[嵌入式]stm32 减速电机

型号：CHR-GM37-520

参数：

?电机轴转一圈可以产生11个脉冲信号；

电机减速比为1：90；

实际产生脉冲数：90*11 = 990；

采用4倍频后脉冲数：990 * 4 =?3,960；

测数方法：在一定时间内，捕获脉冲数。

实际速度：一圈对应3960个脉冲，物理计算出一圈的长度，除以时间，得到实际速度。

code : timer?

#include "timer.h"
#include "sys.h"
#include "delay.h"

float cnt;
int Tim3_Arr = 5999;
int Tim3_Psc = 0;
void Encoder_Init_TIM3(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_ICInitTypeDef TIM_ICInitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	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_TimeBaseStructInit(&TIM_TimeBaseInitStructure);
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = Tim3_Arr;
	TIM_TimeBaseInitStructure.TIM_Prescaler = Tim3_Psc;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);
	
	TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
	
	TIM_ICStructInit(&TIM_ICInitStructure);
	TIM_ICInitStructure.TIM_ICFilter = 10;		//滤波器值
	TIM_ICInit(TIM3, &TIM_ICInitStructure);
	
	TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);	//允许TIM3溢出中断
	
	NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn; 
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01; 
    NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x01; 
    NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
    NVIC_Init(&NVIC_InitStructure);

	TIM_SetCounter(TIM3, 0);	//TIM3 ->CNT = 0
	TIM_Cmd(TIM3, ENABLE);
}

void Timer_Init_TIM4(u16 arr, u16 psc)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);  ///使能TIM4时钟
	
	TIM_TimeBaseInitStructure.TIM_Period = arr; 	//自动重装载值
	TIM_TimeBaseInitStructure.TIM_Prescaler=psc;  //定时器分频
	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1; 
	
	TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);//初始化TIM3
	TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE); //允许定时器4更新中断
	TIM_Cmd(TIM4,ENABLE); //使能定时器4
	
	NVIC_InitStructure.NVIC_IRQChannel=TIM4_IRQn; //定时器3中断
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x00; //抢占优先级1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x03; //子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
	NVIC_Init(&NVIC_InitStructure);

}



void TIM3_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM3,TIM_IT_Update)==SET)//溢出中断
	{
			   				     	    	
	}				   
	TIM_ClearITPendingBit(TIM3,TIM_IT_Update);  //清除中断标志位
}

void TIM4_IRQHandler(void)
{
	

	cnt=TIM_GetCounter(TIM3);
	TIM_SetCounter(TIM3,0);
	TIM_SetCounter(TIM4,0);
	if(TIM_GetITStatus(TIM4,TIM_IT_Update)==SET) //溢出中断
	{
		
	}	
	
	TIM_ClearITPendingBit(TIM4,TIM_IT_Update);  //清除中断标志位
	TIM_ClearITPendingBit(TIM3,TIM_IT_Update);  //清除中断标志位
}

code: main

#include "stm32f10x.h"
#include "sys.h"
#include "timer.h"
#include "delay.h"


float zheng;
float fu;

int main(void)
{	
	Timer_Init_TIM4(999, 7199);
	Encoder_Init_TIM3();
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
	delay_init();
	while(1)
	{
		if(cnt < Tim3_Arr/2)
		{
			zheng = cnt/3960;
		}
		else if(cnt > Tim3_Arr/2)
		{
			fu = (cnt - Tim3_Arr)/3960;
		}
	}
}