39 lines
1.1 KiB
C
39 lines
1.1 KiB
C
#include "encoder.h"
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//编码器相关参数
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int last_encode_num = 0;
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int curr_encode_num = 0;
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uint32_t encode_num = 0;
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int cnt_update = 152;
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void encoder_init(void)
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{
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HAL_TIM_Encoder_Stop(&htim1, TIM_CHANNEL_ALL); //定时器1编码器关闭
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__HAL_TIM_SetCounter(&htim1, 0x9718); //编码器初始值一千万
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HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL); //定时器1编码器启动
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last_encode_num = 0;
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curr_encode_num = 0;
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encode_num = 0;
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cnt_update = 152;
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CoilState[3] &= 0x7F; //初始化完成后线圈寄存器0x28置零
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}
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void encoder_run(void)
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{
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//编码器
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last_encode_num = curr_encode_num;
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curr_encode_num = __HAL_TIM_GET_COUNTER(&htim1);
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if((curr_encode_num - last_encode_num) < -50000) //向上溢出检测，o(65535)->o(0)
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cnt_update++;
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else if((curr_encode_num - last_encode_num) > 50000) //向下溢出检测, o(0)->o(65535)
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cnt_update--;
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encode_num = curr_encode_num + cnt_update * 0xFFFF; //编码器，返回计数脉冲值
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InputReg[20] = (encode_num >> 16) & 0xffff; //32位int 拆分成两个 uint16_t，高16位
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InputReg[21] = encode_num & 0xffff; //32位int 拆分成两个 uint16_t，低16位
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}
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