stm32 中空编码器tim4初始化

#include "stm32f10x.h"
#include "encode.h"
#include "misc.h"
#include "nvic.h"
#include "sys.h" 
#include "delay.h"


void TIM4_Mode_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;   



//PB6 ch1  A,PB7 ch2 
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能TIM4时钟 
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能GPIOA时钟

GPIO_StructInit(&GPIO_InitStructure);//将GPIO_InitStruct中的参数按缺省值输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;         
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//PA6 PA7浮空输入 
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure); 

GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_12|GPIO_Pin_14;//PE2~4
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //设置成上拉输入
  GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化GPIOE2,3,4


TIM_DeInit(TIM4);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 359*4;  //设定计数器重装值   TIMx_ARR = 359*4
TIM_TimeBaseStructure.TIM_Prescaler = 0; //TIM3时钟预分频值
TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;//设置时钟分割 T_dts = T_ck_int 
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数 
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);              
                 
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising ,TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);//将结构体中的内容缺省输入
TIM_ICInitStructure.TIM_ICFilter = 6;  //选择输入比较滤波器 
TIM_ICInit(TIM4, &TIM_ICInitStructure);//将TIM_ICInitStructure中的指定参数初始化TIM3

  //TIM_ARRPreloadConfig(TIM4, ENABLE);//使能预装载
//TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM3的更新标志位
//TIM_ITConfig(TIM4, TIM_IT_Update, DISABLE);//运行更新中断
//Reset counter
TIM4->CNT = 0;//


TIM_Cmd(TIM4, ENABLE);   //启动TIM4定时器