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37 lines
1.3 KiB
37 lines
1.3 KiB
#include "encoder.h"
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#include "zboard.h"
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#include <stdio.h>
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static int Direction;
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static int CaptureNumber;
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static encoder_t m_uarts[] = {
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{&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2}, // 相机编码器
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{&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2} // 从动编码器
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};
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void encoder_start(void)
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{
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/* 不开启会导致程序无法启动，原因未知 */
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HAL_TIM_Encoder_Start(&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2);
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HAL_TIM_Encoder_Start(&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2);
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}
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void encoder_stop(void)
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{
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HAL_TIM_Encoder_Stop(&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2);
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HAL_TIM_Encoder_Stop(&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2);
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}
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void encoder_read_printf(void)
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{
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for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
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{
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Direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(m_uarts[i].tim_handler); // 读取电机转动方向
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CaptureNumber = (short)__HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler); // 读取编码器数据
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__HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0; // 计数器值重新置位
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if (CaptureNumber != 0)
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{
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printf("Encoder number:%d,Direction is %d,CaptureNumber is %d\r\n", i, Direction, CaptureNumber);
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}
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}
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}
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