欧美极品高清xxxxhd,国产日产欧美最新,无码AV国产东京热AV无码,国产精品人与动性XXX,国产传媒亚洲综合一区二区,四库影院永久国产精品,毛片免费免费高清视频,福利所导航夜趣136

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

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

作者: Nomi 時間: 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); // 使能定時器
TIM_ITConfig(ENCODER_TIM, TIM_IT_Update, ENABLE); // 使能更新中斷
NVIC_EnableIRQ(ENCODER_TIM_IRQn); // 使能定時器中斷

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時鐘
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // 使能TIM2時鐘

// 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);

// 配置定時器2為編碼器模式，計(jì)數(shù)器向上計(jì)數(shù)，自動重裝載值為0xFFFF，預(yù)分頻值為72M/72=1，溢出時產(chǎn)生中斷，時鐘源為內(nèi)部時鐘源
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)，溢出時產(chǎn)生中斷，時鐘源為內(nèi)部時鐘源，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)器和邊沿對齊模式，使能高級控制寄存器的復(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，使能定時器2的復(fù)位和SMS位清零功能，使能定時器2的中斷和使能全局中斷
}

作者: WangMC 時間: 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);
}
僅供參考

歡迎光臨 (http://www.raoushi.com/bbs/)