MSP432E401Y电机编码器QEI模块

/* DriverLib Includes */

#include

/* Standard Includes */

#include

#include

#include

unsigned long  COUNT = 0;

unsigned long  POS = 0;

int  s;

int d;

//********************************************************************

//QEI0初始化

int

QEIInit (void)

{

    QEIConfigure(QEI0_BASE,(QEI_CONFIG_CAPTURE_A_B |QEI_CONFIG_NO_RESET|

    QEI_CONFIG_QUADRATURE|QEI_CONFIG_NO_SWAP),10000000);//使用A,B通道共4个边沿计算位置

   /* GPIOPadConfigSet(GPIO_PORTL_BASE, GPIO_PIN_1,

    GPIO_STRENGTH_4MA,

    GPIO_PIN_TYPE_STD);

    GPIOPadConfigSet(GPIO_PORTL_BASE, GPIO_PIN_2,

    GPIO_STRENGTH_4MA,

    GPIO_PIN_TYPE_STD);

    GPIOPadConfigSet(GPIO_PORTL_BASE, GPIO_PIN_3,

    GPIO_STRENGTH_4MA,

    GPIO_PIN_TYPE_STD);

  */

    GPIOPinTypeQEI(GPIO_PORTL_BASE,GPIO_PIN_1|GPIO_PIN_2);//配置PL1，PL2为PhA1，PhB1

    QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, 120000000/100);//10ms

    //使能速度计算，使能QEI

    QEIVelocityEnable(QEI0_BASE);

    QEIEnable(QEI0_BASE);

    //速度计时器计时完成时触发中断

    QEIIntEnable(QEI0_BASE,QEI_INTTIMER);

    IntEnable(INT_QEI0);

    return(0); 

}

void QEI0_IRQHandler(void)

{

  QEIIntClear(QEI0_BASE, QEI_INTTIMER);

  POS = QEIPositionGet(QEI0_BASE);

  d = QEIDirectionGet(QEI0_BASE);

    COUNT = QEIVelocityGet(QEI0_BASE);

    s = (COUNT*6000)/2024;

    printf("The Speed is %d .Velocity is %d.Direction is %d.n",s,COUNT /4,d);

    COUNT = 0;

}

 int main(void)

{

    /* Configure the system clock for 120 MHz */

    MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN |

                                          SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480),

                                          120000000);

    MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);//使能QEI0外设

    MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);/*enable L port*/

    MAP_IntEnable(INT_GPIOL);

    GPIOPinConfigure(GPIO_PL1_PHA0);

    GPIOPinConfigure(GPIO_PL2_PHB0);

    QEIEnable(QEI0_BASE);//使能正交编码器QEI0

    QEIInit();

    while(1)

    {

    }

}