Pulse Encoder设备问题

发布于 2020-01-18 11:17:52 浏览：2568 订阅该版

* 本帖最后由 花生米 于 2020-1-18 11:22 编辑 *

用的是stm32f103C8T6，使用编码器设备时偶尔会出现一个较大的数。我转动编码器，数字应该是连续的才对。有没有大佬遇见过，是什么问题？

以下是我的代码
static int pulse_encoder_sample(int argc, char *argv[])
{
    rt_err_t ret = RT_EOK;
    rt_device_t pulse_encoder2_dev = RT_NULL;   /* 脉冲编码器设备句柄 */
                rt_device_t pulse_encoder3_dev = RT_NULL;   /* 脉冲编码器设备句柄 */
    rt_int32_t count2,count3;

rt_pin_mode(KEY_RESET_C,PIN_MODE_INPUT_PULLUP);
 /* 查找脉冲编码器设备 */
 pulse_encoder2_dev = rt_device_find(PULSE_ENCODER2_DEV_NAME);
 if (pulse_encoder2_dev == RT_NULL)
 {
 rt_kprintf("pulse encoder sample run failed! can't find %s device! ", PULSE_ENCODER2_DEV_NAME);
 return RT_ERROR;
 }
 pulse_encoder3_dev = rt_device_find(PULSE_ENCODER3_DEV_NAME);
 if (pulse_encoder3_dev ==RT_NULL)
 {
 rt_kprintf("pulse encoder sample run failed! can't find %s device! ", PULSE_ENCODER3_DEV_NAME);
 }
 /* 以只读方式打开设备 */
 ret = rt_device_open(pulse_encoder2_dev, RT_DEVICE_OFLAG_RDONLY);
 if (ret != RT_EOK)
 {
 rt_kprintf("open %s device failed! ", PULSE_ENCODER2_DEV_NAME);
 return ret;
 }
 ret = rt_device_open(pulse_encoder3_dev, RT_DEVICE_OFLAG_RDONLY);
 if (ret != RT_EOK)
 {
 rt_kprintf("open %s device failed! ", PULSE_ENCODER3_DEV_NAME);
 return ret;
 }
 while(1)
 {
 rt_thread_mdelay(50);
 
 if( rt_pin_read(KEY_RESET_C)==PIN_LOW )
 {
 rt_device_control(pulse_encoder2_dev,PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
 rt_device_control(pulse_encoder3_dev,PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
 }
 rt_device_read(pulse_encoder2_dev,0,&count2,1);
 rt_device_read(pulse_encoder3_dev,0,&count3,1);
 rt_kprintf("get count2=%d, count3=%d ",count2,count3);
 }

}
/* 导出到 msh 命令列表中 */
MSH_CMD_EXPORT(pulse_encoder_sample, pulse encoder sample);

![360截图20200118112252468.jpg](https://oss-club.rt-thread.org/uploads/202001/18/112254u9eek9aaaojv9na9.jpg)

25 个回答

红枫认证专家 2020-01-18

这家伙很懒，什么也没写！

花生米 2020-01-18

这家伙很懒，什么也没写！

红枫认证专家 2020-01-19

这家伙很懒，什么也没写！

红枫认证专家 2020-01-19

这家伙很懒，什么也没写！

花生米 2020-01-20

这家伙很懒，什么也没写！

>bsp层的驱动看看

---

rt_int32_t pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder)
{
    struct stm32_pulse_encoder_device *stm32_device;
    stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder;
    return (rt_int32_t)((rt_int16_t)__HAL_TIM_GET_COUNTER(&stm32_device->tim_handler) + stm32_device->over_under_flowcount * AUTO_RELOAD_VALUE);
}

void pulse_encoder_update_isr(struct stm32_pulse_encoder_device *device)
{
    /* TIM Update event */
    if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_UPDATE) != RESET)
    {
        __HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_UPDATE);
       if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&device->tim_handler))
        {
            device->over_under_flowcount--;
        }
        else
        {
            device->over_under_flowcount++;
        }
					
    }
    /* Capture compare 1 event */
    if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC1) != RESET)
    {
        __HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_CC1);
    }
    /* Capture compare 2 event */
    if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC2) != RESET)
    {
        __HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_CC2);
    }
    /* Capture compare 3 event */
    if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC3) != RESET)
    {
        __HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_CC3);
    }
    /* Capture compare 4 event */
    if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC4) != RESET)
    {
        __HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_CC4);
    }
    /* TIM Break input event */
    if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_BREAK) != RESET)
    {
        __HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_BREAK);
    }
    /* TIM Trigger detection event */
    if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_TRIGGER) != RESET)
    {
        __HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_TRIGGER);
    }
    /* TIM commutation event */
    if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_COM) != RESET)
    {
        __HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_FLAG_COM);
    }
}
经测试问题就出在了上面这个中断函数里，感觉单片机检测不出来device->over_under_flowcount这个变量啥时候++，啥时候--