关于官方编码器库函数问题U16_MAX，U32_MAX，s16
本人小萌新一枚，借鉴贴吧大神魔改出一套stm32f10x程序，遇到了许多问题：1.如图一图二，U16_MAX，U32_MAX这样定义对不对。
2.如图三，s16 一直说没有定义。
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跪求解答！！
修改的程序....
/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* File Name : stm32f10x_encoder.c
* Author : IMS Systems Lab
* Date First Issued: 21/11/07
* Description : This file contains the software implementation for the
* encoder unit
********************************************************************************
* History:
* 21/11/07 v1.0
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_encoder.h"
#include "stm32f10x.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define ENCODER_TIMER TIM3// Encoder unit connected to TIM3
#define ENCODER_PPR (u16)(400) // number of pulses per revolution
#define SPEED_BUFFER_SIZE 8
#define COUNTER_RESET (u16)0
#define ICx_FILTER (u8) 6 // 6<-> 670nsec
#define TIMx_PRE_EMPTION_PRIORITY 1
#define TIMx_SUB_PRIORITY 0
#define SPEED_SAMPLING_FREQ (u16)(2000/(SPEED_SAMPLING_TIME+1))
#define U16_MAX ((u16)65535u)
#define U32_MAX ((u32)4294967295uL)
/* Private functions ---------------------------------------------------------*/
s16 ENC_Calc_Rot_Speed(void);
/* Private variables ---------------------------------------------------------*/
//static s16 hPrevious_angle/*, hSpeed_Buffer,hRot_Speed*/;
//static u8 bSpeed_Buffer_Index = 0;
//static bool bIs_First_Measurement = TRUE;
static volatile u16 hEncoder_Timer_Overflow;
/*******************************************************************************
* Function Name: ENC_Init
* Description : General Purpose Timer x set-up for encoder speed/position
* sensors
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void ENC_Init(void)
{
TIM_TimeBaseInitTypeDefTIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
/* Encoder unit connected to TIM3, 4X mode */
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM3 clock source enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Enable GPIOA, clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PA.06,07 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Enable the TIM3 Update Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Timer configuration in Encoder mode */
TIM_DeInit(ENCODER_TIMER);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0;// No prescaling
TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);
TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE);
//Reset counter
TIM2->CNT = COUNTER_RESET;
ENC_Clear_Speed_Buffer();
TIM_Cmd(ENCODER_TIMER, ENABLE);
}
/*******************************************************************************
* Function Name: ENC_Get_Electrical_Angle
* Description : Returns the absolute electrical Rotor angle
* Input : None
* Output : None
* Return : Rotor electrical angle: 0 -> 0 degrees,
* S16_MAX-> 180 degrees,
* S16_MIN-> -180 degrees
*******************************************************************************/
s16 ENC_Get_Electrical_Angle(void)
{
s32 temp;
temp = (s32)(TIM_GetCounter(ENCODER_TIMER)) * (s32)(U32_MAX / (4*ENCODER_PPR));
return((s16)(temp/65536)); // s16 result
}
/*******************************************************************************
* Function Name: ENC_Clear_Speed_Buffer
* Description : Clear speed buffer used for average speed calculation
* Input : None
* Output : None
* Return : None
*******************************************************************************/
//void ENC_Clear_Speed_Buffer(void)
//{
//u32 i;
//for (i=0;i<SPEED_BUFFER_SIZE;i++)
//{
// hSpeed_Buffer = 0;
//}
//bIs_First_Measurement = TRUE;
//}
/*******************************************************************************
* Function Name: ENC_Calc_Rot_Speed
* Description : Compute return latest speed measurement
* Input : None
* Output : s16
* Return : Return the speed in 0.1 Hz resolution.
