STM32编码器控制舵机_stm32旋转编码器控制舵机

STM32编码器控制舵机

运用TIM2和TIM3得到编码器输入和输出PWM波控制sg90舵机旋转角度

main.c

#include "stm32f10x.h"                  // Device header
#include "OLED.h"
#include "Encoder.h"
#include "Servo.h"

int16_t angle;
int main(void)
{
	OLED_Init();
	Encoder_Init();
	Servo_Init();

	while (1)
	{
		OLED_ShowSignedNum(1, 1, Encoder_Get(), 5);
		angle = Encoder_Get();
		if(angle < -100)
			angle = -100;
		else if(angle > 100)
			angle = 100;
		Servo_SetAngle(10 * angle + 1500);
	}
}

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Encoder.h

#ifndef __ENCODER_H
#define __ENCODER_H

void Encoder_Init(void);
int16_t Encoder_Get(void);

#endif

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Encoder.c

#include "stm32f10x.h"                  // Device header

void Encoder_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 65536 - 1;
	TIM_TimeBaseInitStructure.TIM_Prescaler = 1 - 1;
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);
	
	TIM_ICInitTypeDef TIM_ICInitStructure;
	TIM_ICStructInit(&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_ICFilter = 0xF;
	TIM_ICInit(TIM3, &TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
	TIM_ICInit(TIM3, &TIM_ICInitStructure);

	TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
	TIM_Cmd(TIM3, ENABLE);
}


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

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servo.h

#ifndef __Servo_H
#define __Servo_H

void Servo_Init(void);
void Servo_SetAngle(int16_t angle);

#endif

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servo.c

#include "stm32f10x.h"                  // Device header

void Servo_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	TIM_InternalClockConfig(TIM2);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;
	TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
	
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = 0;
	TIM_OC2Init(TIM2, &TIM_OCInitStructure);
	
	TIM_Cmd(TIM2, ENABLE);
}

void Servo_SetAngle(uint16_t angle)
{
	TIM_SetCompare2(TIM2, angle);
}

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