基于STM32F103系列单片机四路定时器电机编码器模式配置过程附源码

初始化配置函数：

双边沿触发模式（如下图，TI1,TI2的上升沿和下降沿都会进行计数），使用了四个定时器，TIM2,TIM3,TIM4,TIM8，中断是否需要根据自己情况修改，通过查询编码器 TIM2->CNT可知产生的脉冲数，如果用来测速，可以定时读取计数值并清零，速度=脉冲数/时间（单位自己确定），总体来说STM32的编码器器方式还是挺方便的，硬件自动计数无需软件计数，需要注意的就是计数器的临界值0和65536，都会触发溢出中断，为了防止电机启动瞬间抖动造成的误判断，需要自己写个判断的函数，最好再加个软件上的滤波算法

 

void ENC_Init1(void)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;    
    GPIO_InitTypeDef GPIO_InitStructure;
        NVIC_InitTypeDef NVIC_InitStructure;    

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    GPIO_StructInit(&GPIO_InitStructure);

    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);

    TIM_DeInit(TIM2);
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

    TIM_TimeBaseStructure.TIM_Period = (4*ENCODER2_PPR)-1;
        TIM_TimeBaseStructure.TIM_Prescaler = 0;  
    
    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_BothEdge, TIM_ICPolarity_BothEdge);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
    TIM_ICInit(TIM2, &TIM_ICInitStructure);
        
        NVIC_InitStructure.NVIC_IRQChannel =TIM2_IRQn;                
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //0
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_ClearFlag(TIM2, TIM_FLAG_Update);
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);

    TIM2->CNT = 0;
    TIM_Cmd(TIM2, ENABLE); 
}

void ENC_Init2(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;  
        NVIC_InitTypeDef NVIC_InitStructure;    

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);

    GPIO_StructInit(&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(GPIOA, &GPIO_InitStructure);                           

    TIM_DeInit(TIM3);
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Period = (4*ENCODER2_PPR)-1;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    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_BothEdge ,TIM_ICPolarity_BothEdge);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
    TIM_ICInit(TIM3, &TIM_ICInitStructure);
        
        NVIC_InitStructure.NVIC_IRQChannel =TIM3_IRQn;             
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; 
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_ClearFlag(TIM3, TIM_FLAG_Update);
    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);

    TIM3->CNT = 0;

    TIM_Cmd(TIM3, ENABLE);
}

void ENC_Init3(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;      

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_StructInit(&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(GPIOB, &GPIO_InitStructure);                           

    TIM_DeInit(TIM4);
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Period = (4*ENCODER2_PPR)-1;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);              

    TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
    TIM_ICInit(TIM4, &TIM_ICInitStructure);

    TIM_ClearFlag(TIM4, TIM_FLAG_Update);
    TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
 
    TIM4->CNT = 0;

    TIM_Cmd(TIM4, ENABLE);
}

void ENC_Init4(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;      

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM8, ENABLE);

    GPIO_StructInit(&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_DeInit(TIM8);
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Period = (4*ENCODER2_PPR)-1;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);              

    TIM_EncoderInterfaceConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
    TIM_ICInit(TIM8, &TIM_ICInitStructure);

    TIM_ClearFlag(TIM8, TIM_FLAG_Update);
    TIM_ITConfig(TIM8, TIM_IT_Update, ENABLE);
    TIM8->CNT = 0;

    TIM_Cmd(TIM8, ENABLE);
}
 

 

 

计数溢出中断函数：

void TIM2_IRQHandler (void)//执行TIM4(电机A编码器采集)计数中断
{   
       
        TIM_ClearFlag(TIM2, TIM_FLAG_Update);

}

void TIM3_IRQHandler (void)//执行TIM3(电机B编码器采集)计数中断
{  
    
    TIM_ClearFlag(TIM3, TIM_FLAG_Update);

}