请教一下rt1062的qtimer对正交编码器的级联计数问题

wx刘杰文

使用场景： 用qtimer对正交编码器进行计数， 需要32bit，所以采用两个qtimer级联的方式。

代码设置如下：目前存在几个问题，需要请教下：

1： 此时怎样对正交编码器的方向进行确认？ 发现timer_0(第一级qtimer）减到0之后，就不再变化了；

2：第一级timer 计数到最大值后（65535）， 有时第二级timer计数没有加1， 不知道这个是什么原因？


void init_qtimer()
{
        qtmr_config_t qtmrConfig;
        /*
         * qtmrConfig.debugMode = kQTMR_RunNormalInDebug;
         * qtmrConfig.enableExternalForce = false;
         * qtmrConfig.enableMasterMode = false;
         * qtmrConfig.faultFilterCount = 0;
         * qtmrConfig.faultFilterPeriod = 0;
         * qtmrConfig.primarySource = kQTMR_ClockDivide_2;
         * qtmrConfig.secondarySource = kQTMR_Counter0InputPin;
         */
        QTMR_GetDefaultConfig(&qtmrConfig);

        /* Enable at the NVIC */
        //EnableIRQ(QTMR_IRQ_ID);

        qtmrConfig.primarySource = BOARD_FIRST_QTMR_CHANNEL;
        qtmrConfig.secondarySource = BOARD_SECOND_QTMR_CHANNEL;
        QTMR_Init(TMR3, BOARD_FIRST_QTMR_CHANNEL, &qtmrConfig);

        /* Init the second channel to use output of the first channel as we are chaining the first channel
         * and the second channel */
        qtmrConfig.primarySource = kQTMR_ClockCounter0Output;
        qtmrConfig.secondarySource = kQTMR_Counter1InputPin;
        QTMR_Init(TMR3, BOARD_SECOND_QTMR_CHANNEL, &qtmrConfig);

        QTMR_SetTimerPeriod(TMR3, BOARD_FIRST_QTMR_CHANNEL, 65535);
        QTMR_SetTimerPeriod(TMR3, BOARD_SECOND_QTMR_CHANNEL, 65535);

        //TMR3->CHANNEL[BOARD_FIRST_QTMR_CHANNEL].CNTR = 0;
        //TMR3->CHANNEL[BOARD_SECOND_QTMR_CHANNEL].CNTR = 0;

        /* Enable the second channel compare interrupt */
        //QTMR_EnableInterrupts(TMR3, BOARD_SECOND_QTMR_CHANNEL, kQTMR_CompareInterruptEnable);

        /* Start the second channel in cascase mode, chained to the first channel as set earlier via the primary source
         * selection */
        QTMR_StartTimer(TMR3, BOARD_SECOND_QTMR_CHANNEL, kQTMR_CascadeCount);

        /* Start the first channel to count the quad count */
        QTMR_StartTimer(TMR3, BOARD_FIRST_QTMR_CHANNEL, kQTMR_QuadCountMode);
}

阅读全文

emmmmmmmmmmm

1. #include "qtimer_enc.h"
   
2. #include "fsl_debug_console.h"
   
3. #include "fsl_iomuxc.h"
   
4. 
   
5. void BOARD_InitQtimerPins()
   
6. {
   
7.           IOMUXC_SetPinMux(IOMUXC_GPIO_AD_06_TMR4_TIMER2,0);
   
8.           IOMUXC_SetPinMux(IOMUXC_GPIO_AD_04_TMR4_TIMER0,0);
   
9. }
   
10. void Qtimer_Cascade_Mode()
    
11. {
    
12.     qtmr_config_t qtmrConfig;
    
13.    
    
14.     QTMR_GetDefaultConfig(&qtmrConfig);
    
15.     qtmrConfig.primarySource = kQTMR_ClockCounter0Output;  
    
16.     qtmrConfig.secondarySource = kQTMR_Counter0InputPin;     
    
17.     QTMR_Init(TMR4, kQTMR_Channel_1, &qtmrConfig);
    
18.     QTMR_Deinit(TMR4, kQTMR_Channel_1);           
    
19.     QTMR_Init(TMR4, kQTMR_Channel_1, &qtmrConfig);
    
20.     TMR4->CHANNEL[kQTMR_Channel_1].CSCTRL = 0;
    
21.           TMR4->CHANNEL[kQTMR_Channel_1].COMP1 = 0XFFFF;
    
22.     QTMR_StartTimer(TMR4, kQTMR_Channel_1, kQTMR_CascadeCount);
    
23.           
    
24. }
    
25. void qtimer_quad_init()
    
26. {
    
27.           BOARD_InitQtimerPins();
    
28.     qtmr_config_t qtmrConfig;
    
29.    
    
30.     QTMR_GetDefaultConfig(&qtmrConfig);
    
31.     qtmrConfig.primarySource = kQTMR_ClockCounter0InputPin;  //通道A
    
32.     qtmrConfig.secondarySource = kQTMR_Counter2InputPin;     //通道B
    
33.     QTMR_Init(TMR4, kQTMR_Channel_0, &qtmrConfig);           //第一次初始化便于打开时钟
    
34.     QTMR_Deinit(TMR4, kQTMR_Channel_0);                      //复位外设
    
35.     QTMR_Init(TMR4, kQTMR_Channel_0, &qtmrConfig);           //重新初始化设置正确的参数
    
36.     TMR4->CHANNEL[kQTMR_Channel_0].CSCTRL = 0;
    
37.           TMR4->CHANNEL[kQTMR_Channel_0].COMP1 = 0XFFFF;
    
38. 
    
39.     QTMR_StartTimer(TMR4, kQTMR_Channel_0, kQTMR_QuadCountMode);
    
40.           Qtimer_Cascade_Mode();
    
41.        
    
42. }
    
43. 
    
44. uint32_t qtimer_quad_get()
    
45. {
    
46.     return (QTMR_GetCurrentTimerCount(TMR4, kQTMR_Channel_0) + QTMR_GetCurrentTimerCount(TMR4, kQTMR_Channel_1) * 65535);
    
47. }

复制代码

试试这个，正转增大，反转减小

wx刘杰文

嗯，刚才试了几次，确实没有跳变的情况，我再多测试测试，谢谢！