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stm32正交编码器问题

2015-12-07 10:50 246 查看

查看了很多资料讲解到stm32编码器，自己也做学习了一下，用stm32外接as5047测试电动机的转速，经过调试可以测出来，但是问题在于电机的速度为什么和串口打印延时有关？？？路过的大神求教。。。#include "encoder.h"
#include "usart.h"
#include "usart.h"

#define TRUE 1
#define FALSE 0
s16 hPrevious_angle, hSpeed_Buffer[SPEED_BUFFER_SIZE], hRot_Speed;
static u8 bSpeed_Buffer_Index = 0;
static volatile u16 hEncoder_Timer_Overflow;
static unsigned char bIs_First_Measurement = TRUE;

void ENC_Init(void)
{
 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
 TIM_ICInitTypeDef TIM_ICInitStructure;

 GPIO_InitTypeDef GPIO_InitStructure;
 NVIC_InitTypeDef NVIC_InitStructure;

 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

 GPIO_StructInit(&GPIO_InitStructure);

 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
 GPIO_Init(GPIOA, &GPIO_InitStructure);

 NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
 NVIC_Init(&NVIC_InitStructure);

 TIM_DeInit(ENCODER_TIMER);
 TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

 TIM_TimeBaseStructure.TIM_Prescaler = 0;
 TIM_TimeBaseStructure.TIM_Period = 2000-1;
 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
 TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure);
 
 TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
 TIM_ICStructInit(&TIM_ICInitStructure);
 TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
 TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);

 TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);
 TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE);

 TIM3->CNT = COUNTER_RESET;

 ENC_Clear_Speed_Buffer();

 TIM_Cmd(ENCODER_TIMER, ENABLE);
}
/*
s16 ENC_Get_Electrical_Angle(void)
{
s32 temp;
temp = (s32)(TIM_GetCounter(ENCODER_TIMER)) * (s32)(4294967295 / (4*ENCODER_PPR));
return((s16)(temp/65536));
}
*/
void ENC_Clear_Speed_Buffer(void)
{
 u32 i;
 for (i=0;i<SPEED_BUFFER_SIZE;i++)
 {
 hSpeed_Buffer[i] = 0;
 }
 bIs_First_Measurement = TRUE;
}

s16 ENC_Calc_Rot_Speed(void)
{
 s32 wDelta_angle;
 u16 hEnc_Timer_Overflow_sample_one, hEnc_Timer_Overflow_sample_two;
 u16 hCurrent_angle_sample_one, hCurrent_angle_sample_two;
 signed long long temp;
 s16 haux;

 if (!bIs_First_Measurement)
 {
 hEnc_Timer_Overflow_sample_one = hEncoder_Timer
a25f
_Overflow;
 hCurrent_angle_sample_one = ENCODER_TIMER->CNT;
 hEnc_Timer_Overflow_sample_two = hEncoder_Timer_Overflow;
 hCurrent_angle_sample_two = ENCODER_TIMER->CNT;
 hEncoder_Timer_Overflow = 0;
 haux = ENCODER_TIMER->CNT;

 if (hEncoder_Timer_Overflow != 0)
 {
 haux = ENCODER_TIMER->CNT;
 hEncoder_Timer_Overflow = 0;
 }

 if (hEnc_Timer_Overflow_sample_one != hEnc_Timer_Overflow_sample_two)
 {
 hCurrent_angle_sample_one = hCurrent_angle_sample_two;
 hEnc_Timer_Overflow_sample_one = hEnc_Timer_Overflow_sample_two;
 }

 if ( (ENCODER_TIMER->CR1 & TIM_CounterMode_Down) == TIM_CounterMode_Down)
 {
 wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle -
 (hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR));
 }
 else
 {
 wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle +
( hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR));
 }
 temp = (signed long long)(wDelta_angle * SPEED_SAMPLING_FREQ);
 temp *= 10; // 0.1 Hz resolution
 temp /= (4*ENCODER_PPR);
 }
 else
 {
 bIs_First_Measurement = FALSE;
 temp = 0;
 hEncoder_Timer_Overflow = 0;
 haux = ENCODER_TIMER->CNT;
 if (hEncoder_Timer_Overflow != 0)
 {
 haux = ENCODER_TIMER->CNT;
 hEncoder_Timer_Overflow = 0;
 }
 }
 hPrevious_angle = haux;
 return((s16) temp);
}

s16 ENC_Calc_Average_Speed(void)
{
 s32 wtemp,wtemp_1=0;
 u32 i;

 for (i=0;i<SPEED_BUFFER_SIZE;i++)
 {
 if (bSpeed_Buffer_Index == SPEED_BUFFER_SIZE)
 {
 bSpeed_Buffer_Index = 0;
 }
 wtemp = ENC_Calc_Rot_Speed();
 hSpeed_Buffer[bSpeed_Buffer_Index] = (s16)wtemp;
 bSpeed_Buffer_Index++;
 wtemp_1 += wtemp;
 }
 wtemp_1 /= SPEED_BUFFER_SIZE;

 hRot_Speed = ((s16)(wtemp_1));
 return hRot_Speed;
}

void TIM3_IRQHandler(void)
{
 TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);

 if (hEncoder_Timer_Overflow != 65535)
 {
 hEncoder_Timer_Overflow++;
 }
}

其实不用平均一下测试的转速更准确。。。。。。。。。。。

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