基于STM32 HAL库 AB相编码器测速

iKixan

已于 2024-06-25 17:54:10 修改

阅读量248

点赞数 13

分类专栏：底层配置学习文章标签： stm32 嵌入式硬件单片机

于 2024-06-23 10:32:22 首次发布

本文链接：https://blog.csdn.net/w111155855/article/details/139896716

版权

底层配置学习专栏收录该内容

6 篇文章 0 订阅

订阅专栏

Cubemx配置

调试配置

时钟配置

打开定时器的编码器模式

设置自动重装载系数是8191

代码

MotorBoard_Encoder.h

#ifndef __MOTORBOARD_ENCODER_H_
#define __MOTORBOARD_ENCODER_H_

#include "main.h"
typedef struct {
short    speed[10];
short    speed_sum;
    
} ENCODER;
extern ENCODER encoder[2];


void			MotorBoard_Encoder_Init(void);

unsigned short  MotorBoard_Encoder_GetSpeed_0(void);
void 			MotorBoard_Encoder_SetZero_0(void);
void            read_Encoder_0();

unsigned short  MotorBoard_Encoder_GetSpeed_1(void);
void 			MotorBoard_Encoder_SetZero_1(void);
void            read_Encoder_1();


#endif

MotorBoard_Encoder.c

#include "MotorBoard_Encoder.h"
#include "stdio.h"
#include "tim.h"
ENCODER encoder[2];

void MotorBoard_Encoder_Init(void){
		HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL);
		HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);

}


unsigned short  MotorBoard_Encoder_GetSpeed_0(void){
		return __HAL_TIM_GET_COUNTER(&htim2);
}



unsigned short  MotorBoard_Encoder_GetSpeed_1(void){
		return __HAL_TIM_GET_COUNTER(&htim1);
}


void MotorBoard_Encoder_SetZero_0(void){
		__HAL_TIM_SET_COUNTER(&htim2,0);
}

void MotorBoard_Encoder_SetZero_1(void){
		__HAL_TIM_SET_COUNTER(&htim1,0);
}
	
	
	
void read_Encoder_0(){
	
	encoder[0].speed[0] = MotorBoard_Encoder_GetSpeed_0()>4096?(MotorBoard_Encoder_GetSpeed_0()-8192):MotorBoard_Encoder_GetSpeed_0();
	
	  MotorBoard_Encoder_SetZero_0();
	  	encoder[0].speed_sum=0;
	  	for(int i=0;i<10;i++)
	  	{	
		encoder[0].speed_sum+=(encoder[0].speed[i])*(10-i);
	  	}
		for(int i=0;i<9;i++)
		{
		encoder[0].speed[9-i]=encoder[0].speed[8-i];
		}
	  
}



void read_Encoder_1(){
	
	encoder[1].speed[0] = MotorBoard_Encoder_GetSpeed_1()>4096?(MotorBoard_Encoder_GetSpeed_1()-8192):MotorBoard_Encoder_GetSpeed_1();
	
	  MotorBoard_Encoder_SetZero_1();
	  	encoder[1].speed_sum=0;
	  	for(int i=0;i<10;i++)
	  	{	
		encoder[1].speed_sum+=encoder[1].speed[i]*(10-i);
	  	}
		for(int i=0;i<9;i++)
		{
		encoder[1].speed[9-i]=encoder[1].speed[8-i];
		}
	  
}

思路参考：基于STM32F103C6T6的AB相霍尔编码电机的PID转速调节（CubeMx-HAL库）（未完成-持续更新）_stm32f103 如何获得霍尔电机转速-CSDN博客