*******************************************************************************/
//s16 ENC_Calc_Rot_Speed(void)
//{
//s32 wDelta_angle;
//u16 hEnc_Timer_Overflow_sample_one, hEnc_Timer_Overflow_sample_two;
//u16 hCurrent_angle_sample_one, hCurrent_angle_sample_two;
//signed long long temp;
//s16 haux;
//
//if (!bIs_First_Measurement)
//{
// // 1st reading of overflow counter
// hEnc_Timer_Overflow_sample_one = hEncoder_Timer_Overflow;
// // 1st reading of encoder timer counter
// hCurrent_angle_sample_one = ENCODER_TIMER->CNT;
// // 2nd reading of overflow counter
// hEnc_Timer_Overflow_sample_two = hEncoder_Timer_Overflow;
// // 2nd reading of encoder timer counter
// hCurrent_angle_sample_two = ENCODER_TIMER->CNT;
// // Reset hEncoder_Timer_Overflow and read the counter value for the next
// // measurement
// hEncoder_Timer_Overflow = 0;
// haux = ENCODER_TIMER->CNT;
//
// if (hEncoder_Timer_Overflow != 0)
// {
// haux = ENCODER_TIMER->CNT;
// hEncoder_Timer_Overflow = 0;
// }
//
// if (hEnc_Timer_Overflow_sample_one != hEnc_Timer_Overflow_sample_two)
// { //Compare sample 1 & 2 and check if an overflow has been generated right
// //after the reading of encoder timer. If yes, copy sample 2 result in
// //sample 1 for next process
// hCurrent_angle_sample_one = hCurrent_angle_sample_two;
// hEnc_Timer_Overflow_sample_one = hEnc_Timer_Overflow_sample_two;
// }
//
// if ( (ENCODER_TIMER->CR1 & TIM_CounterMode_Down) == TIM_CounterMode_Down)
// {// encoder timer down-counting
// wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle -
// (hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR));
// }
// else
// {//encoder timer up-counting
// wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle +
// (hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR));
// }
//
// // speed computation as delta angle * 1/(speed sempling time)
// temp = (signed long long)(wDelta_angle * SPEED_SAMPLING_FREQ);
// temp *= 10;// 0.1 Hz resolution
// temp /= (4*ENCODER_PPR);
//
//} //is first measurement, discard it
//else
//{
// bIs_First_Measurement = FALSE;
// temp = 0;
// hEncoder_Timer_Overflow = 0;
// haux = ENCODER_TIMER->CNT;
// // Check if Encoder_Timer_Overflow is still zero. In case an overflow IT
// // occured it resets overflow counter and wPWM_Counter_Angular_Velocity
// if (hEncoder_Timer_Overflow != 0)
// {
// haux = ENCODER_TIMER->CNT;
// hEncoder_Timer_Overflow = 0;
// }
//}
//
//hPrevious_angle = haux;
//
//return((s16) temp);
//}
/*******************************************************************************
* Function Name: TIM2_IRQHandler
* Description : This function handles TIMx Update interrupt request.
Encoder unit connected to TIM2
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void TIM3_IRQHandler(void)
{
/* Clear the interrupt pending flag */
TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);
if (hEncoder_Timer_Overflow != U16_MAX)
{
hEncoder_Timer_Overflow++;
}
}
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/
....
本帖最后由 a1807332965 于 2018-2-23 11:11 编辑自己顶顶
本帖最后由 安 于 2018-2-23 14:20 编辑
stdint.h是否引用。另外，看一下stm32f10x.h中使用定义了s16。 你加上 u16 U16_MAX;
u32 U32_MAX;
试一下，你应该查找你自定义的数据结构，或者你有头文件没加上，导致你s16没有定义，这个是纯c语言的问题 本帖最后由 wenyangzeng 于 2018-2-23 13:26 编辑
a1807332965 发表于 2018-2-23 11:09
修改的程序....
/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* Fi ...
在stdint.h中已经定义：
typedef signed __int64 intmax_t;
typedef unsigned __int64 uintmax_t;#define UINT8_MAX 255
#define UINT16_MAX 65535
#define UINT32_MAX 4294967295u
#define UINT64_MAX __ESCAPE__(18446744073709551615ull)
老老实实使用就是。不知楼主为何还要自定义U16_MAX和U32_MAX？
你这宏定义的位置是不是放错了 我看你这文件是.c文件中 出现错误的位置是.h文件 这个一般都是在头文件中定义的，具体查找一下，看看定义的区别 请参考系统头文件“stdint.h”
s16是个什么类型，如果是有符号16位的话，那参考int16_t定义。
U16_MAX、U32_MAX没必要自己定义，尽可能用系统编译器中自带的。如果要定义，那就照猫画虎，在自己类型定义中改个名。
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