[bsp][stm32] 修复 encoder驱动编码器数值的计算问题

ramangopalan · Nov 26, 2023 · 3ea3f34 · 3ea3f34
1 parent 17092dd
commit 3ea3f34
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c b/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c
@@ -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;
     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)