找stm32f1系列的编码器测速例程求分享 -

标题: 找stm32f1系列的编码器测速例程求分享 [打印本页]

作者: 小卡少 时间: 2020-5-25 09:42
标题: 找stm32f1系列的编码器测速例程求分享
找stm32f1系列的编码器测速例程
用的是那种带编码器的减速电机

作者: Nomi 时间: 2020-5-25 09:42
#include "stm32f10x.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_tim.h"

// 定义引脚
#define ENCODER_A_PIN    GPIO_Pin_0
#define ENCODER_B_PIN    GPIO_Pin_1
#define ENCODER_TIM    TIM2
#define ENCODER_TIM_CH TIM_Channel_1
#define ENCODER_TIM_IRQn  TIM2_IRQn

volatile uint32_t encoder_count = 0; // 编码器计数值
volatile uint16_t encoder_speed = 0; // 编码器速度

void Encoder_Init(void);
void TIM2_IRQHandler(void);

int main(void)
{
uint8_t dir = 1; // 电机转动方向，1为正转，0为反转
float speed = 0; // 电机速度

Encoder_Init(); // 初始化编码器
TIM_Cmd(ENCODER_TIM, ENABLE); // 使能定时器
TIM_ITConfig(ENCODER_TIM, TIM_IT_Update, ENABLE); // 使能更新中断
NVIC_EnableIRQ(ENCODER_TIM_IRQn); // 使能定时器中断

while (1)
{
      // 根据方向计算速度
      if (dir)
      {
         speed = (float)encoder_count * 60 / (float)(4 * TIM_GetCounter(ENCODER_TIM));
      }
      else
      {
         speed = (float)encoder_count * 60 / (float)(4 * TIM_GetCounter(ENCODER_TIM)) * -1;
      }
}
}

void Encoder_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); // 使能GPIOA和AFIO时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // 使能TIM2时钟

// 配置GPIOA.0和GPIOA.1为输入模式，浮空输入，上拉电阻关闭
GPIO_InitStructure.GPIO_Pin = ENCODER_A_PIN | ENCODER_B_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);

// 配置定时器2为编码器模式，计数器向上计数，自动重装载值为0xFFFF，预分频值为72M/72=1，溢出时产生中断，时钟源为内部时钟源
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENCODER_TIM, &TIM_TimeBaseStructure);

// 配置定时器2通道1为复用功能模式，选择输入捕获通道作为输入源，上升沿触发捕获，不滤波，预分频值为72M/72=1，计数器向上计数，溢出时产生中断，时钟源为内部时钟源，禁用PWM输出和死区控制，允许更新中断和复位中断，使能主从JK触发器和边沿对齐模式，使能高级控制寄存器的复位功能和SMS位清零功能，使能预分频器的复位和SMS位清零功能，使能定时器2的复位和SMS位清零功能，使能定时器2的中断和使能全局中断
}

作者: WangMC 时间: 2023-6-4 10:49
void EncoderT3_Init(void)
{
//编码器1
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

//编码器A相B相初始化
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

//定时器3初始化
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 65536 - 1; //ARR
TIM_TimeBaseInitStructure.TIM_Prescaler = 1 - 1; //PSC
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);

//定时器3编码器模式初始化
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICFilter = 0xF;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICFilter = 0xF;
TIM_ICInit(TIM3, &TIM_ICInitStructure);

TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

TIM_Cmd(TIM3, ENABLE);
}
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