void Encoders_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// turn on the clocks for each of the ports needed
RCC_AHB1PeriphClockCmd (ENCLA_GPIO_CLK, ENABLE);
RCC_AHB1PeriphClockCmd (ENCLB_GPIO_CLK, ENABLE);
RCC_AHB1PeriphClockCmd (ENCRA_GPIO_CLK, ENABLE);
RCC_AHB1PeriphClockCmd (ENCRB_GPIO_CLK, ENABLE);
// now configure the pins themselves
// they are all going to be inputs with pullups
GPIO_StructInit (&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Pin = ENCLA_PIN;
GPIO_Init (ENCLA_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = ENCLB_PIN;
GPIO_Init (ENCLB_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = ENCRA_PIN;
GPIO_Init (ENCRA_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = ENCRB_PIN;
GPIO_Init (ENCRB_GPIO_PORT, &GPIO_InitStructure);
// Connect the pins to their Alternate Functions
GPIO_PinAFConfig (ENCLA_GPIO_PORT, ENCLA_SOURCE, ENCLA_AF);
GPIO_PinAFConfig (ENCLB_GPIO_PORT, ENCLB_SOURCE, ENCLB_AF);
GPIO_PinAFConfig (ENCRA_GPIO_PORT, ENCRA_SOURCE, ENCRA_AF);
GPIO_PinAFConfig (ENCRB_GPIO_PORT, ENCRB_SOURCE, ENCRB_AF);
// Timer peripheral clock enable
RCC_APB1PeriphClockCmd (ENCL_TIMER_CLK, ENABLE);
RCC_APB1PeriphClockCmd (ENCR_TIMER_CLK, ENABLE);
// set them up as encoder inputs
// set both inputs to rising polarity to let it use both edges
TIM_EncoderInterfaceConfig (ENCL_TIMER, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising,
TIM_ICPolarity_Rising);
TIM_SetAutoreload (ENCL_TIMER, 0xffff);
TIM_EncoderInterfaceConfig (ENCR_TIMER, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising,
TIM_ICPolarity_Rising);
TIM_SetAutoreload (ENCR_TIMER, 0xffff);
// turn on the timer/counters
TIM_Cmd (ENCL_TIMER, ENABLE);
TIM_Cmd (ENCR_TIMER, ENABLE);
Encoders_reset();
}
//----------------------------------------------------------
//エンコーダーの設定
void Init_encoder(TIM_TypeDef *tim){
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //TIMを設定するための構造体
RCC_PeriphClock_TIM(tim);
Init_af_port(Tim_select_port(tim,TIM_CH1),Tim_select_pin(tim,TIM_CH1),Tim_select_af(tim),PORT_PP|PORT_PULL_UP);
Init_af_port(Tim_select_port(tim,TIM_CH2),Tim_select_pin(tim,TIM_CH2),Tim_select_af(tim),PORT_PP|PORT_PULL_UP);
TIM_Prescaleg(tim,0,TIM_PSCReloadMode_Update);
TIM_TimeBaseStructrConfiInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xffff;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(tim,&TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(tim,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_Cmd(tim,ENABLE);
NVIC_config_TIM(tim);
TIM_ITConfig(tim,TIM_IT_Update,ENABLE);
}
//QEI Timer 2
void TSVN_QEI_TIM2_Init(unsigned int MAX_CNT)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM2_Over_Load = 0;
TIM2_MAXCNT = MAX_CNT;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_Period = MAX_CNT;
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_Rising, TIM_ICPolarity_Rising);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM2, ENABLE);
}
/**************************************************************************
函数功能：把TIM4初始化为编码器接口模式
入口参数：无
返回 值：无
**************************************************************************/
void Encoder_Init_TIM3(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//使能定时器3的时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PA端口时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOA
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除TIM的更新标志位
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM3,0);
TIM_Cmd(TIM3, ENABLE);
}
/**
* @brief This function initialises quadrature encoder input to capture
AB phase output from ENB encoder.
