正交编码器程序

下面是调试OK的代码：

void Encoder_Configration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;

//PC6 A相 PC7 B相
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStructure);

/* Enable the TIM3 Update Interrupt */
/*NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);*/

/* Timer configuration in Encoder mode */

TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 10000;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);

TIM_EncoderInterfaceConfig(TIM8, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6;//ICx_FILTER;
TIM_ICInit(TIM8, &TIM_ICInitStructure);

// Clear all pending interrupts
TIM_ClearFlag(TIM8, TIM_FLAG_Update);
TIM_ITConfig(TIM8, TIM_IT_Update, ENABLE);
//Reset counter
TIM2->CNT = 0;

TIM_Cmd(TIM8, ENABLE);

}

n_Counter = TIM_GetCounter(TIM8);
Diled_Disp_Num((float)n_Counter);

另外一个值得注意的问题是，STM32 的定时器是16位的，意思是只能计数到65535，有两种方法，一是采用链式的方式用两个定时器将16位扩展为32位，还有一种简单的方法就是开启定时器的溢出中断，每中断一次就代表编码器运转了特定的角度。

比如编码器是400线的，将ARR寄存器设置为400，每溢出中断一次就代表电机转了一圈，以此类推。

另外，关于输入脉冲的检测，其实是类似的，只不过在STM32内部是专门用了一个外部触发模块来实现的，如图一中紫色框的标注，编码器模块应该是在这个模块上的升级，下面是配置代码：

void TIM3_ETR_GetDropCounts_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
//test PA0 TIM8_ETR
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);

TIM_TimeBaseStructure.TIM_Prescaler = 0x00;
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); // Time base configuration

TIM_ETRClock

Mode2Config(TIM3, TIM_ExtTRGPSC_OFF, TIM_ExtTRGPolarity_NonInverted, 0);

TIM_SetCounter(TIM3, 0);

TIM_Cmd(TIM3, ENABLE);
}

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