基于stm32f103编码器测量电机转速库函数版代码

下面是一个基于STM32F103的编码器测量电机转速库函数版代码：

#include "stm32f10x.h"

volatile uint16_t EncoderValue = 0;
volatile uint16_t EncoderLastValue = 0;
volatile uint16_t EncoderPulseCount = 0;
volatile uint16_t EncoderRPM = 0;

void Encoder_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;
  
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
  
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
  
  TIM_TimeBaseStructure.TIM_Period = 65535;
  TIM_TimeBaseStructure.TIM_Prescaler = 0;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
  
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
  TIM_ICInitStructure.TIM_ICFilter = 0x0F;
  TIM_ICInit(TIM2, &TIM_ICInitStructure);
  
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_IndirectTI;
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
  TIM_ICInitStructure.TIM_ICFilter = 0x0F;
  TIM_ICInit(TIM2, &TIM_ICInitStructure);
  
  TIM_Cmd(TIM2, ENABLE);
  
  TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
  TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);
  TIM_ITConfig(TIM2, TIM_IT_CC2, ENABLE);
  
  NVIC_EnableIRQ(TIM2_IRQn);
}

void TIM2_IRQHandler(void)
{
  if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
  {
    TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
  }
  
  if(TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)
  {
    EncoderValue = TIM_GetCapture1(TIM2);
    EncoderPulseCount = EncoderValue - EncoderLastValue;
    EncoderLastValue = EncoderValue;
    TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
  }
  
  if(TIM_GetITStatus(TIM2, TIM_IT_CC2) != RESET)
  {
    EncoderValue = TIM_GetCapture2(TIM2);
    EncoderPulseCount = EncoderLastValue - EncoderValue;
    EncoderLastValue = EncoderValue;
    TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
  }
}

void Encoder_CalculateRPM(void)
{
  EncoderRPM = (EncoderPulseCount * 60) / 360;
  EncoderPulseCount = 0;
}

int main(void)
{
  Encoder_Init();
  
  while(1)
  {
    Encoder_CalculateRPM();
    // Do something with EncoderRPM
  }
}

这段代码使用了STM32的定时器和输入捕捉功能来测量编码器的脉冲信号，并计算电机的转速。您需要根据您的具体硬件和应用程序进行适当的修改。