stm32f407编码器电机测速

要使用STM32F407芯片测量编码器电机的速度，您需要首先连接编码器和电机到STM32F407芯片上。然后，您需要编写代码来读取编码器的脉冲信号，并计算电机的速度。以下是一个示例代码：

#include "stm32f4xx.h"

#define ENCODER_PPR 2048

volatile uint32_t encoder_count = 0;
volatile uint32_t last_encoder_count = 0;
volatile uint32_t encoder_speed = 0;

void TIM2_IRQHandler(void)
{
    if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
    {
        last_encoder_count = encoder_count;
        encoder_count = TIM_GetCounter(TIM2);
        
        if(encoder_count < last_encoder_count)
        {
            encoder_speed = ((last_encoder_count - encoder_count) * 72000000) / (ENCODER_PPR * TIM_GetCounter(TIM3));
        }
        else
        {
            encoder_speed = ((encoder_count - last_encoder_count) * 72000000) / (ENCODER_PPR * TIM_GetCounter(TIM3));
        }
        
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    }
}

int main(void)
{
    // 初始化GPIO和TIM2
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;

    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);

    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = 65535;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

    TIM_Cmd(TIM2, ENABLE);

    // 初始化TIM3
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = 65535;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    TIM_Cmd(TIM3, ENABLE);

    // 配置中断
    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);

    while(1)
    {
        // 在这里进行其他操作
    }
}

在以上示例代码中，我们使用TIM2和TIM3定时器来读取编码器的脉冲信号和计算电机的速度。在TIM2的中断处理函数中，我们计算当前编码器的脉冲数，并根据上一次的脉冲数和时间差计算电机的速度。注意，我们假设编码器的分辨率为2048，计数器的时钟频率为72MHz。您可以根据实际情况进行调整。