STM32定时器配置为编码器模式(转)

CC1S=’01’ (TIMx_CCMR1寄存器， IC1FP1映射到TI1)
CC2S=’01’ (TIMx_CCMR2寄存器， IC2FP2映射到TI2)
CC1P=’0’ (TIMx_CCER寄存器， IC1FP1不反相， IC1FP1=TI1)
CC2P=’0’ (TIMx_CCER寄存器， IC2FP2不反相， IC2FP2=TI2)
SMS=’011’ (TIMx_SMCR寄存器，所有的输入均在上升沿和下降沿有效).
CEN=’1’ (TIMx_CR1寄存器，计数器使能)

1 /*TIM2初始化为编码器接口*/
2 void Encoder_Init_TIM2(void)
3 {
4 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
5 TIM_ICInitTypeDef TIM_ICInitStructure;
6 GPIO_InitTypeDef GPIO_InitStructure;
7
8 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定时器4的时钟
9 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PA端口时钟
10
11 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置
12 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
13 GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOA
14
15 TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
16 TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
17 TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
18 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
19 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数
20 TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
21 TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
22 TIM_ICStructInit(&TIM_ICInitStructure);
23 TIM_ICInitStructure.TIM_ICFilter = 10;
24 TIM_ICInit(TIM2, &TIM_ICInitStructure);
25 TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位
26 TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
27 //Reset counter
28 TIM_SetCounter(TIM2,0);
29 TIM_Cmd(TIM2, ENABLE);
30 }
31
32 /*TIM4初始化为编码器接口*/
33 void Encoder_Init_TIM4(void)
34 {
35 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
36 TIM_ICInitTypeDef TIM_ICInitStructure;
37 GPIO_InitTypeDef GPIO_InitStructure;
38 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟
39 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟
40
41 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置
42 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
43 GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB
44
45 TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
46 TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
47 TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
48 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
49 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数
50 TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
51 TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
52 TIM_ICStructInit(&TIM_ICInitStructure);
53 TIM_ICInitStructure.TIM_ICFilter = 10;
54 TIM_ICInit(TIM4, &TIM_ICInitStructure);
55 TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位
56 TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
57 //Reset counter
58 TIM_SetCounter(TIM4,0);
59 TIM_Cmd(TIM4, ENABLE);
60 }
61
62 /*单位时间编码器计数 输入定时器 输出速度值*/
63 int Read_Encoder(u8 TIMX)
64 {
65 int Encoder_TIM;
66 switch(TIMX)
67 {
68 case 2: Encoder_TIM= (short)TIM2 -> CNT; TIM2 -> CNT=0;break;
69 case 3: Encoder_TIM= (short)TIM3 -> CNT; TIM3 -> CNT=0;break;
70 case 4: Encoder_TIM= (short)TIM4 -> CNT; TIM4 -> CNT=0;break;
71 default: Encoder_TIM=0;
72 }
73 return Encoder_TIM;
74 }
75
76 void TIM4_IRQHandler(void)
77 {
78 if(TIM4->SR&0X0001)//溢出中断
79 {
80 }
81 TIM4->SR&=~(1<<0);//清除中断标志位
82 }
83
84 void TIM2_IRQHandler(void)
85 {
86 if(TIM2->SR&0X0001)//溢出中断
87 {
88 }
89 TIM2->SR&=~(1<<0);//清除中断标志位
90 }