10 使用ART-PI的ENCODER组件，用了定时器1的编码器BUG怎么解

发布于 2021-06-06 00:07:35 浏览：1333 订阅该版

```c
#define PULSE_ENCODER_DEV_NAME    "pulse3"    /* 脉冲编码器名称 */
#define PULSE_ENCODER_DEV_NAME_1    "pulse1"    /* 脉冲编码器名称 */

static int pulse_encoder_sample(int argc, char *argv[])
{
    rt_err_t ret = RT_EOK;
    rt_device_t pulse_encoder_dev = RT_NULL;   /* 脉冲编码器设备句柄 */

rt_int32_t count;

/* 查找脉冲编码器设备 */
    pulse_encoder_dev = rt_device_find(PULSE_ENCODER_DEV_NAME);
    if (pulse_encoder_dev == RT_NULL)
    {
        rt_kprintf("pulse encoder sample run failed! can't find %s device!\n", PULSE_ENCODER_DEV_NAME);
        return RT_ERROR;
    }

/* 以只读方式打开设备 */
    ret = rt_device_open(pulse_encoder_dev, RT_DEVICE_OFLAG_RDONLY);
    if (ret != RT_EOK)
    {
        rt_kprintf("open %s device failed!\n", PULSE_ENCODER_DEV_NAME);
        return ret;
    }else
        {
                rt_kprintf("open %s device success!\n", PULSE_ENCODER_DEV_NAME);
        }

for(;;)
    {
        rt_thread_mdelay(20);
        /* 读取脉冲编码器计数值 */
        rt_device_read(pulse_encoder_dev, 0, &count, 1);
        /* 清空脉冲编码器计数值 */
        rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
        rt_kprintf("get count %d\n",count);
    }

rt_device_close(pulse_encoder_dev);
    return ret;
}

static int pulse_encoder_sample_1(int argc, char *argv[])
{
    rt_err_t ret = RT_EOK;
    rt_device_t pulse_encoder_dev = RT_NULL;   /* 脉冲编码器设备句柄 */

rt_int32_t count;

/* 查找脉冲编码器设备 */
    pulse_encoder_dev = rt_device_find(PULSE_ENCODER_DEV_NAME_1);
    if (pulse_encoder_dev == RT_NULL)
    {
        rt_kprintf("pulse encoder sample run failed! can't find %s device!\n", PULSE_ENCODER_DEV_NAME_1);
        return RT_ERROR;
    }

/* 以只读方式打开设备 */
    ret = rt_device_open(pulse_encoder_dev, RT_DEVICE_OFLAG_RDONLY);
    if (ret != RT_EOK)
    {
        rt_kprintf("open %s device failed!\n", PULSE_ENCODER_DEV_NAME_1);
        return ret;
    }else
        {
                rt_kprintf("open %s device success!\n", PULSE_ENCODER_DEV_NAME_1);
        }

rt_device_close(pulse_encoder_dev);
    return ret;
}
/* 导出到 msh 命令列表中 */
MSH_CMD_EXPORT(pulse_encoder_sample, pulse encoder sample);
MSH_CMD_EXPORT(pulse_encoder_sample_1, pulse encoder sample_1);

```
我成功开启了编码器1和3，但是发现1的pA8引脚的输入有问题，不接PA9的话，PA8会导致数据在0和32768之前跳变，但是只接9就没有问题，只不过是分辨率小了。两个一起接立马出现问题，数据乱跳，下面是pulse1和pulse3的效果。
![image.png](https://oss-club.rt-thread.org/uploads/20210606/0c8ba65b61663f84a7494835545b7b36.png)
<pulse3>
![image.png](https://oss-club.rt-thread.org/uploads/20210606/fd1c8a00fff09efa85cf9783c0d96362.png)
<pulse1>
我怀疑是不是系统bug