在使用带霍尔编码器的电机时,需要捕获脉冲,来达到测电机的转速的目的,捕获脉冲的方式有很多,我刚开始选用的是定时器捕获,后因需要测度多个电机的速度,STM32F103的定时器感觉不够用,所以选择EXTI以达到捕获高电平的目的,再用TIM定时器中断计时。" D% K8 X. J1 H( c5 g
9 Q- x( s( Q) G8 a& I. Q) n3 G
% _/ w) o4 O6 ~0 i+ } f以下为EXTI配置
2 o3 Y( ]1 X0 t5 h# P- <font face="微软雅黑" size="3">/* Data defien ---------------------------------------------------------------------------------------*/# X+ S* O' t3 E6 V5 C- A
- uint16_t motor_1_At = 0; //电机A相的脉冲数0 W7 j3 z! P4 J. p+ }
- uint16_t motor_1_Bt = 0; //电机B相的脉冲数
' h- G9 g5 y1 a7 ], Z - uint16_t speed_motor_1; //电机的转速$ m4 w3 n7 U' q9 W3 M( U6 f1 N
- 2 h2 n" i0 Y: B# }! t' Q. \! K. I
- /***
0 F$ |: g u# k& Z - * @name speed_measure()( K& t2 ?# ]3 ]3 E5 n
- * @brief
, b. N/ W8 g2 [3 C - * @param NONE9 L9 k, Y- l2 N l- o& s
- * @retval NONE
( z H# x7 `9 L$ _ u* B - *// J% h( N; C% K1 O1 \# ]8 }$ _/ ~
- void speed_measure_extix(void) ' T) Y4 R- p V! z+ s+ f/ }" W
- {
* M% K) k' c- h5 G% {% e5 v - EXTI_InitTypeDef EXTI_InitStructure;
6 j4 X) ^7 q7 w8 n- B+ G2 Z - NVIC_InitTypeDef NVIC_InitStructure;
) @( d3 b5 t, B& r0 C5 ]; b# Y$ `/ s - GPIO_InitTypeDef GPIO_InitStructure;
8 R# |8 K+ t/ W, _: X- ~( m# b# d) X4 H - 8 @& X& j0 }& n; Q( g- b4 s$ F, p
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG|RCC_APB2Periph_GPIOD, ENABLE); //使能PORTA,PORTE时钟 2 N9 B% H! h' v4 h
- + r. s5 J p8 ~& W- W
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
# R# j0 u% C8 D0 C/ U -
9 Z4 B8 S- M M. V I- q- S - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //motor_1_A-->PG9$ j& `* ]+ J0 ?1 y: x5 d
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;; C! q* c6 B1 L+ p0 B
- GPIO_Init(GPIOG, &GPIO_InitStructure);
! L; ^, L6 O# e' } -
7 i9 m+ R, z( [- r3 S9 W - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //motor_1_B-->PD8( V: w- X' Z: u7 `: V
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;8 u% P6 V" p) Y2 t, M
- GPIO_Init(GPIOD, &GPIO_InitStructure);2 Z4 [! [4 o: U
-
. i: f0 A# d1 g2 c - * \/ ]0 k9 [2 Z4 [# I6 B4 @, M
-
: Q/ W, F4 i: x) k0 g1 e5 l3 E" B% K - 6 Z) Z, h% M9 t5 W% {* i! ^
- GPIO_EXTILineConfig(GPIO_PortSourceGPIOG,GPIO_PinSource9);
: F- D% ~ m% u% v! x$ t( D - EXTI_InitStructure.EXTI_Line = EXTI_Line9;
/ q2 |: V( L$ H- d - EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
7 k1 I+ W8 S, `5 z6 O - EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;+ r: o9 k1 @2 L/ A
- EXTI_InitStructure.EXTI_LineCmd = ENABLE;9 @, h2 d) y% h7 e% T6 E
- EXTI_Init(&EXTI_InitStructure);
0 k2 C) e7 A" P8 J2 A -
2 I1 T8 l) d& `$ H! S - GPIO_EXTILineConfig(GPIO_PortSourceGPIOD,GPIO_PinSource8);- e+ B3 C! j- K4 @( q0 J
- EXTI_InitStructure.EXTI_Line = EXTI_Line8;
9 k" n& [+ _6 ^4 j0 G+ F - EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
1 o, B& o2 W# G2 X- m - EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;; A: u9 B9 g N2 D1 \7 ?" k6 L
- EXTI_InitStructure.EXTI_LineCmd = ENABLE;
`# Q2 ~( M* C/ F1 ~6 V - EXTI_Init(&EXTI_InitStructure);' ^; m$ e [3 l
- ! r/ d( J& A, Y) A, i
- NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;' Y/ Z3 S( [" @# V! n9 K/ D1 o/ `) Y
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02;2 y2 y$ X" Y) A
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0X00;
C! s' M! ]/ p! w - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
I/ v: ~& E3 x4 {& a) s" c - NVIC_Init(&NVIC_InitStructure);
