《STM32F10xxx 正交编码器接口应用笔记》.pdfVIP

STM32F 10xxx STM32F10xxx Abstract --- The quadrature encoder which is very popular in the motor servo control application, known as a 2-channel incremental encoder, converts linear displacement into a pulse signal. By monitoring the number of pulses and the relative phase of the two signals you can track the position, the direction of rotation and speed. In ddition, a third channel, or index signal, can be used to reset the position counter. STM3210x which is the MCU based on ARM latest core - Cortex-M3, integrates the quadrature encoder interface. Accordingly STM3210x can handles the encoder signal without any CPU overhead which it is possible for CPU to focus on the vector control. , TM32F10x MCU MCU STM32F10x 1 A B Z A B +/- 90° 1 1/7 STM32F 10xxx 2 STM32F10x STM32F10x TI1 TI2 2.1 2 2.2 TI2 TIM1_SMCR SMS 001TI1 SMS 010 TI1 TI2 SMS 011 TIM1_CCER CC1P CC2P TI1 TI2 TI1 TI2 1 TIM1_CR1 CEN 1 TI1FP1 TI2FP2 TI1FP1 TI2FP2 TI1 TI2 TI1FP1 TI1TI2FP2 TI2 TIM1_CR1 DIR TI1 TI2 TI1 TI2 TI1 TI2 DIR 2/7 STM32F 10xxx 0 TIM1_ARR 0 ARR ARR 0 TIM1_ARR 2 1 TI1 TI2 MCU 2 CC1S ’01’ TIMx_CCMR1 IC1FP1 TI1 CC2S ’01’ TIMx_CCMR2 IC2FP2 TI2 CC1P ’0’ TIMx_CCER IC1FP1 IC1FP1 TI1 CC2P ’0’ TIMx_CCER IC2FP2 IC2FP2 TI2 SMS ’011’ TIMx_SMCR . CEN ’1’ TIMx_CR1 3/7 STM32F 10xxx 3 3 IC1FP1 CC1P ’1’ 4 IC1FP1 3 3.1 4/7 STM32F 10xxx FWLib STM32F10x Project source include 3.2 A B MCU PA6 PA7 TIM3_CH1 TIM3_CH2 LCD TIM3 -180 ~ +180 1 0.1Hz 3.3 main.c lcd.c LCD stm32f10x_encoder.c stm32f10x_it.c 2 stm32f10x_Timebase.c SysTick 2 main.c RCC_Configuration GPIO_Configuration GPIO NVIC_Configuration NVIC LcdShow_Init LCD Timer2 LCD KEYS_Init KEYS_Read 5/7 STM32F 10xxx 3 lcd.c Convert ASCII LCD write_char LCD write_string LCD int2char 4 stm32f10x_encoder.c ENC_Init Timer3 ENC_Get_Electrical_Angle ENC_Clear_Speed_Buffer ENC_Calc_Rot_Speed ENC_Calc_Average_Speed LCD_Display LCD TIM3_IRQHandler Timer3 Update 5 stm32f10x_it.c TIM2_IRQHandler Timer2 OC LCD 6 stm32f10x_Timebase.c TB_Init SysTick