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