stm32编码器的测速实验
时间: 2024-01-04 18:17:45 浏览: 30
为了实现STM32编码器的测速实验,可以按照以下步骤进行:
1. 首先,需要在STM32上配置编码器的输入引脚。可以使用TIMx模块的CH1和CH2引脚来连接编码器的A相和B相信号。具体的引脚配置可以参考STM32的数据手册。
2. 接下来,需要在STM32上编写代码来读取编码器的信号,并计算出编码器的转速。可以使用STM32的定时器模块来实现这个功能。具体的代码实现可以参考以下示例:
```c
#include "stm32f10x.h"
#define ENCODER_TIM TIM2
#define ENCODER_TIM_CLK RCC_APB1Periph_TIM2
#define ENCODER_TIM_IRQn TIM2_IRQn
#define ENCODER_TIM_IRQHandler TIM2_IRQHandler
volatile int32_t encoder_count = 0;
void ENCODER_TIM_IRQHandler(void)
{
static uint8_t last_a = 0;
uint8_t a = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);
uint8_t b = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_1);
if (a != last_a)
{
if (b != a)
{
encoder_count++;
}
else
{
encoder_count--;
}
}
last_a = a;
TIM_ClearITPendingBit(ENCODER_TIM, TIM_IT_Update);
}
void encoder_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
RCC_APB1PeriphClockCmd(ENCODER_TIM_CLK, ENABLE);
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(ENCODER_TIM, &TIM_TimeBaseStructure);
TIM_ICStructInit(&TIM_ICInitStructure);
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 = 0x0;
TIM_ICInit(ENCODER_TIM, &TIM_ICInitStructure);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
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 = 0x0;
TIM_ICInit(ENCODER_TIM, &TIM_ICInitStructure);
TIM_ClearITPendingBit(ENCODER_TIM, TIM_IT_Update);
TIM_ITConfig(ENCODER_TIM, TIM_IT_Update, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = ENCODER_TIM_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(ENCODER_TIM, ENABLE);
}
int32_t get_encoder_count(void)
{
return encoder_count;
}
int32_t get_encoder_speed(void)
{
static int32_t last_count = 0;
static uint32_t last_time = 0;
uint32_t time = TIM_GetCounter(ENCODER_TIM);
int32_t count = encoder_count;
int32_t speed = (count - last_count) * 1000 / (time - last_time);
last_count = count;
last_time = time;
return speed;
}
int main(void)
{
encoder_init();
while (1)
{
int32_t count = get_encoder_count();
int32_t speed = get_encoder_speed();
// do something with count and speed
}
}
```
3. 在代码中,首先需要定义编码器的输入引脚和定时器模块。在`encoder_init`函数中,需要初始化GPIO引脚和定时器模块,并开启定时器中断。在中断处理函数中,可以读取编码器的A相和B相信号,并根据信号的变化来计算编码器的转速。在`get_encoder_count`函数中,可以获取编码器的计数值。在`get_encoder_speed`函数中,可以计算编码器的转速。
4. 最后,在主函数中可以调用`get_encoder_count`和`get_encoder_speed`函数来获取编码器的计数值和转速,并进行相应的处理。
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