7、STM32F103C8T6编码器电机测速

一、编码器测速初始化

1、开启对应外设时钟 

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

2、配置编码器两个信号的GPIO

	GPIO_InitTypeDef GPIO_InitStructure1;
	GPIO_InitStructure1.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_InitStructure1.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
	GPIO_InitStructure1.GPIO_Speed = GPIO_Speed_10MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure1);

3、配置时基单元

注：这里不需要配置定时器时钟，编码器接口会托管时钟，编码器接口就是一个带方向的外部时钟

TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;

//指定时钟分频：不分频
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
//注：ARR和PSC取值需要在 0-65535之间
TIM_TimeBaseInitStructure.TIM_Period = 65536 - 1;													
TIM_TimeBaseInitStructure.TIM_Prescaler = 1 - 1;

//重复计数器的值												
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;								
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);

4、配置输入捕获

TIM_ICInitTypeDef TIM_ICInitStructure;
//通道1
//给结构体赋默认值，结构体里面的参数并没有使用完，防止出错
TIM_ICStructInit(&TIM_ICInitStructure);
//选择通道
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
//选择输入捕获的滤波器 						
TIM_ICInitStructure.TIM_ICFilter = 0xf;
//边沿检查的极性选择 这里的上升沿是高低电平极性不翻转										
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;	
TIM_ICInit(TIM3, &TIM_ICInitStructure);

//通道2
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInitStructure.TIM_ICFilter = 0xf;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInit(TIM3, &TIM_ICInitStructure);

5、配置编码器接口模式

//修改极性，只需要改一个就行，改两个依然不变
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

6、启动定时器

TIM_Cmd(TIM3, ENABLE);

二、获取编码器位置

int16_t encoder_get(void)
{
	return TIM_GetCounter(TIM3);
}

三、获取编码器速度

int16_t encoder_get(void)
{
	int16_t temp;
	temp = TIM_GetCounter(TIM3);
	TIM_SetCounter(TIM3, 0);
	return temp;
}