stm32霍尔编码器

霍尔编码器

想用一个定时器实现测速但是 TIM_Period ARR 过程中要读取cnt并置零 所以要两定时器

可用是stm32的霍尔编码功能；AB项那个上升沿先到判断cnt加减；

TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,
                                TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);检查全上升沿

无所谓方向问题实验一下就行了而且无法确认霍尔编码器那个的AB项（我菜我也不明白）

void  Speed_Init(void)
{
	GPIO_InitTypeDef  GPIO_Struct;
	TIM_TimeBaseInitTypeDef  TIM_Base_Struct;
	TIM_ICInitTypeDef TIM_IC_Struct;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
	
	GPIO_Struct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Struct.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;
	GPIO_Init(GPIOA,&GPIO_Struct);
	
	TIM_DeInit(TIM3);//预防
	TIM_Base_Struct.TIM_Period = 6000;
	TIM_Base_Struct.TIM_Prescaler = 0;
	TIM_Base_Struct.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_Base_Struct.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInit(TIM3, &TIM_Base_Struct);
	
	TIM_EncoderInterfaceConfig(TIM3,TIM_EncoderMode_TI12,
                                TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//霍尔编码
	
	TIM_IC_Struct.TIM_ICFilter = 9;
	TIM_ICInit(TIM3, &TIM_IC_Struct);
	
    TIM_Cmd(TIM3, ENABLE);
	
}

static  void  NVIC_Tim6_Init(void)
{
	NVIC_InitTypeDef  NVIC_Tim6_Struct;
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
	NVIC_Tim6_Struct.NVIC_IRQChannel = TIM6_IRQn;
	NVIC_Tim6_Struct.NVIC_IRQChannelPreemptionPriority = 1;
	NVIC_Tim6_Struct.NVIC_IRQChannelSubPriority = 4;
	NVIC_Tim6_Struct.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_Tim6_Struct);
}

void  TIM6_Init(void)
{
	TIM_TimeBaseInitTypeDef  TIM_Base_Struct;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6,ENABLE);
	
	TIM_DeInit(TIM6);//预防
	TIM_Base_Struct.TIM_Period = 999;
	TIM_Base_Struct.TIM_Prescaler = 71;//1ms
	TIM_TimeBaseInit(TIM6, &TIM_Base_Struct);
	
	TIM_ClearFlag(TIM6, TIM_FLAG_Update);
	TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM6, ENABLE);
	
	NVIC_Tim6_Init();

}

利用ARR重装可以实现正负的判断极短的时间内计数不可能太高

#include "usart.h"
#include "tim_speed.h"
#include "delay.h"
int count = 0;
u16  time = 0;
float speed = 0;
int main (void)
{
	
	Speed_Init();
	USART_Config();
	delay_init();
	TIM6_Init();
	while(1){
		if(time == 500){
			count = (short)TIM3 -> CNT;  
			TIM3 -> CNT=0;
			if(time>5000){
				speed = count/1540*3.1415*2*0.03/(time/1000);
				printf("%5.3f\r\n",speed);
			}else {
				speed = (6000-count)/1540*3.1415*2*0.03/(time/1000);//由于电机年代久远搞不清楚减速比自己手动转一圈多次测试大概在1540
				printf("-%5.3f\r\n",speed);
			}
			time = 0;
		}
			
	}

}
void TIM6_IRQHandler(void)
{
	if ( TIM_GetITStatus( TIM6, TIM_IT_Update) != RESET ){	
		time++;
		TIM_ClearITPendingBit(TIM6 , TIM_FLAG_Update);  		
	}		 
}

学习中。。。。。仅作参考。