stm32f103c8t6编码器测直流电机速度

要使用STM32F103C8T6微控制器测量直流电机的速度，您可以使用编码器和PWM信号来实现闭环控制。以下是一个基本的示例代码片段，展示了如何使用编码器和PWM信号来测量和控制直流电机的速度：

#include "stm32f10x.h"

// 定义编码器引脚
#define ENCODER_CHA_PIN GPIO_Pin_0
#define ENCODER_CHA_GPIO GPIOA
#define ENCODER_CHB_PIN GPIO_Pin_1
#define ENCODER_CHB_GPIO GPIOA

// 定义PWM引脚
#define PWM_PIN GPIO_Pin_8
#define PWM_GPIO GPIOB
#define PWM_TIM TIM4
#define PWM_TIM_CHANNEL TIM_Channel_3

// 用于存储上一次捕获到的计数值
volatile uint32_t lastCapture = 0;

// 用于存储计算得到的速度值
volatile float speed = 0.0;

void TIM2_IRQHandler(void) {
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {
        // 更新速度值
        speed = 1.0 / (float)TIM_GetCounter(TIM2);
        
        // 重置计数器
        TIM_SetCounter(TIM2, 0);
        
        // 清除中断标志位
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    }
}

int main(void) {
    // 初始化编码器引脚
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = ENCODER_CHA_PIN | ENCODER_CHB_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(ENCODER_CHA_GPIO, &GPIO_InitStructure);
    
    // 初始化PWM引脚
    GPIO_InitStructure.GPIO_Pin = PWM_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(PWM_GPIO, &GPIO_InitStructure);
    
    // 初始化PWM定时器
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
    
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 1000 - 1; // PWM周期为1ms
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 定时器时钟为72MHz
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(PWM_TIM, &TIM_TimeBaseStructure);
    
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0; // 初始占空比为0
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC3Init(PWM_TIM, &TIM_OCInitStructure);
    
    TIM_Cmd(PWM_TIM, ENABLE);
    
    // 初始化速度计数定时器
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    
    TIM_DeInit(TIM2);
    
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1; // 定时器时钟为72MHz
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
    
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    
    TIM_Cmd(TIM2, ENABLE);
    
    // 启用编码器输入捕获中断
    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // 主循环
    while (1) {
        // 读取编码器信号并控制PWM占空比
        int32_t encoderCount = TIM_GetCounter(TIM2);
        int32_t targetSpeed = 1000; // 设置目标速度为1000
        
        if (encoderCount < targetSpeed) {
            // 增加PWM占空比
            TIM_SetCompare3(PWM_TIM, encoderCount);
        } else {
            // 减小PWM占空比
            TIM_SetCompare3(PWM_TIM, targetSpeed);
        }
        
        // 在这里可以使用速度值进行其他操作
    }
}

请注意，以上代码仅为示例，您可能需要根据您的具体要求进行修改和调整。同时，还需要根据您的编码器类型和连接方式进行适当的配置。

希望这可以帮助到您！