stm32定时器4重映射编码器
时间: 2023-12-11 13:03:14 浏览: 85
以下是使用STM32定时器4重映射编码器的步骤:
1. 配置定时器4为编码器模式,使用以下代码:
```c
TIM_Encoder_InitTypeDef sConfig = {0};
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0x0F;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0x0F;
if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
{
Error_Handler();
}
```
2. 配置定时器4 GPIO引脚,使用以下代码:
```c
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin : PB6 */
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PB7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
```
3. 在定时器中断回调函数中读取编码器计数器的值,使用以下代码:
```c
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if (htim->Instance == TIM4)
{
int count = (int)htim->Instance->CNT; // 读取计数器的值
// 处理编码器计数器的值
}
}
```
4. 开始定时器4,使用以下代码:
```c
if (HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL) != HAL_OK)
{
Error_Handler();
}
```
这样就可以使用STM32定时器4重映射编码器了。
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