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。3 \% t. p1 A6 A" z8 `+ d0 ~
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5 F3 T$ J, U8 @* ]1 y+ \% a以下为EXTI配置
6 x( S6 w* P3 f- <font face="微软雅黑" size="3">/* Data defien ---------------------------------------------------------------------------------------*/
; i, M9 ?* f" e- ?) G* `2 a - uint16_t motor_1_At = 0; //电机A相的脉冲数
. f0 \; c& E* U8 x7 B - uint16_t motor_1_Bt = 0; //电机B相的脉冲数
, [: e/ E8 n2 s' W4 t- ]( [ - uint16_t speed_motor_1; //电机的转速
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2 {7 ?) W6 u( ^3 o- V( F( `- /***
1 J7 B c/ b2 e1 `" l7 ^1 ?" ] - * @name speed_measure()
. q, G) B2 x3 |) {0 P+ I, b7 K - * @brief* h" T, ^7 G7 B1 U# b8 C! A: a
- * @param NONE
i7 f9 y' K# ?) I2 ` - * @retval NONE
0 ` [- J( d8 L2 Z - */
1 P7 C- r& J$ p - void speed_measure_extix(void)
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7 V4 W0 \4 q& j, E$ d0 ~0 H& L; D0 h - EXTI_InitTypeDef EXTI_InitStructure;" c; |: [5 t' R% [2 g
- NVIC_InitTypeDef NVIC_InitStructure;- ~1 D e3 |7 Q
- GPIO_InitTypeDef GPIO_InitStructure;
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- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG|RCC_APB2Periph_GPIOD, ENABLE); //使能PORTA,PORTE时钟
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- RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
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- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //motor_1_A-->PG9# W2 M( i' ^* v0 a$ m6 A) d& W9 R
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;0 K8 }; B: a+ d. g/ U
- GPIO_Init(GPIOG, &GPIO_InitStructure);
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- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //motor_1_B-->PD8
4 P2 \$ T ?2 A: a p% Y- x - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;6 S" J% ^% e4 P2 J' _4 q8 t# c( T
- GPIO_Init(GPIOD, &GPIO_InitStructure);8 l: b( K8 ?" s5 u9 E+ ^7 i4 f6 c
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-
7 V5 M% k" r5 l0 U2 ^0 E( M) G - GPIO_EXTILineConfig(GPIO_PortSourceGPIOG,GPIO_PinSource9);! {7 O- x6 R' q( U& Q: W' t
- EXTI_InitStructure.EXTI_Line = EXTI_Line9;
a9 e+ u% \! C, \$ z7 W1 b2 B, W. r. \ - EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
$ e. U; H5 y) v5 X$ g5 l" E - EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
( b. k* Z( {( [, B! u# R- s - EXTI_InitStructure.EXTI_LineCmd = ENABLE;
" u$ [6 u; c1 U# ], ~- _ - EXTI_Init(&EXTI_InitStructure);
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$ o8 y# @ N* J4 q) S! T - GPIO_EXTILineConfig(GPIO_PortSourceGPIOD,GPIO_PinSource8);9 _" X; n u5 K
- EXTI_InitStructure.EXTI_Line = EXTI_Line8;' K9 f9 W9 q# F9 X6 F2 d6 H4 q
- EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
# Q$ a8 a6 `! {5 T% Z& b# F# N: a - EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
1 M6 f |2 w" t2 X! @ - EXTI_InitStructure.EXTI_LineCmd = ENABLE;
, X. _/ p! \' C. a5 A - EXTI_Init(&EXTI_InitStructure);
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- NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
2 L% s( H: V" ` - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02;
* l) T, q2 m* W+ d1 t; E - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0X00;
' J8 R; u+ B" [! I, D1 K - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+ x; [+ G) W$ T8 n' V$ g/ X# Z - NVIC_Init(&NVIC_InitStructure);
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1 W' Z' B6 A" w3 ?! O* U9 @5 Z& B- void EXTI9_5_IRQHandler(void)- J( B5 I% _0 T
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- if(EXTI_GetITStatus(EXTI_Line8)!=RESET)//判断某个线上的中断是否发生
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$ o2 m& N; x4 h. B- b- R - motor_1_Bt++;" D- E l% ^2 Y; f& l
- EXTI_ClearITPendingBit(EXTI_Line8);! m4 _( p9 b; \7 |8 l4 g8 Y
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- if(EXTI_GetITStatus(EXTI_Line9)!=RESET)//判断某个线上的中断是否发生2 ?; O$ B9 X1 C% K3 s3 e6 C
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- motor_1_At++;
) m; r; m( Q- i - EXTI_ClearITPendingBit(EXTI_Line9);
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- </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:
! r, A# s# O% I% W- <font face="微软雅黑" size="3">/***6 j$ _6 W; N# I- i
- * @name speed_measure_time()
7 q$ Q2 {" S5 ?! x/ U D - * @brief TIM2
6 D& S- K4 M% } - * @param NONE+ T5 B0 e, T0 a+ _7 n
- * @retval NONE7 u/ t, E! P2 [. v8 Q' f' p
- */4 T% o6 O# E* J
- void speed_measure_time(u16 arr, u16 psc)/ _: x9 n4 o7 L( s4 T5 L
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- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;: A: y( n1 t- O( p3 `; k- B
- NVIC_InitTypeDef NVIC_InitStructure;
8 p H3 ?" x6 T' e: p - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
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- TIM_TimeBaseStructure.TIM_Period = arr;) h: r3 P% ~; B1 X4 d6 P7 b
- TIM_TimeBaseStructure.TIM_Prescaler = psc;1 o5 g; N: q" z7 [; d- F* H
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;3 C% _0 Z' Q% K: [! l5 o2 ` _
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;/ E7 g9 g/ Z1 X8 K
- TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);9 j6 ~! Y* h- Q4 A
- TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);8 u) b) w e: X1 R
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- NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;5 ]- J! q; S' N
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
5 E4 Z8 |6 B8 f/ h7 D7 h - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;, d8 a& r$ X/ o! L6 y: n
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
3 ]" O6 Q9 ~/ u0 @9 k( W - NVIC_Init(&NVIC_InitStructure);
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- TIM_Cmd(TIM2, ENABLE);) @# u: ^- \! a# h+ q
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- }
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! K1 p& ^1 R( }2 }6 m4 u- void TIM2_IRQHandler(void)
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- if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
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( V" m0 ?+ F2 E4 L - TIM_ClearITPendingBit(TIM2, TIM_IT_Update);& X4 X* ^- R' J7 N; H6 S2 A7 f$ c$ E
- speed_motor_1 = (motor_1_At + motor_1_Bt);
4 u5 K3 V- t( r: d - motor_1_At = 0;
L4 S, g; w# T; N! H4 O - motor_1_Bt = 0;$ `: A# u7 ]3 z
-
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- }: L" X8 ?+ k; O
- </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) ;$ L) i2 U0 l* G) K# T5 T
- void speed_measure_time(u16 arr, u16 psc);</font>
复制代码 0 W* V3 ] I L4 z1 b
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