霍尔编码器与stm32和tb6612连接使电机正转的标准库代码
时间: 2024-04-03 20:31:54 浏览: 129
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。
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