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STM32定时器简单采集编码器脉冲

ops 2025/8/16 5:16:56

MCU：STM32H723ZGT6

编码器：（欧姆龙）E6B2-CWZ1X；1000P/R；8根线信号线分别为 A+ A- B+ B- Z+ Z- 以及5V和GND；

A 脉冲输出
B 脉冲输出
Z 零点信号当编码器旋转到零点时，Z信号会发出一个脉冲表示现在是零位置表示编码器转了1圈，可用来记录编码器转了多少圈，从而知道运行距离

采用定时器1的CH1（PE9）接A+和CH2（PE11）接B+；一般是定时器的通道1和2才能作为编码器输入口，对应编码器输出的两相。

串口1TX（PA9）、RX（PA10）打印输出信息；

编码器介绍

正交编码器（又名双通道增量式编码器），用于将线性移位转换为脉冲信号。通过监控脉冲的数目和两个信号的相对相位，用户可以跟踪旋转位置、旋转方向和速度。另外，第三个通道称为索引信号，可用于对位置计数器进行复位，从而确定绝对位置。

原理：增量型编码器通过内部两个光敏接受管将编码器的转向转化为A相和B相脉冲的时序和相位关系。编码器每转还输出一个Z相脉冲以代表零位参考位。

正转时：A相在上升沿时，B相是低电平；B相上升沿时，A相是高电平；A相在下降沿时，B相是高电平；B相下降沿时，A相是低电平；

反转时：B相在上升沿时，A相是低电平；A相上升沿时，B相是高电平；B相在下降沿时，A相是高电平；A相下降沿时，B相是低电平；可见正转和反转两者对应正好相反！

使用定时器编码器接口模式就是将A相和B相的所有跳变沿作为计数器的计数时钟，出现边沿信号时，计数自增（正转）或自减（反转）！

STMCubeMX配置

时钟树

debug

串口usart1

定时器TIM1

MCU代码

tim.c代码：

相关GPIO配置为配置为上拉输入模式

/* USER CODE BEGIN Header */
/********************************************************************************* @file    tim.c* @brief   This file provides code for the configuration*          of the TIM instances.******************************************************************************* @attention** Copyright (c) 2025 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "tim.h"/* USER CODE BEGIN 0 *//* USER CODE END 0 */TIM_HandleTypeDef htim1;/* TIM1 init function */
void MX_TIM1_Init(void)
{/* USER CODE BEGIN TIM1_Init 0 *//* USER CODE END TIM1_Init 0 */TIM_Encoder_InitTypeDef sConfig = {0};TIM_MasterConfigTypeDef sMasterConfig = {0};/* USER CODE BEGIN TIM1_Init 1 *//* USER CODE END TIM1_Init 1 */htim1.Instance = TIM1;htim1.Init.Prescaler = 0;htim1.Init.CounterMode = TIM_COUNTERMODE_UP;htim1.Init.Period = 65535;htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;htim1.Init.RepetitionCounter = 0;htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;sConfig.EncoderMode = TIM_ENCODERMODE_TI12;sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;sConfig.IC1Prescaler = TIM_ICPSC_DIV1;sConfig.IC1Filter = 0xF;sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;sConfig.IC2Prescaler = TIM_ICPSC_DIV1;sConfig.IC2Filter = 0xF;if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK){Error_Handler();}sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK){Error_Handler();}/* USER CODE BEGIN TIM1_Init 2 *//* USER CODE END TIM1_Init 2 */}void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{GPIO_InitTypeDef GPIO_InitStruct = {0};if(tim_encoderHandle->Instance==TIM1){/* USER CODE BEGIN TIM1_MspInit 0 *//* USER CODE END TIM1_MspInit 0 *//* TIM1 clock enable */__HAL_RCC_TIM1_CLK_ENABLE();__HAL_RCC_GPIOE_CLK_ENABLE();/**TIM1 GPIO ConfigurationPE9     ------> TIM1_CH1PE11     ------> TIM1_CH2*/GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Pull = GPIO_PULLUP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);/* USER CODE BEGIN TIM1_MspInit 1 *//* USER CODE END TIM1_MspInit 1 */}
}void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{if(tim_encoderHandle->Instance==TIM1){/* USER CODE BEGIN TIM1_MspDeInit 0 *//* USER CODE END TIM1_MspDeInit 0 *//* Peripheral clock disable */__HAL_RCC_TIM1_CLK_DISABLE();/**TIM1 GPIO ConfigurationPE9     ------> TIM1_CH1PE11     ------> TIM1_CH2*/HAL_GPIO_DeInit(GPIOE, GPIO_PIN_9|GPIO_PIN_11);/* USER CODE BEGIN TIM1_MspDeInit 1 *//* USER CODE END TIM1_MspDeInit 1 */}
}/* USER CODE BEGIN 1 */
uint16_t Encoder_Get_CNT(void)
{return __HAL_TIM_GET_COUNTER(&htim1);
}/* USER CODE END 1 */

