200 lines
7.4 KiB
C
200 lines
7.4 KiB
C
/********************************** (C) COPYRIGHT *******************************
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* File Name : main.c
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* Author : WCH
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* Version : V1.0.0
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* Date : 2024/02/21
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* Description : Main program body.
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*********************************************************************************
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* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
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* Attention: This software (modified or not) and binary are used for
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* microcontroller manufactured by Nanjing Qinheng Microelectronics.
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*******************************************************************************/
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/*
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* @note
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* Encoder rourine
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* The main function initializes and tests an encoder, and continuously prints the encoder position and
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* speed.
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*/
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#include "debug.h"
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/* Global define */
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/* The `#define SpeedSampleTimeMs 20` line is defining a constant macro `SpeedSampleTimeMs` with a
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value of 20. This constant is used in the code to specify the time interval (in milliseconds) at
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which the speed of the encoder is sampled and calculated. */
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#define SpeedSampleTimeMs 20
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/* Global Variable */
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volatile int circle = 0, precircle = 0;
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volatile uint16_t precnt = 0;
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volatile uint32_t time = 0;
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void TIM3_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
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/*********************************************************************
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* @fn TIM3_IRQHandler
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*
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* @brief TIM3_IRQHandler function handles the interrupt for TIM3 and updates the "circle" variable based
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* on the current count and auto-reload values of TIM3.
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*/
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void TIM3_IRQHandler()
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{
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volatile uint16_t tempcnt = TIM3->CNT, temparr = TIM3->ATRLR;
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if (TIM_GetITStatus(TIM3, TIM_IT_Update))
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{
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if (tempcnt < temparr / 2)
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{
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circle += 1;
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}
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else
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{
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circle -= 1;
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}
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}
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TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
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}
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/*********************************************************************
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* @fn TIM3_Encoder_Init
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*
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* @brief function initializes the TIM3 timer as an encoder with specific settings.
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*
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* @return none
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*/
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void TIM3_Encoder_Init()
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_ICInitTypeDef TIM_ICInitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
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TIM_TimeBaseStructure.TIM_Period = 80;
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
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TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
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TIM_ICStructInit(&TIM_ICInitStructure);
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TIM_ICInitStructure.TIM_ICFilter = 10;
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TIM_ICInit(TIM3, &TIM_ICInitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_Init(&NVIC_InitStructure);
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TIM_ClearFlag(TIM3, TIM_FLAG_Update);
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TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
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TIM_SetCounter(TIM3, 0);
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TIM_Cmd(TIM3, ENABLE);
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}
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/*********************************************************************
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* @fn TIM2_EncoderSignalGenerator_Init
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*
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* @brief The function initializes the TIM2 timer as an encoder signal generator with the specified prescaler,
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* auto-reload value, and capture/compare value.
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*
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* @param psc The "psc" parameter stands for Prescaler value. It is used to divide the timer clock
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* frequency before it is fed into the counter. This helps in adjusting the timer resolution and the
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* frequency at which the counter increments.
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* arr The "arr" parameter in the function TIM2_EncoderSignalGenerator_Init is used to set the
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* auto-reload value of the timer. It determines the period of the timer, i.e., the number of timer
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* counts before the timer resets and starts counting again.
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* ccr The "ccr" parameter in the function TIM2_EncoderSignalGenerator_Init is used to set the
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* initial value of the Capture/Compare register (CCR) for the Timer 2 output channels. The CCR
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* determines the duty cycle or pulse width of the generated signal.
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*
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* @return none
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*/
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void TIM2_EncoderSignalGenerator_Init(uint16_t psc, uint16_t arr, uint16_t ccr)
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{
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GPIO_InitTypeDef GPIO_InitStructure = {0};
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TIM_OCInitTypeDef TIM_OCInitStructure = {0};
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TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure = {0};
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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TIM_TimeBaseInitStructure.TIM_Period = arr;
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TIM_TimeBaseInitStructure.TIM_Prescaler = psc;
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TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_Pulse = ccr;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
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TIM_OC1Init(TIM2, &TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_Pulse = ccr - 200;
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TIM_OC2Init(TIM2, &TIM_OCInitStructure);
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TIM_CtrlPWMOutputs(TIM2, ENABLE);
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TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Disable);
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TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Disable);
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TIM_ARRPreloadConfig(TIM2, ENABLE);
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TIM_Cmd(TIM2, ENABLE);
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}
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/*********************************************************************
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* @fn main
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*
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* @brief Main program.
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*
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* @return none
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*/
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int main(void)
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{
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
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SystemCoreClockUpdate();
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Delay_Init();
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USART_Printf_Init(115200);
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printf("SystemClk:%d\r\n", SystemCoreClock);
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printf("ChipID:%08x\r\n", DBGMCU_GetCHIPID());
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printf("Encoder TEST\r\n");
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TIM2_EncoderSignalGenerator_Init(SystemCoreClock / 1000000 - 1, 1000 - 1, 500);
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TIM3_Encoder_Init();
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while (1)
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{
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/* The code block you provided is checking if the encoder position or count has changed. If
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there is a change, it prints the new encoder position and calculates the encoder speed. */
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if (precircle != circle || (precnt != TIM3->CNT && TIM3->CNT % 4 == 0))
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{
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printf("Encoder position= %d circle %d step\r\n", circle, TIM3->CNT);
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if (time != 0)
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printf("Encoder speed= %f\r\n", -(float)(precircle * 80 + precnt - (circle * 80 + TIM3->CNT)) / (float)time * 1000.0/(float)SpeedSampleTimeMs / 80.0);
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else
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printf("Encoder speed null!!\r\n");
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time = 0;
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precircle = circle;
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precnt = TIM3->CNT;
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}
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time++;
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Delay_Ms(SpeedSampleTimeMs);
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}
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}
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