基于stm32f103控制旋转编码器（EC11）正交解码，定时器12345都有

#include "encoder.h" #include "stm32f10x_gpio.h" /************************************************************************** 函数功能：把TIM2初始化为编码器接口模式 入口参数：无 返回 值：无 **************************************************************************/ void Encoder_Init_TIM1(void) { TIM_TimeBaseInitTypeDef TIM1_TimeBaseStructure; TIM_ICInitTypeDef TIM1_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9; //端口配置 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //浮空输入 GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOA TIM_TimeBaseStructInit(&TIM1_TimeBaseStructure); TIM1_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 TIM1_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值 TIM1_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频:不分频 TIM1_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数 TIM_TimeBaseInit(TIM1, &TIM1_TimeBaseStructure); TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge); TIM_ICStructInit(&TIM1_ICInitStructure); TIM1_ICInitStructure.TIM_ICFilter = 10; TIM_ICInit(TIM1, &TIM1_ICInitStructure);//根据TIM_ICInitStruct中指定的参数初始化TIM TIM_ClearFlag(TIM1, TIM_FLAG_Update);//清除TIM的更新标志位 TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); //使能或者失能指定的TIM中断 TIM_SetCounter(TIM1,0); TIM_Cmd(TIM1, ENABLE); //使能或者使能TIMx外设 } void Encoder_Init_TIM2(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; GPIO_AFIODeInit(); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO,ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //禁止JTAG功能，把PB3，PB4作为普通IO口使用 GPIO_PinRemapConfig(GPIO_FullRemap_TIM2,ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //端口配置 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //浮空输入 GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOA GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; //端口配置 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //浮空输入 GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB 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(TIM2, &TIM_TimeBaseStructure); TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge); TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = 10; TIM_ICInit(TIM2, &TIM_ICInitStructure);//根据TIM_ICInitStruct中指定的参数初始化外设TIM TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位 TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //使能或者失能指定的TIM中断 TIM_SetCounter(TIM2,0); TIM_Cmd(TIM2, ENABLE); //使能或者失能TIMx外设 } void Encoder_Init_TIM3(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //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_BothEdge, TIM_ICPolarity_BothEdge);//使用编码器模式3 TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = 10; TIM_ICInit(TIM3, &TIM_ICInitStructure);//根据TIM_ICInitStruct中指定的参数初始化外设TIMx TIM_ClearFlag(TIM3, TIM_FLAG_Update);//清除TIM的更新标志位 TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //使能或者失能指定的TIM中断 TIM_SetCounter(TIM3,0); TIM_Cmd(TIM3, ENABLE); //使能或者失能TIMx外设 } /************************************************************************** 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_TIM4(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //浮空输入 GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB 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(TIM4, &TIM_TimeBaseStructure); TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge);//使用编码器模式3 TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = 10; TIM_ICInit(TIM4, &TIM_ICInitStructure); TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位 TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); TIM_SetCounter(TIM4,0); TIM_Cmd(TIM4, ENABLE); } void Encoder_Init_TIM5(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //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(TIM5, &TIM_TimeBaseStructure); TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge);//使用编码器模式3 TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICInitStructure.TIM_ICFilter = 10; TIM_ICInit(TIM5, &TIM_ICInitStructure);//根据TIM_ICInitStruct中指定的参数初始化外设TIMx TIM_ClearFlag(TIM5, TIM_FLAG_Update);//清除TIM的更新标志位 TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE); //使能或者失能指定的TIM中断 TIM_SetCounter(TIM5,0); TIM_Cmd(TIM5, ENABLE); //使能或者失能TIMx外设 } /************************************************************************** 函数功能：单位时间读取编码器计数 入口参数：定时器 返回 值：速度值 *****************************************************************