ROS里程计之STM32底层编码器(二)

以下是我放出的STM32编码器接口的代码：

#include "stm32f10x.h" #include "encode.h" #include "misc.h" #include "nvic.h" #include "sys.h" #include "delay.h" void TIM4_Mode_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_ICInitTypeDef TIM_ICInitStructure; //PB6 ch1 A,PB7 ch2 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能TIM4时钟 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能GPIOA时钟 GPIO_StructInit(&GPIO_InitStructure);//将GPIO_InitStruct中的参数按缺省值输入 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//PA6 PA7浮空输入 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); NVIC_Config(2); TIM_DeInit(TIM4); TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Period = (360-1)*4; //设定计数器重装值 TIMx_ARR = 359*4 TIM_TimeBaseStructure.TIM_Prescaler = 0; //TIM3时钟预分频值 TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;//设置时钟分割 T_dts = T_ck_int 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，上升下降都计数 TIM_ICStructInit(&TIM_ICInitStructure);//将结构体中的内容缺省输入 TIM_ICInitStructure.TIM_ICFilter = 6; //选择输入比较滤波器 TIM_ICInit(TIM4, &TIM_ICInitStructure);//将TIM_ICInitStructure中的指定参数初始化TIM3 // TIM_ARRPreloadConfig(TIM4, ENABLE);//使能预装载 TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM3的更新标志位 TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);//运行更新中断 //Reset counter TIM4->CNT = 0;// TIM_Cmd(TIM4, ENABLE); //启动TIM4定时器

}

#include "stm32f10x.h" #include "misc.h" #include "nvic.h" #include "sys.h" #include "delay.h" /* 中断分配说明，优先级由高向低排 顺序 类型 作用 抢占优先级 响应优先级 1 EXTI1 编码器Z相归0 0 0 2 TIM4 定时器的编码器模式 1 1 3 USART1 串口通信中断 2 1 */ //1.-----Z信号归零 PA1 void PA_NVIC_Config(NVIC_InitTypeDef NVIC_InitStructure1) { NVIC_InitStructure1.NVIC_IRQChannel = EXTI1_IRQn; NVIC_InitStructure1.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure1.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure1.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure1); } //2----定时器的编码器接口模式,对编码器进行计数 void TIM4_NVIC_Config(NVIC_InitTypeDef NVIC_InitStructure2) { NVIC_InitStructure2.NVIC_IRQChannel = TIM4_IRQn; NVIC_InitStructure2.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure2.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure2.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure2); } //3----串口1通信，用于Modbus-Rtu-485S void USART1_NVIC_Config(NVIC_InitTypeDef NVIC_InitStructure4) { NVIC_InitStructure4.NVIC_IRQChannel = USART1_IRQn; NVIC_InitStructure4.NVIC_IRQChannelPreemptionPriority = 2; NVIC_InitStructure4.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure4.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure4); } void NVIC_Config(u8 Interrupt_flag) { NVIC_InitTypeDef NVIC_InitStructure; /* 配置中断使用组合 抢占式3位(0-7)，响应式1位(0-1) */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3); if(Interrupt_flag == 1) { /*外部中断1，Z相归零----优先级最高 0 0*/ PA_NVIC_Config(NVIC_InitStructure); } if(Interrupt_flag == 2) { /*TIM4中断，编码器解码----优先级 1 1*/ TIM4_NVIC_Config(NVIC_InitStructure); } if(Interrupt_flag == 3) { /* USART1中断，数据接收----优先级 2 1*/ USART1_NVIC_Config(NVIC_InitStructure); } } 完整工程百度网盘：https://pan.baidu.com/s/1cUJaTS