正交编码 STM32F4 源码（霍尔编码）

#include "decoder.h" #include <stm32f4xx_tim.h> #include <stm32f4xx_gpio.h> #include <stm32f4xx_rcc.h> // //开发者只需要调用Decoder_Init()进行初始化 //然后调用Decoder_GetCnt或者Decoder_GetSpeed获得数据即可 uint16_t con_speed_period=20;//20ms采集一次数据,根据实际修改 float Decoder_GetSpeed(void) { static int16_t tmp; static float re_dat=0; tmp=(int16_t)Decoder_GetCnt(); if(tmp>20000)tmp=20000; //限幅 else if(tmp<-20000)tmp=-20000; //编码器是1转输出256个正交脉冲，采用边缘计数，总共有256*4=1024 //进行单位换算 re_dat=(float)(((int16_t)tmp)*1000/(1024.0*con_speed_period)); return re_dat; } void Decoder_Init(void) { Decoder_GPIO_Init(); Decoder_TIM_Init(); } void Decoder_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE , ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11|GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; GPIO_Init(GPIOE, &GPIO_InitStructure); GPIO_PinAFConfig(GPIOE, GPIO_PinSource11, GPIO_AF_TIM1); GPIO_PinAFConfig(GPIOE, GPIO_PinSource9, GPIO_AF_TIM1); } void Decoder_TIM_Init(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE); TIM_DeInit(TIM1); TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD-1; TIM_TimeBaseStructure.TIM_Prescaler = 0x00; 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_Falling, TIM_ICPolarity_Falling); TIM_ICStructInit(&TIM_ICInitStructure); TIM_SetCounter(TIM1, 0); TIM_Cmd(TIM1, ENABLE); } //返回计数值 int Decoder_GetCnt() { static int Decoder_cnt=0; Decoder_cnt=(short)(TIM1 -> CNT); TIM1 -> CNT=0; return Decoder_cnt; }