stm32f103測脈沖數用于帶霍爾編碼器的電機測速

    在使用帶霍爾編碼器的電機時，需要捕獲脈沖，來達到測電機的轉速的目的，捕獲脈沖的方式有很多，我剛開始選用的是定時器捕獲，后因需要測度多個電機的速度，STM32F103的定時器感覺不夠用，所以選擇EXTI以達到捕獲高電平的目的，再用TIM定時器中斷計時，
   以下為EXTI配置

/* Data defien ---------------------------------------------------------------------------------------*/
uint16_t motor_1_At = 0;	//電機A相的脈沖數
uint16_t motor_1_Bt = 0;   //電機B相的脈沖數
uint16_t speed_motor_1;         //電機的轉速

/***
  * @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時鐘 
    
    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)//判斷某個線上的中斷是否發生
    {    
    motor_1_Bt++;
    EXTI_ClearITPendingBit(EXTI_Line8);
    }
    if(EXTI_GetITStatus(EXTI_Line9)!=RESET)//判斷某個線上的中斷是否發生
    {    
    motor_1_At++;
    EXTI_ClearITPendingBit(EXTI_Line9);
    }
    
}

因為unsigned char型別整數表示的范圍為： 0~2^8-1，所以需要用定時器進行置0，以下為代碼：

/***
  * @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;
        
    }
}

代碼中的speed_motor_1為設定時間內的電機A相與B相的脈沖數之和，
定時器時間的設定可以通過（u16 arr, u16 psc）實作，附上計算公式
T =[ (arr+1) + (psc+1)]/72000000

使用時直接呼叫這兩個函式：

void speed_measure_extix(void) ；
void speed_measure_time(u16 arr, u16 psc)；

僅為個人拙見…如有不當請指正，謝謝！！

若有疑問，歡迎私信提問

鏈接：https://pan.baidu.com/s/1iCFA-xKWU6-fxbiv-TsR5Q
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