$ x- A4 j. B, m- Y6 B( _' T - }- N# h* R2 Q( u$ N
- ; M. x }/ O. ~
- void EXTI9_5_IRQHandler(void)
- G5 Z6 C: Q3 F& W - {, X5 G# N, e7 `6 D4 p* M! p
- if(EXTI_GetITStatus(EXTI_Line8)!=RESET)//判断某个线上的中断是否发生
! F- P+ [9 _3 @- U3 Q+ X* S - {
4 B' b1 a9 B/ B. C9 J0 G - motor_1_Bt++;0 `4 j' C4 W. `, w
- EXTI_ClearITPendingBit(EXTI_Line8);- r4 s1 B* W5 E, P) L2 Q, @( Q
- }) p7 X4 M/ q& C% j" I1 c; F
- if(EXTI_GetITStatus(EXTI_Line9)!=RESET)//判断某个线上的中断是否发生
3 }7 s0 F" ~8 B; U! }( c: _5 X - {
' ?& W9 s. h% s# C$ }+ T, j5 j' _ - motor_1_At++;
* x; q( H4 q% M- f7 r& W1 ? - EXTI_ClearITPendingBit(EXTI_Line9);
1 f1 X( j4 _5 E5 e - }6 F& K5 x' |5 c7 p
-
4 Q5 M ~1 g6 j; R - }0 Y9 [: n" G. ^0 g% x$ g
- </font>
复制代码 因为unsigned char类型整数表示的范围为: 0~2^8-1,所以需要用定时器进行置0,以下为代码:. j& X, q) o# }2 x+ i
- <font face="微软雅黑" size="3">/***1 z& }- j4 T, D! G8 J
- * @name speed_measure_time()3 E* \& M6 E' X8 |9 t
- * @brief TIM2
# S- k6 i j0 \" Q- | - * @param NONE6 H. x! p- ^7 M& U
- * @retval NONE. v8 g2 m6 e& S- z: |) v# }/ F
- *// m3 X/ P( Z6 z5 g$ J9 {- k/ M
- void speed_measure_time(u16 arr, u16 psc)& w& \- |! e) M
- {0 Y+ g2 u0 k, c$ G1 F9 u3 |
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;9 ^, Z9 X8 n# p7 |; x j
- NVIC_InitTypeDef NVIC_InitStructure;: P4 U: C" u9 d
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);3 r- J" G1 F. b' r' r+ L* _* ^3 x
- # U% [" ~/ {2 R& o$ t( r- M% l
- TIM_TimeBaseStructure.TIM_Period = arr;
9 O, [+ W, e7 A" e9 J( @ - TIM_TimeBaseStructure.TIM_Prescaler = psc;3 |6 Z5 h0 P4 P$ k% }* B7 {; u
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
7 t6 j3 T( C' ^! T: o& D& C6 H - TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+ f1 `% R2 h6 ~# g" _% n9 T+ y - TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);) a, Y/ Z: a( r% i% V1 I1 L D6 Z
- TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
/ a+ O8 M3 g0 i2 t6 y& K -
2 V) ?$ F% B/ w1 ~, K2 { - NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
/ p; ]& e: w* v$ f% V3 K) U# U - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;/ S# {6 _% m1 ]) V
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
' ^0 n& M$ ]1 h8 h2 b( V/ k - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;! T: J1 D9 |' E2 l) ?+ }! n
- NVIC_Init(&NVIC_InitStructure);$ p/ d) A( _, F. M A6 p. t- f4 y
-
; g) \# @; R8 m3 u0 S L+ E - TIM_Cmd(TIM2, ENABLE);* R$ K" }( y0 R/ V
- # O( F* M, ]' k' @9 z
- }& D7 S4 p! S* o% Q/ a& Q3 ~0 R j
, A" W0 M. y& J9 J+ O/ d- void TIM2_IRQHandler(void)7 [8 m: x% y7 [' v) |# d" Q. k
- {
& T+ _9 u R7 i8 U+ ?" G9 Q& w* x - if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)! C# q7 ]9 [ d' ?
- {
) `- C7 J' P: {4 I - TIM_ClearITPendingBit(TIM2, TIM_IT_Update);' ?2 S* A, @3 H- b1 @2 A
- speed_motor_1 = (motor_1_At + motor_1_Bt);. |: j7 }' ^" u9 o$ V8 [
- motor_1_At = 0;
8 C( y8 z% g1 m6 ] - motor_1_Bt = 0;1 H! d; B$ C* ^ l3 C4 j# R
- 5 {) r Q8 f" T& b u
- }
2 B% h) |' e* v6 X# k6 p, V - }2 @2 Z. n! w1 E. @% H2 o2 k0 N" Q
- </font>
复制代码代码中的speed_motor_1为设置时间内的电机A相与B相的脉冲数之和。 定时器时间的设置可以通过(u16 arr, u16 psc)实现,附上计算公式 T =[ (arr+1) + (psc+1)]/72000000 使用时直接调用这两个函数: - <font face="微软雅黑" size="3">void speed_measure_extix(void) ;8 i; [) ]0 B- |( }+ e+ }
- void speed_measure_time(u16 arr, u16 psc);</font>
复制代码
/ I1 W% Z+ s$ |: l/ K" j
6 Y" b( k7 e+ ?7 \; d7 c1 \/ k |