47 lines
1.6 KiB
C
47 lines
1.6 KiB
C
/*
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* @Author: wujunchao wujunchao@wuxismart.com
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* @Date: 2024-08-20 08:22:01
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* @LastEditors: wujunchao wujunchao@wuxismart.com
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* @LastEditTime: 2024-09-18 16:46:03
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* @FilePath: \VOQC\users\Src\encoder.c
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#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[0] &= 0xFB; //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[10] = (encode_num >> 16) & 0xffff; //32位int 拆分成两个 uint16_t，高16位
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InputReg[11] = encode_num & 0xffff; //32位int 拆分成两个 uint16_t，低16位
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}
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