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qiyongshuang
2024-02-26 13:22:09 +08:00
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commit 9596a13c17
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EVT/EXAM/TIM/Encoder/User/main.c
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/********************************** (C) COPYRIGHT *******************************
* File Name : main.c
* Author : WCH
* Version : V1.0.0
* Date : 2024/02/21
* Description : Main program body.
*********************************************************************************
* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
* Attention: This software (modified or not) and binary are used for
* microcontroller manufactured by Nanjing Qinheng Microelectronics.
*******************************************************************************/
/*
* @note
* Encoder rourine
* The main function initializes and tests an encoder, and continuously prints the encoder position and
* speed.
*/
#include "debug.h"
/* Global define */
/* The `#define SpeedSampleTimeMs 20` line is defining a constant macro `SpeedSampleTimeMs` with a
value of 20. This constant is used in the code to specify the time interval (in milliseconds) at
which the speed of the encoder is sampled and calculated. */
#define SpeedSampleTimeMs 20
/* Global Variable */
volatile int circle = 0, precircle = 0;
volatile uint16_t precnt = 0;
volatile uint32_t time = 0;
void TIM3_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
/*********************************************************************
* @fn TIM3_IRQHandler
*
* @brief TIM3_IRQHandler function handles the interrupt for TIM3 and updates the "circle" variable based
* on the current count and auto-reload values of TIM3.
*/
void TIM3_IRQHandler()
{
volatile uint16_t tempcnt = TIM3->CNT, temparr = TIM3->ATRLR;
if (TIM_GetITStatus(TIM3, TIM_IT_Update))
{
if (tempcnt < temparr / 2)
{
circle += 1;
}
else
{
circle -= 1;
}
}
TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
}
/*********************************************************************
* @fn TIM3_Encoder_Init
*
* @brief function initializes the TIM3 timer as an encoder with specific settings.
*
* @return none
*/
void TIM3_Encoder_Init()
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
TIM_TimeBaseStructure.TIM_Period = 80;
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_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStructure);
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
TIM_SetCounter(TIM3, 0);
TIM_Cmd(TIM3, ENABLE);
}
/*********************************************************************
* @fn TIM2_EncoderSignalGenerator_Init
*
* @brief The function initializes the TIM2 timer as an encoder signal generator with the specified prescaler,
* auto-reload value, and capture/compare value.
*
* @param psc The "psc" parameter stands for Prescaler value. It is used to divide the timer clock
* frequency before it is fed into the counter. This helps in adjusting the timer resolution and the
* frequency at which the counter increments.
* arr The "arr" parameter in the function TIM2_EncoderSignalGenerator_Init is used to set the
* auto-reload value of the timer. It determines the period of the timer, i.e., the number of timer
* counts before the timer resets and starts counting again.
* ccr The "ccr" parameter in the function TIM2_EncoderSignalGenerator_Init is used to set the
* initial value of the Capture/Compare register (CCR) for the Timer 2 output channels. The CCR
* determines the duty cycle or pulse width of the generated signal.
*
* @return none
*/
void TIM2_EncoderSignalGenerator_Init(uint16_t psc, uint16_t arr, uint16_t ccr)
{
GPIO_InitTypeDef GPIO_InitStructure = {0};
TIM_OCInitTypeDef TIM_OCInitStructure = {0};
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure = {0};
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseInitStructure.TIM_Period = arr;
TIM_TimeBaseInitStructure.TIM_Prescaler = psc;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = ccr;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = ccr - 200;
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_CtrlPWMOutputs(TIM2, ENABLE);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Disable);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Disable);
TIM_ARRPreloadConfig(TIM2, ENABLE);
TIM_Cmd(TIM2, ENABLE);
}
/*********************************************************************
* @fn main
*
* @brief Main program.
*
* @return none
*/
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
SystemCoreClockUpdate();
Delay_Init();
USART_Printf_Init(115200);
printf("SystemClk:%d\r\n", SystemCoreClock);
printf("ChipID:%08x\r\n", DBGMCU_GetCHIPID());
printf("Encoder TEST\r\n");
TIM2_EncoderSignalGenerator_Init(SystemCoreClock / 1000000 - 1, 1000 - 1, 500);
TIM3_Encoder_Init();
while (1)
{
/* The code block you provided is checking if the encoder position or count has changed. If
there is a change, it prints the new encoder position and calculates the encoder speed. */
if (precircle != circle || (precnt != TIM3->CNT && TIM3->CNT % 4 == 0))
{
printf("Encoder position= %d circle %d step\r\n", circle, TIM3->CNT);
if (time != 0)
printf("Encoder speed= %f\r\n", -(float)(precircle * 80 + precnt - (circle * 80 + TIM3->CNT)) / (float)time * 1000.0/(float)SpeedSampleTimeMs / 80.0);
else
printf("Encoder speed null!!\r\n");
time = 0;
precircle = circle;
precnt = TIM3->CNT;
}
time++;
Delay_Ms(SpeedSampleTimeMs);
}
}