断更新
TIM_SetCounter(TIM5, 0);
TIM_Cmd(TIM5, ENABLE); //使能TIM5
}
EncoderStructure1 EncoderStructure;
void Read_Encoder(void)
{
int i;
EncoderStructure.Encoder_Value[0]=TIM2 -> CNT; //正数
EncoderStructure.Encoder_Value[1]=TIM3 -> CNT;
EncoderStructure.Encoder_Value[2]=TIM4 -> CNT;
EncoderStructure.Encoder_Value[3]=TIM5 -> CNT;
//清零
TIM2 -> CNT=0;TIM3 -> CNT=0;
TIM4 -> CNT=0;TIM5 -> CNT=0;
for(i=0;i<=3;i++)
{
if(EncoderStructure.Encoder_Value[i]>6000)
{
EncoderStructure.Encoder_Value[i]=EncoderStructure.Encoder_Value[i]-65535; //负数
}
}
// 屏蔽小波动
for(i=0;i<=3;i++)
{
if(EncoderStructure.Encoder_Value[i]<=2&&EncoderStructure.Encoder_Value[i]>=-2)
{EncoderStructure.Encoder_Value[i]=0;
}
}
}
```c