stm32f103c8t6编码电机测速hal库代码
时间: 2024-05-14 13:11:13 浏览: 17
STM32F103C8T6是一款基于ARM Cortex-M3内核的微控制器,其内部集成了许多功能模块,包括测速编码器接口模块(TIM)。使用HAL库可以方便地编写STM32的程序,实现对测速编码器的读取和电机测速。
下面是一个简单的示例代码,演示了如何使用HAL库读取编码器计数器并计算电机速度:
```
#include "stm32f1xx_hal.h"
TIM_HandleTypeDef htim2;
void MX_TIM2_Init(void)
{
TIM_Encoder_InitTypeDef sConfig = {0};
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
HAL_TIM_Encoder_Init(&htim2, &sConfig);
}
int main(void)
{
HAL_Init();
MX_TIM2_Init();
HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
int32_t cnt_last = 0, cnt_now = 0;
float speed;
while (1)
{
cnt_now = __HAL_TIM_GET_COUNTER(&htim2);
speed = (cnt_now - cnt_last) * (float)72000000 / (float)(htim2.Init.Prescaler + 1) / (float)htim2.Init.Period / (float)4; // 计算速度
cnt_last = cnt_now;
HAL_Delay(10); // 等待10ms
}
}
```
相关问题:
1. STM32F103C8T6的主要特性有哪些?
2. 测速编码器接口模块(TIM)是什么?
3. 如何使用HAL库编写STM32程序?
4. 如何计算电机速度?