STM32F4寄存器初始化：编码器

RCC->APB1ENR|=1<<0; //TIM2时钟使能 RCC->APB1ENR|=1<<1; //TIM3时钟使能 RCC->APB1ENR|=1<<3; //TIM5时钟使能 RCC->APB2ENR|=1<<1; //TIM8时钟使能 GPIO_AF_Set(GPIOD,12,2); //PD12,AF2 GPIO_AF_Set(GPIOD,13,2); //PD13,AF2 static void _TIM2_Configuration(void) { TIM2->PSC = 0x0;//预分频器 TIM2->ARR = 65535;//设定计数器自动重装值 TIM2->CR1 &=~(3<<8);// 选择时钟分频：不分频 TIM2->CR1 &=~(3<<5);// 选择计数模式:边沿对齐模式 TIM2->CCMR1 |= 1<<0; //CC1S='01' IC1FP1映射到TI1 TIM2->CCMR1 |= 1<<8; //CC2S='01' IC2FP2映射到TI2 TIM2->CCER &= ~(1<<1); //CC1P='0' IC1FP1不反相，IC1FP1=TI1 TIM2->CCER &= ~(1<<5); //CC2P='0' IC2FP2不反相，IC2FP2=TI2 TIM2->CCMR1 |= 3<<4; // IC1F='1000' 输入捕获1滤波器 TIM2->SMCR |= 3<<0; //SMS='011' 所有的输入均在上升沿和下降沿有效 TIM2->CR1 |= 0x01; //CEN=1，使能定时器 } static void _TIM3_Configuration(void) { TIM3->PSC = 0x0;//预分频器 TIM3->ARR = 65535;//设定计数器自动重装值 TIM3->CR1 &=~(3<<8);// 选择时钟分频：不分频 TIM3->CR1 &=~(3<<5);// 选择计数模式:边沿对齐模式 TIM3->CCMR1 |= 1<<0; //CC1S='01' IC1FP1映射到TI1 TIM3->CCMR1 |= 1<<8; //CC2S='01' IC2FP2映射到TI2 TIM3->CCER &= ~(1<<1); //CC1P='0' IC1FP1不反相，IC1FP1=TI1 TIM3->CCER &= ~(1<<5); //CC2P='0' IC2FP2不反相，IC2FP2=TI2 TIM3->CCMR1 |= 3<<4; // IC1F='1000' 输入捕获1滤波器 TIM3->SMCR |= 3<<0; //SMS='011' 所有的输入均在上升沿和下降沿有效 TIM3->CR1 |= 0x01; //CEN=1，使能定时器 } static void _TIM5_Configuration(void) { TIM5->PSC = 0x0;//预分频器 TIM5->ARR = 65535;//设定计数器自动重装值 TIM5->CR1 &=~(3<<8);// 选择时钟分频：不分频 TIM5->CR1 &=~(3<<5);// 选择计数模式:边沿对齐模式 TIM5->CCMR1 |= 1<<0; //CC1S='01' IC1FP1映射到TI1 TIM5->CCMR1 |= 1<<8; //CC2S='01' IC2FP2映射到TI2 TIM5->CCER &= ~(1<<1); //CC1P='0' IC1FP1不反相，IC1FP1=TI1 TIM5->CCER &= ~(1<<5); //CC2P='0' IC2FP2不反相，IC2FP2=TI2 TIM5->CCMR1 |= 3<<4; // IC1F='1000' 输入捕获1滤波器 TIM5->SMCR |= 3<<0; //SMS='011' 所有的输入均在上升沿和下降沿有效 TIM5->CR1 |= 0x01; //CEN=1，使能定时器 } static void _TIM8_Configuration(void) { TIM8->PSC = 0x0;//预分频器 TIM8->ARR = 65535;//设定计数器自动重装值 TIM8->CR1 &=~(3<<8);// 选择时钟分频：不分频 TIM8->CR1 &=~(3<<5);// 选择计数模式:边沿对齐模式 TIM8->CCMR1 |= 1<<0; //CC1S='01' IC1FP1映射到TI1 TIM8->CCMR1 |= 1<<8; //CC2S='01' IC2FP2映射到TI2 TIM8->CCER &= ~(1<<1); //CC1P='0' IC1FP1不反相，IC1FP1=TI1 TIM8->CCER &= ~(1<<5); //CC2P='0' IC2FP2不反相，IC2FP2=TI2 TIM8->CCMR1 |= 3<<4; // IC1F='1000' 输入捕获1滤波器 TIM8->SMCR |= 3<<0; //SMS='011' 所有的输入均在上升沿和下降沿有效 TIM8->CR1 |= 0x01; //CEN=1，使能定时器 } //读取 void TIM7_IRQHandler(void) //100ms { if( TIM7->SR ) { _speed_encode[0] = (short)TIM8 -> CNT; TIM8 -> CNT=0; _speed_encode[1] = (short)TIM2 -> CNT; TIM2 -> CNT=0; _speed_encode[2] = (short)TIM3 -> CNT; TIM2 -> CNT=0; _speed_encode[3] = (short)TIM5 -> CNT; TIM5 -> CNT=0; TIM7->SR&=~(1<<0);//清除中断标志位 } }