[问答]

TM4C123GH6PM芯片 QEI模块配置后，仍然无法获取转速怎么解决？

2020-8-25 16:00:08 1286

0 #include #include #include <time.h> #include "utils/ustdlib.h" #include "inc/hw_memmap.h" #include "inc/hw_types.h" #include "driverlib/sysctl.h" #include "driverlib/systick.h" #include "driverlib/rom.h" #include "driverlib/gpio.h" #include "driverlib/fpu.h" #include "driverlib/pin_map.h" #include "driverlib/pwm.h" #include "grlib/grlib.h" #include "driverlib/qei.h" #include "inc/hw_qei.h" #include "inc/tm4c123gh6pm.h" #define uchar unsigned char #define PERIOD_TIME SysCtlClockGet()/1000 #define DIO GPIO_PIN_1 #define RCLK GPIO_PIN_2 #define SCLK GPIO_PIN_3 int anjianzhi=1; uchar LED[8]; uchar LED1[8]; uchar judge=0; uchar jianceTime=0; float zhankongbi,PulseWidth; unsigned long speed_signal=0; uint32_t speed=8; int speedDirectionGet=0; /***************************************************************** * ************************PWM初始化************************** **************************************************************/ void Init_PWM() [ zhankongbi=50; PulseWidth=PERIOD_TIME0.5; // 设置PWM时钟和系统时钟一致 SysCtlPWMClockSet(SYSCTL_PWMDIV_1); // 使能PWM外设 SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0); // 使能外设端口 SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); //设置对应管脚的PWM信号功能 GPIOPinConfigure(GPIO_PB4_M0PWM2); GPIOPinConfigure(GPIO_PB7_M0PWM1); //设置PWM信号端口 GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_4); GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_7); //PWM生成器配置 PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN \| PWM_GEN_MODE_NO_SYNC); PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN \| PWM_GEN_MODE_NO_SYNC); //设置PWM信号周期 PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, PERIOD_TIME); PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, PERIOD_TIME); //设置PWM信号占空比 PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2,PulseWidth); PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1,PulseWidth); // 使能PWM输出端口 PWMOutputState(PWM0_BASE, PWM_OUT_2_BIT, false); PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, false); // 使能PWM生成器 PWMGenEnable(PWM0_BASE, PWM_GEN_1); PWMGenEnable(PWM0_BASE, PWM_GEN_0); // 使能PWm生成器模块的及时功能. PWMSyncTimeBase(PWM0_BASE, PWM_GEN_1); PWMSyncTimeBase(PWM0_BASE, PWM_GEN_0); ] /*********************************************************************************** ******************************电机控制**************************************** **********************************************************************************/ void govern_speed(void) [ PulseWidth=zhankongbi/100PERIOD_TIME; PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, PulseWidth); PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, PulseWidth); ] void forward(void) [ PWMOutputState(PWM0_BASE, PWM_OUT_2_BIT, true); PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, false); judge=1; ] void reverse(void) [ judge=0; PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, true); PWMOutputState(PWM0_BASE, PWM_OUT_2_BIT, false); ] void stop(void) [ PWMOutputState(PWM0_BASE, PWM_OUT_2_BIT, false); PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, false); judge=0; return; ] /*************************************************************** *********************** 数码管显示*************************** *************************************************************/ unsigned char LED_0F[]= [ //0 1 2 3 4 5 6 7 8 9 0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xFF,0xbf ]; void LED_OUT(uchar X) [ uchar i; for(i=8;i>=1;i--) [ if (X&0x80) GPIOPinWrite(GPIO_PORTF_BASE, DIO\|RCLK\|SCLK, DIO); else