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[bsp][stm32] 修复 encoder驱动 编码器数值的计算问题

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TamapChn 2023-11-26 16:58:29 +08:00 committed by Meco Man
parent 17092dd700
commit 3ea3f3447e
1 changed files with 1 additions and 1 deletions
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bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c
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@ -143,7 +143,7 @@ rt_int32_t pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder
{ {
struct stm32_pulse_encoder_device *stm32_device; struct stm32_pulse_encoder_device *stm32_device;
stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder; stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder;
return (rt_int32_t)((rt_int16_t)__HAL_TIM_GET_COUNTER(&stm32_device->tim_handler) + stm32_device->over_under_flowcount * AUTO_RELOAD_VALUE); return (rt_int32_t)((rt_int16_t)__HAL_TIM_GET_COUNTER(&stm32_device->tim_handler) + stm32_device->over_under_flowcount * (AUTO_RELOAD_VALUE + 1));
} }
rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args) rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args)