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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。
以下为EXTI配置
/* Data defien ---------------------------------------------------------------------------------------*/ uint16_t motor_1_At = 0; //电机A相的脉冲数 uint16_t motor_1_Bt = 0; //电机B相的脉冲数 uint16_t speed_motor_1; //电机的转速 /*** * @name speed_measure() * @brief * @param NONE * @retval NONE */ void speed_measure_extix(void) { EXTI_InitTypeDef EXTI_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG|RCC_APB2Periph_GPIOD, ENABLE); //使能PORTA,PORTE时钟 RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //motor_1_A-->PG9 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; GPIO_Init(GPIOG, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //motor_1_B-->PD8 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; GPIO_Init(GPIOD, &GPIO_InitStructure); GPIO_EXTILineConfig(GPIO_PortSourceGPIOG,GPIO_PinSource9); EXTI_InitStructure.EXTI_Line = EXTI_Line9; EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising; EXTI_InitStructure.EXTI_LineCmd = ENABLE; EXTI_Init(&EXTI_InitStructure); GPIO_EXTILineConfig(GPIO_PortSourceGPIOD,GPIO_PinSource8); EXTI_InitStructure.EXTI_Line = EXTI_Line8; EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising; EXTI_InitStructure.EXTI_LineCmd = ENABLE; EXTI_Init(&EXTI_InitStructure); NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0X00; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } void EXTI9_5_IRQHandler(void) { if(EXTI_GetITStatus(EXTI_Line8)!=RESET)//判断某个线上的中断是否发生 { motor_1_Bt++; EXTI_ClearITPendingBit(EXTI_Line8); } if(EXTI_GetITStatus(EXTI_Line9)!=RESET)//判断某个线上的中断是否发生 { motor_1_At++; EXTI_ClearITPendingBit(EXTI_Line9); } }
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:
/*** * @name speed_measure_time() * @brief TIM2 * @param NONE * @retval NONE */ void speed_measure_time(u16 arr, u16 psc) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); TIM_TimeBaseStructure.TIM_Period = arr; TIM_TimeBaseStructure.TIM_Prescaler = psc; TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); TIM_Cmd(TIM2, ENABLE); } void TIM2_IRQHandler(void) { if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) { TIM_ClearITPendingBit(TIM2, TIM_IT_Update); speed_motor_1 = (motor_1_At + motor_1_Bt); motor_1_At = 0; motor_1_Bt = 0; } }
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:
void speed_measure_extix(void) ;
void speed_measure_time(u16 arr, u16 psc);
仅为个人拙见…如有不当请指正。谢谢!!
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