stm32 编码器配置

stm32f103

void TIM4_Encoder_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;      

    //PB6: A TMI4_CH1, PB7 B TMI4_CH2 
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_StructInit(&GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;         
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);                           


    TIM_DeInit(TIM4);
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Period = ENCODER_CNT*4; 
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);              

    TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = 6; 
    TIM_ICInit(TIM4, &TIM_ICInitStructure);

    TIM_ClearFlag(TIM4, TIM_FLAG_Update);
    TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
    TIM4->CNT = 0;
    TIM_Cmd(TIM4, ENABLE);
}

stm32f407

void TIM4_Encoder_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;      

    //PD12 ch1  A,PD13 ch2 B 
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

    GPIO_StructInit(&GPIO_InitStructure); 
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;        
    GPIO_InitStructure.GPIO_Mode =  GPIO_Mode_AF;//GPIO_Mode_IN;//GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOD, &GPIO_InitStructure);                           

    GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4);

    TIM_DeInit(TIM4);
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Period = ENCODER_CNT*4;  
    TIM_TimeBaseStructure.TIM_Prescaler = 0; 
    TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1 ; 
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);              

    TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge ,TIM_ICPolarity_BothEdge); 
    TIM_ICStructInit(&TIM_ICInitStructure); 
    TIM_ICInitStructure.TIM_ICFilter = 6;   
    TIM_ICInit(TIM4, &TIM_ICInitStructure); 

    TIM_ClearFlag(TIM4, TIM_FLAG_Update); 
    TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); 
    TIM4->CNT = 0;//10000
    TIM_Cmd(TIM4, ENABLE);  
}