STM32F103RCT6+BTN7971B+JGB37-520+PWM驱动电机+USART串口读取电机转速

1.STM32F103RCT6最小系统板

2.硬件相关信息参见

 https://blog.csdn.net/zhenglu777999/article/details/124275752?spm=1001.2014.3001.5502

	GB37-520电机	GB37-520电机相连端子	BTN7971B模块 电源电机侧	BTN7971B模块 电源电机侧相连端子	BTN7971B模块 单片机侧	BTN7971B模块 单片机侧相连端子
1	M+		OUT1	M+	5V+
2	M-		OUT2	M-	IN1	TIM8_CH1 PC6
3	GND	单片机GND	VCC	7.2V	IN2	TIM8_CH2 PC7
4	VCC	3.3V	GND	电源GND	GND	单片机GND
5	B	TIM2_CH1 PA15
6	A	TIM2_CH2 PB3

 3.STM32CubeIDE中CubeMX配置TIM2、TIM8和USART。

 

  4.生成代码后，在Core->Src->tim.c文件inlcude代码沙盒中添加以下代码。 

/* USER CODE BEGIN Includes */
#include 
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{

    HAL_UART_Transmit(&huart1 , (uint8_t *)&ch, 1 , 0xffff);
    return ch;
}

#define LOG_ENABLE 1
#if LOG_ENABLE
#define log(format,...) printf(format"\r\n",##__VA_ARGS__)
#else
#define log(format,...)
#endif
/* USER CODE END Includes */

  /* USER CODE BEGIN 2 */
  HAL_TIM_Encoder_Start(&htim2,TIM_CHANNEL_1|TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim8,TIM_CHANNEL_1);
  //HAL_TIM_PWM_Start(&htim8,TIM_CHANNEL_2);
  __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_1,3000);
  //__HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_2,3000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  int rate=10;
  float startTime = HAL_GetTick();

  while (1)
  {
	  //HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_2);
	  //HAL_Delay(500);
	  if(HAL_GetTick()-startTime>(((float)1000)/rate))
	  	  {
	  		  startTime=HAL_GetTick();
	  		  short i = __HAL_TIM_GET_COUNTER(&htim2);
	  		  float c=((float)i)/2/2/13/30;
	  		  float speed=c*rate;
	  		  log("speed:%d",(int)speed*100);
	  		  __HAL_TIM_SET_COUNTER(&htim2, 0);
	  	  }
    /* USER CODE END WHILE */

 5.通过串口工具SSCOM，可以看到串口输出结果，负号是转速方向，单位为每分钟转速。