stm32的通用计数器用于编码器的脉冲计数

这周做电脑鼠的编码器模块，整整的折腾了一周。
这过程真是让我们哭笑不得，我们打算用TIM3的CH3和CH4通道采集左电机的pwm来测速和测距，用TIM4的CH2和CH1来测右电机的。
写代码时，我们先做的是左电机的，整整闹到了礼拜五，才发现通用定时器的CH3和CH4通道不能用来做PWM输入，晕！！下面是我们的配置之一，拿出来与大家分享分享！
  我们用GPIO_B_7,TIMER4的二通道

 void MY_CONFIG(void)
{
   NVIC_InitTypeDef NVIC_InitStructure;  
   GPIO_InitTypeDef GPIO_InitStructure;
   TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
   /* TIM4 clock source enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
  /* Enable GPIOA, clock */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
 

GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_7; 
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; 
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; 
GPIO_Init(GPIOB, &GPIO_InitStructure);

//TIM4输出初始化 
TIM_DeInit(TIM4);  
TIM_TimeBaseStructure.TIM_Period = 100; //计数值=100-1 
TIM_TimeBaseStructure.TIM_Prescaler = 0; //预分频 
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //时钟分割 
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Down; //模式 
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //基本初始化

TIM_SetCounter(TIM4, 100); //设置 TIM4 计数器寄存器值  
 //设置 TIMx 自动重装载寄存器值 
 TIM_ARRPreloadConfig(TIM4, ENABLE);
TIM_SelectInputTrigger(TIM4, TIM_TS_TI2FP2); //若为通道1 ，则为TIM_TS_TI1FP1
//TIM_SelectInputTrigger(TIM2, TIM_TS_TI1F_ED); 
TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_External1); 
//TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset);

TIM_SetCompare2(TIM4, 100); //若用1通道。则为：TIM_SetComper1(TIM4,100);
TIM_Cmd(TIM4, ENABLE); //启动TIM4 
TIM_ClearFlag(TIM4, TIM_IT_CC2); //若用一通道，则此处和后面的TIM_IT_CC2都改为TIM_IT_CC1
TIM_ITConfig(TIM4, TIM_IT_CC2, ENABLE)
//中断配置

NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQChannel;; // 
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //抢占优先级0 
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //响应优先级0 
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //允许中断 
NVIC_Init(&NVIC_InitStructure);    //写入设置 
}

void TIM4_IRQHandler(void) 
{

TIM_ClearFlag(TIM4, TIM_IT_CC2);

} 
悲催了，还得重新画板子。不过关于stm32的通用定时器学到了不少，继续加油