* @param void
* @retval void
* @brief
* PB4 --> TIM3 CH1
* PB5 --> TIM3 CH2
*/
void QEI1_init (void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM3 clock source enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Enable GPIOB, clock */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PB.4,5 as encoder alternate function */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Connect TIM3 pins to AF2 */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_TIM3);
/* Enable the TIM3 Update Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Timer configuration in Encoder mode */
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = (4*4000)-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
//Reset counter
TIM3->CNT = 0; //encoder value
TIM_Cmd(TIM3, ENABLE);
}
void ENC_Config()
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_TIM3);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 0xffff;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIM3, 0xffff);
TIM3->CNT = 0;
}
//use tim8,cc1
void Enc1Config(Encoder* me) {
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //channel1
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //channel2
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIM4, 0xffff);
TIM_SetCounter(TIM4, 0);
// TIM_Cmd(TIM4, ENABLE);
me->encoderTIM = TIM4;
me->encoderAddr = (unsigned int) &TIM4->CNT;
EnableEncoder(me); // TIM_Cmd(TIM4, ENABLE);
}
void TIM3_Config(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 ; // two LED (guess on what pin!!)
GPIO_Init(GPIOA, &GPIO_InitStructure);
NVIC_Int.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_Int.NVIC_IRQChannelSubPriority = 2;
NVIC_Int.NVIC_IRQChannelCmd = ENABLE;
NVIC_Int.NVIC_IRQChannel = TIM3_IRQn;
NVIC_Init(&NVIC_Int);
TIM_TimeBaseStructure.TIM_Period = 200;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_Cmd(TIM3, ENABLE);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
}
void TIM8_Encoder_Init()
{
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
TIM_DeInit(TIM8);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF; // Max value for encoder pulse
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
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 = 0;
TIM_ICInit(TIM8, &TIM_ICInitStructure);
// TIM_SetAutoreload(TIM2, 0xFFFF);
TIM_SetCounter(TIM8, 0);
TIM_Cmd(TIM8, ENABLE);
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_4);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_4);
}
void ausbee_encoder_init_timer(TIM_TypeDef *TIMX, uint8_t use_encoder_quadrature)
{
if (use_encoder_quadrature)
{
// Set them up as encoder inputs
// Set both inputs to rising polarity to let it use both edges
TIM_EncoderInterfaceConfig(TIMX, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_SetAutoreload(TIMX, 0xffff);
// Turn on the timer/counters
TIM_Cmd(TIMX, ENABLE);
}
else
{
TIM_TimeBaseInitTypeDef timeBaseInitTypeDef;
TIM_TimeBaseStructInit(&timeBaseInitTypeDef);
timeBaseInitTypeDef.TIM_Period = 0xFFFF;
TIM_TimeBaseInit(TIMX, &timeBaseInitTypeDef);
TIM_TIxExternalClockConfig(TIMX, TIM_TS_TI1FP1, TIM_ICPolarity_Rising, 0x0);
TIM_Cmd(TIMX, ENABLE);
}
// Reset of the timer counter
TIM_SetCounter(TIMX, 0);
}
void encoder_init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
//TIM2_CH1->PA5, TIM2_CH2->PA1
gpio_af_od_up_init(GPIOA, GPIO_Pin_1|GPIO_Pin_5); //编码器AB相输入口,复用开漏上拉
GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource5, GPIO_AF_TIM2);
TIM_DeInit(TIM2);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_Period = ENCODER_RELOAD; //TIM2为32位定时器,这里把重载值设为最大，可以不考虑计数溢出
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_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM2->CNT = COUNTER_RESET;
TIM_Cmd(TIM2, ENABLE);
}
/**
* @brief Configure the TIM Init and IRQ Handler.
