STM32 编码器的CUBEMX的使用

CubeMx的设置方法

CubeMx生成编码的相关代码

底层初始化

/**
* @brief TIM_Encoder MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(htim_encoder->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspInit 0 */

  /* USER CODE END TIM1_MspInit 0 */
    /* Peripheral clock enable打卡定时器1的时钟 */
    __HAL_RCC_TIM1_CLK_ENABLE();
  // 打开GPIO的时钟
    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM1 GPIO Configuration
    PA8     ------> TIM1_CH1
    PA9     ------> TIM1_CH2
    配置GPIO
    */
    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM1_MspInit 1 */

  /* USER CODE END TIM1_MspInit 1 */
  }

}

/**
* @brief TIM_Encoder MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
{
  if(htim_encoder->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspDeInit 0 */

  /* USER CODE END TIM1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM1_CLK_DISABLE();

    /**TIM1 GPIO Configuration
    PA8     ------> TIM1_CH1
    PA9     ------> TIM1_CH2
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8|GPIO_PIN_9);

  /* USER CODE BEGIN TIM1_MspDeInit 1 */

  /* USER CODE END TIM1_MspDeInit 1 */
  }

}

功能初始化代码

/**
  * @brief TIM1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM1_Init(void)
{

  /* USER CODE BEGIN TIM1_Init 0 */

  /* USER CODE END TIM1_Init 0 */

  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM1_Init 1 */

  /* USER CODE END TIM1_Init 1 */
  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim1.Init.Period = 65535;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM1_Init 2 */

  /* USER CODE END TIM1_Init 2 */

}

从以上初始化代码中并没有打卡中断
HAL_StatusTypeDef HAL_TIM_Encoder_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel)
从上述打开编码器的中断函数推测可能还需要打开更新中断，防止 定时器的溢出

//个人认为这种打开编码器中断有可能有问题
__HAL_TIM_ENABLE_IT（&htimer,TIM_IT_UPDATE）;
 /* 野火提示 ： 设置更新事件请求源为：计数器溢出 这个地方可能会忘记设置 */
  __HAL_TIM_URS_ENABLE(&TIM_EncoderHandle);

骄阳的板子特别注明设置URS的位置，但是个人觉得不需要设置

  __HAL_TIM_URS_ENABLE(&TIM_EncoderHandle);

个人觉得编码器打卡需要这样做但是没有测试

//打开编码器
HAL_TIM_Encoder_Start(&htim, uint32_t Channel)
//打开更细中断
__HAL_TIM_ENABLE_IT（&htimer,TIM_IT_UPDATE）;

参考相关文章 https://blog.csdn.net/u010261063/article/details/116209579