RPM即转每分,表征设备每分钟的旋转次数。//电机每分钟转多少圈
p/R:表示一圈多少个脉冲
增量式编码器是将位移转换成周期性的电信号,再把这个电信号转变成计数脉冲,用脉冲的个数表示位移的大小
它是一种将旋转位移转换成一串数字脉冲信号的旋转式传感器,这些脉冲能用来控制角位移
双路输出的旋转编码器输出两组A/B相位差90度的脉冲,通过这两组脉冲不仅可以测量转速,还可以判断旋转的方向。
A.B两相联接,用于正反向计数、判断正反向和测速。
正转时,A相超前B相90°先进行相位输出,反转时,B相超前A相90°先进行相位输出
旋转编码器:5V
半圈增量200
左增右减
如单相联接,用于单方向计数,单方向测速。
A.B两相联接,用于正反向计数、判断正反向和测速。
TIM3编码器接口
定时器编码器模式两相脉冲必须由TIMx的ch1 ch2通道捕获。
IO口: PC6 - A
PC7 - B
电机:https://blog.csdn.net/u011511430/article/details/18048325
8100 p/R
TIM4编码器接口:5V
IO口: PB6 - A
PB7 - B
void tim3EncInit(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
//GPIO_StructInit(&GPIO_InitStructure);
/* Configure PC.06,07 as encoder input */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC,GPIO_PinSource6,GPIO_AF_TIM3);//?′ó?
GPIO_PinAFConfig(GPIOC,GPIO_PinSource7,GPIO_AF_TIM3);
/* Enable the TIM3 Update Interrupt */
// NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
// NVIC_Init(&NVIC_InitStructure);
/* Timer configuration in Encoder mode */
//TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling?
TIM_TimeBaseStructure.TIM_Period = 60000;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI1, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//配置定时器的编码器接口的函数
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 0;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(TIM3, TIM_FLAG_Update);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
//Reset counter
//TIM3->CNT = 30000;
TIM_SetCounter(TIM3, 30000);
// ENC_Clear_Speed_Buffer();
TIM_Cmd(TIM3, ENABLE);
}