* @param None
* @retval None
*/
void ENC_2_TIM_Init(void) {
/* Private typedef -----------------------------------------------------------*/
NVIC_InitTypeDef NVIC_InitStructure;
/* Timer peripheral clock enable */
RCC_APB1PeriphClockCmd (ENC_2_TIMER_CLK, ENABLE);
/**
* set them up as encoder inputs
* set both inputs to rising polarity to let it use both edges
*/
TIM_EncoderInterfaceConfig (ENC_2_TIMER, TIM_EncoderMode_TI12, TIM_ICPolarity_Falling, TIM_ICPolarity_Falling);
TIM_SetAutoreload (ENC_2_TIMER, 0xffffff);
/* clear the interrupt */
TIM_ClearFlag(ENC_2_TIMER, TIM_FLAG_Update);
/* enable TIM2 Interrupt */
TIM_ITConfig(ENC_2_TIMER, TIM_IT_Update, ENABLE);
/* Enable the TIM2 gloabal Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = ENC_2_TIMER_IQRn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/*
*berif: Initialize the counter of the encoding module(Right)
*param: None
*reval: None
*/
void TIM3_Init()
{
TIM_ICInitTypeDef TIM3_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); //TIM4时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //使能PORTA时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //GPIOB6 | 7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
//以下两个不用设置
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; //推挽复用
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //下拉
GPIO_Init(GPIOB,&GPIO_InitStructure); //初始化PB
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //GPIOB6 | 7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
//以下两个不用设置
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; //推挽复用
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //下拉
GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PB
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_TIM3); //PB6复用位定时器4
GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_TIM3); //PB7复用位定时器4
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler=0; //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=60000; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
//初始化TIM5输入捕获参数
TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1 | TIM_Channel_2; //CC1S=01 选择输入端 IC1映射到TI1上
TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge; //上升沿捕获
TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM3_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置输入滤波器 不滤波
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI1, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICInit(TIM3, &TIM3_ICInitStructure);
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);//允许更新中断 ,允许CC1IE捕获中断
TIM_SetCounter(TIM3, 30000);
TIM_Cmd(TIM3,ENABLE ); //使能定时器5
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority =0; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器、
}
void ENC_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//Encoder uint connected to TIM2
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_APB1PeriphClockCmd(ENC_TIMER_CLK,ENABLE);
RCC_APB2PeriphClockCmd(ENC_GPIO_CLK ,ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
//GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Pin = ENC_GPIO_PIN_A | ENC_GPIO_PIN_B ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(ENC_GPIO_PORT ,&GPIO_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = ENC_TIMER_IRQn ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_DeInit(ENC_TIMER);
//TIM_TimeBaseInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENC_TIMER,&TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENC_TIMER,TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
TIM_ICInit(ENC_TIMER,&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;//注意通道
TIM_ICInit(ENC_TIMER, &TIM_ICInitStructure);
TIM_ClearFlag(ENC_TIMER,TIM_FLAG_Update);
TIM_ITConfig(ENC_TIMER,TIM_IT_Update,ENABLE);
TIM2->CNT = COUNTER_RESET;//!!此处注意修改
//局部初始化
ENC_Clear_Speed_Buffer();
hPrevious_angle=0;
hRot_Speed=0;;
bSpeed_Buffer_Index = 0;
hEncoder_Timer_Overflow=0;
bIs_First_Measurement = true;
hEncoder_Revolutions_Num=0;
TIM_Cmd(ENC_TIMER,ENABLE);
}
void TIM3_Mode_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//TIM_OCInitTypeDef TIM_OCInitStructure;
/*----------------------------------------------------------------*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PA.06,07 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*----------------------------------------------------------------*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能ＴＩＭ３
TIM_DeInit(TIM3);
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period =0xffff; //
TIM_TimeBaseStructure.TIM_Prescaler =0; //设置预分频：
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
//TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
/*初始化TIM2定时器 */
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/*-----------------------------------------------------------------*/
//编码配置 编码模式
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); //TIM_ICPolarity_Rising上升沿捕获
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;//配置通道1的滤波器
TIM_ICInitStructure.TIM_ICFilter = 6; //比较滤波器
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;//配置通道2的滤波器
TIM_ICInitStructure.TIM_ICFilter = 6; //比较滤波器
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ARRPreloadConfig(TIM3, ENABLE);
// Clear all pending interrupts
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //使能中断
//Reset counter
TIM3->CNT =0;
TIM_Cmd(TIM3, ENABLE); //使能定时器3
}
/********************************************************************************************************
Function Name: EncoderTIMInit
Description :
Inputs : None
Outputs : None
Notes : Encoder TIME初始化
Revision :
********************************************************************************************************/
void EncoderTIMInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
/*********************** ENCODER2 *************************/
TIM_DeInit(ENCODER_R_TIMER);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENCODER_R_TIMER, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENCODER_R_TIMER, TIM_EncoderMode_TI12,
TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge); // 编码器计数方式
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER; // 滤波器
TIM_ICInit(ENCODER_R_TIMER, &TIM_ICInitStructure);
ENCODER_R_TIMER->CNT = COUNTER_RESET;
TIM_Cmd(ENCODER_R_TIMER, ENABLE);
/********************** ENCODER1 *************************/
TIM_DeInit(ENCODER_L_TIMER);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENCODER_L_TIMER, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENCODER_L_TIMER, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); //选定T1和T2同时计数模式，上升沿计数
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
TIM_ICInit(ENCODER_L_TIMER, &TIM_ICInitStructure);
ENCODER_L_TIMER->CNT = COUNTER_RESET;
TIM_Cmd(ENCODER_L_TIMER, ENABLE);
}
void TIM3_Init() //运动电机
{
//u16 CCR1_Val = 2500;
//u16 CCR2_Val = 1000;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
//TIM_OCInitTypeDef TIM_OCInitStructure;
/*----------------------------------------------------------------*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PA.06,07 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*----------------------------------------------------------------*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能ＴＩＭ３
TIM_DeInit(TIM3);
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period =8000; //此处设置所使用的编码器转一圈产生的计数
TIM_TimeBaseStructure.TIM_Prescaler =0; //设置预分频：
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
//TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
/*初始化TIM3定时器 */
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/*-----------------------------------------------------------------*/
//编码配置 编码模式
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); //TIM_ICPolarity_Rising上升沿捕获
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 1; //比较滤波器
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //使能中断
//Reset counter
TIM3->CNT =0;
TIM_Cmd(TIM3, ENABLE); //使能定时器3
}
void EncoderR_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStruct;
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);
/* ENCODER clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* Enable the ENCODER Clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(/*GPIO_PartialRemap1_TIM2*/GPIO_FullRemap_TIM2,ENABLE); //重映射TIM2引脚
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //ENCODER_CHA, ENCODER_CHB端口配置
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; //ENCODER_CHA, ENCODER_CHB端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Timer configuration in Encoder mode */
TIM_DeInit(TIM2);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;//预分频器
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseStructure.TIM_Period = 0xffff;//设定计数器自动重装值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
// TIM_ARRPreloadConfig(ENCODER_TIM, ENABLE);//使能ARR自动重装入缓冲器
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStruct);
TIM_ICInitStruct.TIM_ICFilter = 6;//ICx_FILTER; // TIM_ICFilter选择输入比较滤波器。该参数取值在0x0和0xF之间
TIM_ICInit(TIM2, &TIM_ICInitStruct);
TIM2->CNT = ENCODER_INIT_VALUE;
//使能定时器
TIM_Cmd(TIM2,ENABLE); //使能定时器
}
void init_encoder() {
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