新添加的代码

__HAL_TIM_GET_COUNTER函数获取当前的CNT计数值！

/*** @brief  Get the TIM Counter Register value on runtime.* @param  __HANDLE__ TIM handle.* @retval 16-bit or 32-bit value of the timer counter register (TIMx_CNT)*/
#define __HAL_TIM_GET_COUNTER(__HANDLE__)  ((__HANDLE__)->Instance->CNT)

usart.c代码

/* USER CODE BEGIN Header */
/********************************************************************************* @file    usart.c* @brief   This file provides code for the configuration*          of the USART instances.******************************************************************************* @attention** Copyright (c) 2025 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usart.h"/* USER CODE BEGIN 0 */
#include "stdio.h"
/* USER CODE END 0 */UART_HandleTypeDef huart1;/* USART1 init function */void MX_USART1_UART_Init(void)
{/* USER CODE BEGIN USART1_Init 0 *//* USER CODE END USART1_Init 0 *//* USER CODE BEGIN USART1_Init 1 *//* USER CODE END USART1_Init 1 */huart1.Instance = USART1;huart1.Init.BaudRate = 115200;huart1.Init.WordLength = UART_WORDLENGTH_8B;huart1.Init.StopBits = UART_STOPBITS_1;huart1.Init.Parity = UART_PARITY_NONE;huart1.Init.Mode = UART_MODE_TX_RX;huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;huart1.Init.OverSampling = UART_OVERSAMPLING_16;huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;if (HAL_UART_Init(&huart1) != HAL_OK){Error_Handler();}if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK){Error_Handler();}if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK){Error_Handler();}if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK){Error_Handler();}/* USER CODE BEGIN USART1_Init 2 *//* USER CODE END USART1_Init 2 */}void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{GPIO_InitTypeDef GPIO_InitStruct = {0};RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};if(uartHandle->Instance==USART1){/* USER CODE BEGIN USART1_MspInit 0 *//* USER CODE END USART1_MspInit 0 *//** Initializes the peripherals clock*/PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16910CLKSOURCE_D2PCLK2;if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK){Error_Handler();}/* USART1 clock enable */__HAL_RCC_USART1_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/**USART1 GPIO ConfigurationPA9     ------> USART1_TXPA10     ------> USART1_RX*/GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;GPIO_InitStruct.Alternate = GPIO_AF7_USART1;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);/* USER CODE BEGIN USART1_MspInit 1 *//* USER CODE END USART1_MspInit 1 */}
}void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{if(uartHandle->Instance==USART1){/* USER CODE BEGIN USART1_MspDeInit 0 *//* USER CODE END USART1_MspDeInit 0 *//* Peripheral clock disable */__HAL_RCC_USART1_CLK_DISABLE();/**USART1 GPIO ConfigurationPA9     ------> USART1_TXPA10     ------> USART1_RX*/HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);/* USER CODE BEGIN USART1_MspDeInit 1 *//* USER CODE END USART1_MspDeInit 1 */}
}/* USER CODE BEGIN 1 */
int fputc(int ch, FILE *f)
{HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY);return ch;
}/* USER CODE END 1 */

添加重定向函数，添加头文件#include "stdio.h"

勾选微库

main.c代码

int main(void)
{/* USER CODE BEGIN 1 *//* USER CODE END 1 *//* MPU Configuration--------------------------------------------------------*/MPU_Config();/* MCU Configuration--------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* USER CODE END Init *//* Configure the system clock */SystemClock_Config();/* USER CODE BEGIN SysInit *//* USER CODE END SysInit *//* Initialize all configured peripherals */MX_GPIO_Init();MX_TIM1_Init();MX_USART1_UART_Init();/* USER CODE BEGIN 2 */printf("Init-ok!\r\n");/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */uint16_t speed = 0;/* 使能编码器接口 */HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL);while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */speed = Encoder_Get_CNT();printf("cnt = %d\r\n",speed);HAL_Delay(500);}/* USER CODE END 3 */
}

串口打印