用stm32f103c8t6和编码器编写一段程序实现测量电机转速

好的，以下是基本的程序流程：

1. 初始化GPIO口，将用于接收编码器信号的GPIO口配置为输入模式。
2. 初始化定时器，用于产生计数器计数并产生中断。
3. 在定时器中断服务函数中，读取编码器信号，计算出电机转速，并将计数器清零。
4. 不断循环输出电机转速。

下面是示例代码，供参考：

#include "stm32f10x.h"

#define ENCODER_A_GPIO_PORT    GPIOA
#define ENCODER_A_GPIO_PIN     GPIO_Pin_0
#define ENCODER_B_GPIO_PORT    GPIOA
#define ENCODER_B_GPIO_PIN     GPIO_Pin_1

volatile uint8_t encoder_last_a = 0;
volatile uint8_t encoder_last_b = 0;
volatile uint16_t encoder_pulse_count = 0;

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    
    GPIO_InitStructure.GPIO_Pin = ENCODER_A_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(ENCODER_A_GPIO_PORT, &GPIO_InitStructure);
    
    GPIO_InitStructure.GPIO_Pin = ENCODER_B_GPIO_PIN;
    GPIO_Init(ENCODER_B_GPIO_PORT, &GPIO_InitStructure);
}

void TIM2_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / 1000000 - 1; // 定时器时钟为1MHz
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
    
    TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    
    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);
    
    TIM_Cmd(TIM2, ENABLE);
}

void TIM2_IRQHandler(void)
{
    uint8_t encoder_now_a, encoder_now_b;
    
    encoder_now_a = GPIO_ReadInputDataBit(ENCODER_A_GPIO_PORT, ENCODER_A_GPIO_PIN);
    encoder_now_b = GPIO_ReadInputDataBit(ENCODER_B_GPIO_PORT, ENCODER_B_GPIO_PIN);
    
    if (encoder_last_a == 0 && encoder_now_a == 1)
    {
        if (encoder_last_b == 0)
        {
            encoder_pulse_count++;
        }
        else
        {
            encoder_pulse_count--;
        }
    }
    else if (encoder_last_a == 1 && encoder_now_a == 0)
    {
        if (encoder_last_b == 0)
        {
            encoder_pulse_count--;
        }
        else
        {
            encoder_pulse_count++;
        }
    }
    
    encoder_last_a = encoder_now_a;
    encoder_last_b = encoder_now_b;
    
    TIM_SetCounter(TIM2, 0);
    TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}

int main(void)
{
    uint16_t motor_speed = 0;
    
    GPIO_Configuration();
    TIM2_Configuration();
    
    while (1)
    {
        motor_speed = (encoder_pulse_count * 60) / 100; // 计算电机转速，假设编码器每转100个脉冲
        encoder_pulse_count = 0;
        // 将电机转速输出到相应的设备或者终端上
    }
}

需要注意的是，以上代码仅供参考，实际情况可能需要根据具体的电机和编码器进行修改。同时，还需要注意定时器时钟的设置，以确保计数器计数精度和计算电机转速的准确度。