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);
TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI1, TIM_ICPolarity_Falling, TIM_ICPolarity_Falling);
TIM_EncoderInterfaceConfig(TIM8, TIM_EncoderMode_TI1, TIM_ICPolarity_Falling, TIM_ICPolarity_Falling);
TIM_Cmd(TIM5, ENABLE);
TIM_Cmd(TIM8, ENABLE);
}
void ENC_init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Enable the TIM3 Update Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 10;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Timer configuration in Encoder mode */
TIM_DeInit(TIM1);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = TIM1_PERIOD;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
TIM_ICInit(TIM1, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(TIM1, TIM_FLAG_Update);
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
//Reset counter
TIM1->CNT = COUNTER_RESET;
// ENC_Clear_Speed_Buffer();
TIM_Cmd(TIM1, ENABLE);
}
void Tim_Encoder_initial(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/*----------------Encoder 1--------------------*/
TIM_TimeBaseStructure.TIM_Prescaler = 0; // prescaler 사용 안함, encoder 신호를 그대로 사용
TIM_TimeBaseStructure.TIM_Period = 65535; // max, 카운트 최대값을 바꾸고 싶다면 이걸 바꾸면 된다
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_Cmd(TIM4, ENABLE); // TIM5 enable counter
}
void Enc1_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, ENABLE);
}
void encb_init( void )
{
TIM_ICInitTypeDef TIM_ICInitStructure;
//*********************************************************
//****** Main Encoder Setting
//*********************************************************
DBG( ENC, L, "Main encoder button init" );
RCC_APB2PeriphResetCmd( RCC_APB2Periph_TIM8, ENABLE );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = ENCB_FILTER_CNT;
TIM_ICInit( TIM8, &TIM_ICInitStructure );
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = ENCB_FILTER_CNT;
TIM_ICInit( TIM8, &TIM_ICInitStructure );
TIM_EncoderInterfaceConfig( TIM8, TIM_EncoderMode_TI12,
TIM_ICPolarity_Falling, ENCB_MAIN_DIR_POL );
TIM_Cmd( TIM8, ENABLE );
bio_i_chk[ENCB_MAIN_A_PORT_IX].mask &= ~ENCB_MAIN_A_PIN;
bio_i_chk[ENCB_MAIN_B_PORT_IX].mask &= ~ENCB_MAIN_B_PIN;
//*********************************************************
//****** Initial Values Setting
//*********************************************************
encb_info[ENCB_IX_MAIN].pls_rev = 24;
encb_info[ENCB_IX_MAIN].val_min = 0;
encb_info[ENCB_IX_MAIN].val_max = 999 * 10;
encb_info[ENCB_IX_MAIN].val_cur = 123;
// encb_info[ENCB_IX_MAIN].val_cur = eep_data.c_ht_tgt;
encb_info[ENCB_IX_MAIN].sns_min = ENCB_BASE_SENS * 10;
encb_info[ENCB_IX_MAIN].sns_max = 25000;
} // end of encb_init()
void encoder_init_abi(uint32_t counts) {
EXTI_InitTypeDef EXTI_InitStructure;
// Initialize variables
index_found = false;
enc_counts = counts;
palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
// palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
// Enable timer clock
HW_ENC_TIM_CLK_EN();
// Enable SYSCFG clock
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
TIM_EncoderInterfaceConfig (HW_ENC_TIM, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising,
TIM_ICPolarity_Rising);
TIM_SetAutoreload(HW_ENC_TIM, enc_counts - 1);
// Filter
HW_ENC_TIM->CCMR1 |= 6 << 12 | 6 << 4;
HW_ENC_TIM->CCMR2 |= 6 << 4;
TIM_Cmd(HW_ENC_TIM, ENABLE);
// Interrupt on index pulse
// Connect EXTI Line to pin
SYSCFG_EXTILineConfig(HW_ENC_EXTI_PORTSRC, HW_ENC_EXTI_PINSRC);
// Configure EXTI Line
EXTI_InitStructure.EXTI_Line = HW_ENC_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
// Enable and set EXTI Line Interrupt to the highest priority
nvicEnableVector(HW_ENC_EXTI_CH, 0);
mode = ENCODER_MODE_ABI;
}
void Timer4_Encoder2(void)//////////////motor2 encoder configuration, timer4 ocuppied
{
/*Encoder model is another function of timer in stm32, configuration is roughly same,
the tricky here is that we called GPIOA in previous function, so for a new timer setup,
we need 'GPIO_DeInit(GPIOA)' and 'TIM_DeInit(TIM3)' to reopen a new timer. The interrupt
model is shield, if needed, set 'arr' register as encoder resolution (Lines per revolution).
Or if it's 3phase encoder, Z channel could use for counter number recording.
use TIM_GetCounter(TIM3) or TIM3->CNT get counter number
use TIMx->CR1&0X0010 call CR1 register DIR bit, if DIR=0 CCW, if DIR!=0 CW, double check direction
*/
TIM_TimeBaseInitTypeDef timerInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure gpio */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB , ENABLE);
GPIO_DeInit(GPIOB); //very important!!!!!!!!!!!!!!!!!!!!!!!!!
