我用TIM4的CH1和CH2分别接增量编码器的A、B怎么读出的计数器的数值和实际数值不匹配啊,哪位高手帮指点下,附上代码
#include "timer.h"
//#define ENCODER_PPR (u16)(1000) // number of pulses per revolution
u16 hEncoder_Timer_Overflow=0;
void Tim4_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;//????
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOD,&GPIO_InitStructure);
GPIO_ResetBits(GPIOD,GPIO_Pin_12);//????
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;//????
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOD,&GPIO_InitStructure);
GPIO_ResetBits(GPIOD,GPIO_Pin_13);//????
GPIO_PinRemapConfig(GPIO_Remap_TIM4,ENABLE);
TIM_DeInit(TIM4);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period=0xC350;
TIM_TimeBaseStructure.TIM_Prescaler=0x0;
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
//TIM_ICInitStructure.TIM_ICFilter = 0X0F;
// TIM_ICInit(TIM4, &TIM_ICInitStructure);
NVIC_InitStructure.NVIC_IRQChannel=TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM4->CNT =0;
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
TIM_ITConfig( TIM4,TIM_IT_Update|TIM_IT_CC1|TIM_IT_CC2,ENABLE);
TIM_Cmd(TIM4,ENABLE );
}
void TIM4_IRQHandler(void)
{
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
if (hEncoder_Timer_Overflow != 65535)
{
hEncoder_Timer_Overflow++;
}
}
代码是参照网上写的,我是要求直接读出编码器脉冲的个数计算位置,但是读出的数据和实际行走的距离不一致,谁做过帮我看看哪有问题
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请教楼主,定时器编码器模式下定时器中断是有脉冲发生时进中断还是预装载值到了进中断呢?
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脉冲发生变化时吧,我没有中断,直接读得计数器
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