GPIOPinWrite(GPIO_PORTF_BASE,DIO,0); X<<=1; GPIOPinWrite(GPIO_PORTF_BASE,SCLK, 0); GPIOPinWrite(GPIO_PORTF_BASE,DIO\|RCLK\|SCLK, SCLK); ] ] void LED4_Display (void) [ uchar i; //显示第一位 i = LED_0F[LED[0]]; LED_OUT(i); LED_OUT(0x01); GPIOPinWrite(GPIO_PORTF_BASE, RCLK, 0); GPIOPinWrite(GPIO_PORTF_BASE, DIO\|RCLK\|SCLK, RCLK); //显示第二位 i = LED_0F[LED[1]]; LED_OUT(i); LED_OUT(0x02); GPIOPinWrite(GPIO_PORTF_BASE, RCLK, 0); GPIOPinWrite(GPIO_PORTF_BASE, DIO\|RCLK\|SCLK, RCLK); //显示第三位 i = LED_0F[LED[2]]; LED_OUT(i); LED_OUT(0x04); GPIOPinWrite(GPIO_PORTF_BASE, RCLK, 0); GPIOPinWrite(GPIO_PORTF_BASE, DIO\|RCLK\|SCLK, RCLK); //显示第四位 i = LED_0F[LED[3]]; LED_OUT(i); LED_OUT(0x08); GPIOPinWrite(GPIO_PORTF_BASE, RCLK,0); GPIOPinWrite(GPIO_PORTF_BASE, DIO\|RCLK\|SCLK, RCLK); ] void Init_LED(void) [ SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, DIO\|RCLK\|SCLK); ] void SpeedDisplay(void) [ int a=speed; LED[3]=a/1000; a=a%1000; LED[2]=a/100; a=a%100; LED[1]=a/10; a=a%10; LED[0]=a; LED4_Display(); ] void LED_Display() [ int i; if(jianceTime==0) [ /for(i=0;i<=1000;i++)[ LED[0]=1-speedDirectionGet; LED[1]=LED[2]=LED[3]=11; LED4_Display(); ]/ for(i=0;i<=1000;i++)[ SpeedDisplay(); ] ]else if(jianceTime==0xFF)[ for(i=0;i<1000;i++)[ LED4_Display(); ] jianceTime=0; ]else[ LED4_Display(); ] ] /************************************************************** **********************按键程序***************************** *************************************************************/ void Init_anjian(void)//按键初始化 [ //使能GPIO口 SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE,GPIO_PIN_2\|GPIO_PIN_3\|GPIO_PIN_4); GPIOPinTypeGPIOInput(GPIO_PORTB_BASE,GPIO_PIN_0\|GPIO_PIN_1\|GPIO_PIN_2\|GPIO_PIN_3); GPIOPadConfigSet(GPIO_PORTB_BASE,GPIO_PIN_0\|GPIO_PIN_1\|GPIO_PIN_2\|GPIO_PIN_3,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU); GPIOPinWrite(GPIO_PORTB_BASE, GPIO_PIN_0\|GPIO_PIN_1\|GPIO_PIN_2\|GPIO_PIN_3,0xFF); GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2\|GPIO_PIN_3\|GPIO_PIN_4,0xFF); ] void judge_forward_reverse(void) [ if(judge==1)[ LED[0]=0;LED[1]=10;LED[2]=10;LED[3]=10; reverse(); return; ] if(judge==0)[ forward(); LED[0]=1;LED[1]=10;LED[2]=10;LED[3]=10; return; ] ] void shaomiao(i) [ GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2\|GPIO_PIN_3\|GPIO_PIN_4,0xFF); GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2,0); if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_0)) LED1=1; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_1)) LED1=4; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_2)) LED1=7; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_3))[ jianceTime=0xFF; judge_forward_reverse(); return; ] GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2,GPIO_PIN_2); GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3,0); if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_0)) LED1=2; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_1)) LED1=5; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_2)) LED1=8; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_3)) LED1=0; GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3,GPIO_PIN_3); GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_4,0); if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_0)) LED1=3; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_1)) LED1=6; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_2)) LED1=9; if(!GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_3))[ LED[0]=11;LED[1]=11;LED[2]=11;LED[3]=11; jianceTime=0xFF; stop(); return; ] GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_4,GPIO_PIN_4); //按键值显示 LED[0]=LED1; LED[1]=10; LED[2]=10; LED[3]=10; jianceTime++; ] void key(void)//按键主函数 [ int x,y; GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2\|GPIO_PIN_3\|GPIO_PIN_4,0); if(!(GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_0)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_1)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_2)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_3))) [ SysCtlDelay(SysCtlClockGet()/100); if(!(GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_0)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_1)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_2)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_3))) [ shaomiao(2-jianceTime); ] GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_2\|GPIO_PIN_3\|GPIO_PIN_4,0); while(!(GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_0)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_1)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_2)&&GPIOPinRead(GPIO_PORTB_BASE,GPIO_PIN_3))) [ ] ] if(jianceTime==3)[ jianceTime=0xFF; for(x=0;x<=2;x++)[ LED[x]=LED1[x]; ] y=LED1[2]100+LED1[1]10+LED1[0]; if(y>100)[ LED[0]=LED[1]=LED[2]=11;LED[3]=10; ]else if(y!=0)[ zhankongbi=y; ]else[ stop(); ] ] ] /*************************************************** ********************速度计算******************** **************************************************/ void SpeedCompute(void) [ //QEIIntDisable(QEI1_BASE,QEI_INTTIMER); speed_signal=QEIVelocityGet(QEI1_BASE); speed=(speed_signal10060)/(4334); speedDirectionGet=QEIDirectionGet(QEI1_BASE); //speedDirectionGet=QEIErrorGet(QEI1_BASE); ] /**************************************************** **************正交编码初始化********************* *************************************************/ void Init_QEI(void) [ SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC); SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI1); GPIOPinTypeQEI(GPIO_PORTC_BASE,GPIO_PIN_5\|GPIO_PIN_6); GPIOPadConfigSet(GPIO_PORTC_BASE,GPIO_PIN_5\|GPIO_PIN_6,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU); QEIConfigure(QEI1_BASE, (QEI_CONFIG_CAPTURE_A_B\|QEI_CONFIG_NO_RESET\|QEI_CONFIG_QUADRATURE\|QEI_CONFIG_NO_SWAP),0); QEIVelocityConfigure(QEI1_BASE,QEI_VELDIV_1,SysCtlClockGet()/100); QEIEnable(QEI1_BASE); QEIVelocityEnable(QEI1_BASE); ] /************************************************* * *****************主函数************************ ****************************************************/ int main(void) [ FPUEnable(); //FPULazyStackingEnable(); SysCtlClockSet(SYSCTL_SYSDIV_4\|SYSCTL_USE_PLL\|SYSCTL_XTAL_16MHZ\|SYSCTL_OSC_MAIN); Init_LED(); Init_anjian(); Init_PWM(); Init_QEI(); while(1) [ key(); govern_speed(); LED_Display(); SpeedCompute(); ] ] 0
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0 自己回答吧：希望以后又和我同样问题的朋友看一下正确QEI初始化： void Init_QEI(void) [ SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC); SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI1); GPIOPinConfigure(GPIO_PC5_PHA1); //好多例程无这个函数 GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_5); GPIOPinConfigure(GPIO_PC6_PHB1); GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_6); GPIOPadConfigSet(GPIO_PORTC_BASE, GPIO_PIN_5, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD); GPIOPadConfigSet(GPIO_PORTC_BASE, GPIO_PIN_6, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD); QEIConfigure(QEI1_BASE,(QEI_CONFIG_CAPTURE_A_B \| QEI_CONFIG_NO_RESET \| QEI_CONFIG_QUADRATURE \| QEI_CONFIG_NO_SWAP), 0); QEIVelocityConfigure(QEI1_BASE, QEI_VELDIV_1, SysCtlClockGet()/100); QEIVelocityEnable(QEI1_BASE); QEIEnable(QEI1_BASE); ]

2020-8-25 16:17:27 评论举报 1^# 李纪生