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_2); //CHANGE TO GPIO_AF_TIMER MODE
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_2); //CHANGE TO GPIO_AF_TIMER MODE
GPIO_Init(GPIOB, &GPIO_InitStructure);
//timmer initialize
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //clock enable
TIM_DeInit(TIM4); //not sure it's useful or not
timerInitStructure.TIM_Prescaler = 0;
timerInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
timerInitStructure.TIM_Period = 65535; //4*64-1 Faulhaber HXM3 with line per revolution = 64; max=0xffff;
timerInitStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM4, &timerInitStructure);
// Configure the encoder model
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); //Encoder model basic configuration
// counter enable
TIM_Cmd(TIM4, ENABLE);
}
void TIM4_Init ( void )
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM4 , ENABLE );
TIM_TimeBaseStructure.TIM_Period = 0xffff;
TIM_TimeBaseStructure.TIM_Prescaler = 0; // Don't care
TIM_TimeBaseStructure.TIM_ClockDivision = 0; // Neither
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; // CountUp, but doesn't really matter
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig( TIM4 , TIM_EncoderMode_TI12 , TIM_ICPolarity_Rising , TIM_ICPolarity_Rising );
TIM_Cmd( TIM4 , ENABLE );
TIM4 -> CNT = 0;
}
void GPIO_Configuration(void) {
uint32_t i;
SPI_InitTypeDef SPI_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
// Pins GPIO configuration
for(i=0;i<sizeof(pins)/sizeof(PIN);i++) {
RCC_APB2PeriphClockCmd(pins[i].GPIO_Bus,ENABLE);
GPIO_Init(pins[i].GPIOx,&pins[i].GPIO_InitStructure);
}
// SPI2 configuration
RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
SPI_InitStructure.SPI_Direction = SPI_Direction_1Line_Tx;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(SPI2, &SPI_InitStructure);
SPI_Cmd(SPI2, ENABLE);
// Encoder configuration
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
TIM_TimeBaseInitStruct.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Period=1;
TIM_TimeBaseInitStruct.TIM_Prescaler=0;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseInitStruct);
TIM_EncoderInterfaceConfig(TIM4,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM4, ENABLE);
NVIC_EnableIRQ(TIM4_IRQn);
}
/*
* Initialization Function for the Hardware Encoder Reading Circuit
*
*/
void encoder_arm_init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStruct;
GPIO_InitTypeDef GPIOA_InitStructure;
GPIO_InitTypeDef GPIOB_InitStructure;
//Configure peripheral clocks
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // Timer 3
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
//Configure pins B
GPIOB_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
GPIOB_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIOB_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIOB_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIOB_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIOB_InitStructure);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3); //B4 - TIM3_CH1
GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_TIM3); //B5 - TIM3_CH2
//Configure Timer
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_Period = 4096;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_ARRPreloadConfig(TIM3, ENABLE);
//Setup quadrature encoders and enable timers
TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,TIM_ICPolarity_Falling,TIM_ICPolarity_Falling);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
// Set the initial value for the encoders
TIM3->CNT = 2048; // Arm Initial Value
// Timers Activation
TIM_Cmd(TIM3, ENABLE);
}
void DOL_Init(void)//инициализация таймера дола
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//тактируем портА
RCC_APB1PeriphClockCmd(RCC_APB1ENR_TIM3EN, ENABLE);//тактируем таймер
//настройка таймера дола
TIM_TimeBaseInitTypeDef timer_base;
TIM_TimeBaseStructInit(&timer_base);
timer_base.TIM_Period = 65535;
timer_base.TIM_CounterMode = TIM_CounterMode_Down | TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &timer_base);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,
TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM3, ENABLE);
//настройка прерывания дола
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 15;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 14;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//настройка пинов микроконтроллера
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
xTaskCreate(DOL_Process,(signed char*)"DOL_PROCESS",32,
NULL, tskIDLE_PRIORITY + 1, NULL);
}
void ENC1_Init(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM2);
/*NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);*/
/* Timer configuration in Encoder mode */
TIM_DeInit(TIM2);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 40000-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI1,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 0xe;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_SetCounter(TIM2,0);
TIM2->CNT = 0;
TIM_Cmd(TIM2, ENABLE);
}
