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標(biāo)題: 找stm32f1系列的編碼器測(cè)速例程求分享 [打印本頁(yè)]

作者: 小卡少 時(shí)間: 2020-5-25 09:42
標(biāo)題: 找stm32f1系列的編碼器測(cè)速例程求分享
找stm32f1系列的編碼器測(cè)速例程
用的是那種帶編碼器的減速電機(jī)

作者: Nomi 時(shí)間: 2020-5-25 09:42
#include "stm32f10x.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_tim.h"

// 定義引腳
#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; // 編碼器計(jì)數(shù)值
volatile uint16_t encoder_speed = 0; // 編碼器速度

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

int main(void)
{
uint8_t dir = 1; // 電機(jī)轉(zhuǎn)動(dòng)方向，1為正轉(zhuǎn)，0為反轉(zhuǎn)
float speed = 0; // 電機(jī)速度

Encoder_Init(); // 初始化編碼器
TIM_Cmd(ENCODER_TIM, ENABLE); // 使能定時(shí)器
TIM_ITConfig(ENCODER_TIM, TIM_IT_Update, ENABLE); // 使能更新中斷
NVIC_EnableIRQ(ENCODER_TIM_IRQn); // 使能定時(shí)器中斷

while (1)
{
      // 根據(jù)方向計(jì)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時(shí)鐘
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // 使能TIM2時(shí)鐘

// 配置GPIOA.0和GPIOA.1為輸入模式，浮空輸入，上拉電阻關(guān)閉
GPIO_InitStructure.GPIO_Pin = ENCODER_A_PIN | ENCODER_B_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);

// 配置定時(shí)器2為編碼器模式，計(jì)數(shù)器向上計(jì)數(shù)，自動(dòng)重裝載值為0xFFFF，預(yù)分頻值為72M/72=1，溢出時(shí)產(chǎn)生中斷，時(shí)鐘源為內(nèi)部時(shí)鐘源
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);

// 配置定時(shí)器2通道1為復(fù)用功能模式，選擇輸入捕獲通道作為輸入源，上升沿觸發(fā)捕獲，不濾波，預(yù)分頻值為72M/72=1，計(jì)數(shù)器向上計(jì)數(shù)，溢出時(shí)產(chǎn)生中斷，時(shí)鐘源為內(nèi)部時(shí)鐘源，禁用PWM輸出和死區(qū)控制，允許更新中斷和復(fù)位中斷，使能主從JK觸發(fā)器和邊沿對(duì)齊模式，使能高級(jí)控制寄存器的復(fù)位功能和SMS位清零功能，使能預(yù)分頻器的復(fù)位和SMS位清零功能，使能定時(shí)器2的復(fù)位和SMS位清零功能，使能定時(shí)器2的中斷和使能全局中斷
}

作者: WangMC 時(shí)間: 2023-6-4 10:49
void EncoderT3_Init(void)
{
//編碼器1
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

//編碼器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);

//定時(shí)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);

//定時(shí)器3編碼器模式初始化
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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