这个作者很懒,想到什么就写什么!
写在前面:这个是记录学习LL库的踩坑系列,这个资料很少,想要找例程可以在电脑用户文件下的STM32Cube\Repository里,前提是下载好那个单片机的pack,部分没有例程的可以借鉴同系列的文件。
打开cubemx,配置TIM为编码器模式。
注意编码器模式需要对应好硬件,这算上一个小坑。
/* TIM4 init function */ void MX_TIM4_Init(void) { LL_TIM_InitTypeDef TIM_InitStruct = {0}; LL_GPIO_InitTypeDef GPIO_InitStruct = {0}; /* Peripheral clock enable */ LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4); LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOD); /**TIM4 GPIO Configuration PD12 ------> TIM4_CH1 PD13 ------> TIM4_CH2 */ GPIO_InitStruct.Pin = ENC_A_Pin; GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE; GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; GPIO_InitStruct.Alternate = LL_GPIO_AF_2; LL_GPIO_Init(ENC_A_GPIO_Port, &GPIO_InitStruct); GPIO_InitStruct.Pin = ENC_B_Pin; GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE; GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; GPIO_InitStruct.Alternate = LL_GPIO_AF_2; LL_GPIO_Init(ENC_B_GPIO_Port, &GPIO_InitStruct); LL_TIM_SetEncoderMode(TIM4, LL_TIM_ENCODERMODE_X2_TI2); LL_TIM_IC_SetActiveInput(TIM4, LL_TIM_CHANNEL_CH1, LL_TIM_ACTIVEINPUT_DIRECTTI); LL_TIM_IC_SetPrescaler(TIM4, LL_TIM_CHANNEL_CH1, LL_TIM_ICPSC_DIV1); LL_TIM_IC_SetFilter(TIM4, LL_TIM_CHANNEL_CH1, LL_TIM_IC_FILTER_FDIV2_N6); LL_TIM_IC_SetPolarity(TIM4, LL_TIM_CHANNEL_CH1, LL_TIM_IC_POLARITY_RISING); LL_TIM_IC_SetActiveInput(TIM4, LL_TIM_CHANNEL_CH2, LL_TIM_ACTIVEINPUT_DIRECTTI); LL_TIM_IC_SetPrescaler(TIM4, LL_TIM_CHANNEL_CH2, LL_TIM_ICPSC_DIV1); LL_TIM_IC_SetFilter(TIM4, LL_TIM_CHANNEL_CH2, LL_TIM_IC_FILTER_FDIV2_N6); LL_TIM_IC_SetPolarity(TIM4, LL_TIM_CHANNEL_CH2, LL_TIM_IC_POLARITY_RISING); TIM_InitStruct.Prescaler = 0; TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP; TIM_InitStruct.Autoreload = 2000; TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1; LL_TIM_Init(TIM4, &TIM_InitStruct); LL_TIM_DisableARRPreload(TIM4); LL_TIM_SetTriggerOutput(TIM4, LL_TIM_TRGO_RESET); LL_TIM_DisableMasterSlaveMode(TIM4); }另外还需要在添加TIM启动
/* Enable counter */ LL_TIM_CC_EnableChannel(TIM4,LL_TIM_CHANNEL_CH1); LL_TIM_CC_EnableChannel(TIM4,LL_TIM_CHANNEL_CH2); LL_TIM_EnableCounter(TIM4);测试使用LL_TIM_GetCounter()读取对应的TIM即可。 关于编码器的可以参考下面代码,其中Tim_ms是使用另一个TIM毫秒计数的,来判断旋钮旋转的速度。MSG_ENC_RIGHT和MSG_ENC_LEFT为自己设置的标志值。
/************************************************************ * * encoder key detect is norm or fast * *************************************************************/ #define MSG_ENC_RIGHT Set_Bit0 #define MSG_ENC_LEFT Set_Bit1 #define CMP_VALUE (500) #define FAST_RANK_2 (200) #define FAST_RANK_1 (30) unsigned char enc_speed_grade; unsigned char Enc_GetSpeed(void) { return enc_speed_grade; } unsigned short int Encoder_Process(void) { static unsigned char flag = 0; unsigned short int enc_value; if(LL_TIM_GetCounter(TIM4) == CMP_VALUE) //获取定时器的值 { flag = 0; enc_speed_grade = ENC_SPEED_0; return 0; } if((LL_TIM_GetCounter(TIM4)) > CMP_VALUE) { enc_value = MSG_ENC_RIGHT; LL_TIM_SetCounter(TIM4, CMP_VALUE); }else if(LL_TIM_GetCounter(TIM4) < CMP_VALUE){ enc_value = MSG_ENC_LEFT; LL_TIM_SetCounter(TIM4, CMP_VALUE); } if(!flag) { flag = 1; Tim_ms = 0; return enc_value; } if(Tim_ms < FAST_RANK_2) { enc_speed_grade = ENC_SPEED_2; if(Tim_ms <= FAST_RANK_1) { enc_speed_grade = ENC_SPEED_1; } Tim_ms = 0; }else{ enc_speed_grade = ENC_SPEED_0; } return enc_value; }