霍尔编码器与stm32和tb6612连接使电机正转的标准库代码

以下是一个使用STM32标准库控制TB6612驱动器驱动电机正转的代码示例，其中使用霍尔编码器检测电机转速：

#include "stm32f4xx.h"

// 定义TB6612驱动器的引脚
#define AIN1_Pin GPIO_Pin_0
#define AIN1_Port GPIOA
#define AIN2_Pin GPIO_Pin_1
#define AIN2_Port GPIOA
#define BIN1_Pin GPIO_Pin_2
#define BIN1_Port GPIOA
#define BIN2_Pin GPIO_Pin_3
#define BIN2_Port GPIOA

// 定义霍尔编码器的引脚
#define HALL_Pin GPIO_Pin_4
#define HALL_Port GPIOB

// 定义PWM输出引脚
#define PWM_Pin GPIO_Pin_5
#define PWM_Port GPIOA

// 定义电机转速检测计数器
volatile uint32_t hall_counter = 0;

void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
    {
        hall_counter++;   // 每个计数器周期加1
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);   // 清除中断标志
    }
}

int main(void)
{
    // 初始化GPIO引脚
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB, ENABLE);

    GPIO_InitStructure.GPIO_Pin = AIN1_Pin | AIN2_Pin | BIN1_Pin | BIN2_Pin | PWM_Pin;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = HALL_Pin;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // 初始化计数器
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 999;   // 定时器计数器周期为1000
    TIM_TimeBaseStructure.TIM_Prescaler = 83;   // 定时器分频系数为84
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);

    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    // 电机正转
    GPIO_SetBits(AIN1_Port, AIN1_Pin);
    GPIO_ResetBits(AIN2_Port, AIN2_Pin);
    GPIO_SetBits(BIN1_Port, BIN1_Pin);
    GPIO_ResetBits(BIN2_Port, BIN2_Pin);

    // PWM输出
    TIM_OCInitTypeDef TIM_OCInitStructure;
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 999;   // PWM周期为1000
    TIM_TimeBaseStructure.TIM_Prescaler = 83;   // PWM分频系数为84
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 500;   // PWM占空比为50%
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

    TIM_OC1Init(TIM5, &TIM_OCInitStructure);
    TIM_Cmd(TIM5, ENABLE);

    // 等待电机转速达到设定值
    while (hall_counter < 1000)
    {
        // 等待中
    }

    // 停止电机
    GPIO_ResetBits(AIN1_Port, AIN1_Pin);
    GPIO_ResetBits(AIN2_Port, AIN2_Pin);
    GPIO_ResetBits(BIN1_Port, BIN1_Pin);
    GPIO_ResetBits(BIN2_Port, BIN2_Pin);

    while (1)
    {
        // 循环等待
    }
}

注意：以上代码仅为示例代码，具体实现可能需要根据实际情况进行修改。