Dri_TIM.c

#include "Dri_TIM.h"/*** @description: TIM4初始化，pwm模式* @return {*}*/
void Dri_TIM4_Init()
{/* 1.  开启时钟*//* 1.1 定时器4的时钟 */RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;/* 1.2 GPIO的时钟 PB */RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;/* 2. 设置GPIO的复用推挽输出 PB8 CNF=10 MODE=11*/GPIOB->CRH |= (GPIO_CRH_CNF8_1 | GPIO_CRH_MODE8);GPIOB->CRH &= ~GPIO_CRH_CNF8_0;/* 2. 设置GPIO的复用推挽输出 PB9 CNF=10 MODE=11*/GPIOB->CRH |= (GPIO_CRH_CNF9_1 | GPIO_CRH_MODE9);GPIOB->CRH &= ~GPIO_CRH_CNF9_0;/* 3. 定时器配置 *//* pwm频率=10k； pwm频率= 72M(时钟频率) /(PSC*ARR) *//* 3.1 预分频器的配置 */TIM4->PSC = 1 - 1;/* 3.2 自动重装载寄存器的配置 */TIM4->ARR = 7200 - 1;/* 3.3 计数器的计数方向 0=向上 1=向下*/TIM4->CR1 &= ~TIM_CR1_DIR;/* 4. pwm CH3相关配置 *//* 4.1 配置通道3的占空比 */TIM4->CCR3 = 0;/* 4.2 把通道3配置为输出  CCMR2_CC3S=00 输出*/TIM4->CCMR2 &= ~TIM_CCMR2_CC3S;/* 4.3 配置通道的输出比较模式 CCMR2_OC3M=110，pwm模式1*/TIM4->CCMR2 |= TIM_CCMR2_OC3M_2;TIM4->CCMR2 |= TIM_CCMR2_OC3M_1;TIM4->CCMR2 &= ~TIM_CCMR2_OC3M_0;/* 4.4 使能通道3  CCER_CC3E=1 */TIM4->CCER |= TIM_CCER_CC3E;/* 4.5 设置通道的极性 0=高电平有效  1=低电平有效 */TIM4->CCER &= ~TIM_CCER_CC3P;/* 5 CH4的相关配置 *//* 5.1 配置通道4的占空比 */TIM4->CCR4 = 0;/* 5.2 把通道4配置为输出  CCMR2_CC4S=00 输出*/TIM4->CCMR2 &= ~TIM_CCMR2_CC4S;/* 5.3 配置通道的输出比较模式 CCMR2_OC4M=110，pwm模式1*/TIM4->CCMR2 |= TIM_CCMR2_OC4M_2;TIM4->CCMR2 |= TIM_CCMR2_OC4M_1;TIM4->CCMR2 &= ~TIM_CCMR2_OC4M_0;/* 5.4 使能通道4  CCER_CC4E=1 */TIM4->CCER |= TIM_CCER_CC4E;/* 5.5 设置通道的极性 0=高电平有效  1=低电平有效 */TIM4->CCER &= ~TIM_CCER_CC4P;/* 6 使能定时器计数器 */TIM4->CR1 |= TIM_CR1_CEN;
}/*** @description: TIM2编码器模式：B1A、B1B* @return {*}*/
void Dri_TIM2_Init()
{/* 1.1 定时器2的时钟 */RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;/* 1.2 GPIO的时钟 PA\PB */RCC->APB2ENR |= (RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN|RCC_APB2ENR_AFIOEN);/* 关闭JTAG，但是启用SWD（SWJ_CFG=010） */AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_1;AFIO->MAPR &= ~(AFIO_MAPR_SWJ_CFG_2 | AFIO_MAPR_SWJ_CFG_0);/* 重映射引脚 TIM2_REMAP=11(PA15=TIM2-CH1,PB3=TIM2-CH2) */# AFIO->MAPR |= AFIO_MAPR_TIM2_REMAP_FULLREMAP;/* 初始化引脚，浮空输入（mode=00，cnf=01） */GPIOB->CRL &= ~GPIO_CRL_MODE3;GPIOB->CRL &= ~GPIO_CRL_CNF3_1;GPIOB->CRL |= GPIO_CRL_CNF3_0;GPIOA->CRH &= ~GPIO_CRH_MODE15;GPIOA->CRH &= ~GPIO_CRH_CNF15_1;GPIOA->CRH |= GPIO_CRH_CNF15_0;/* 定时器配置基本配置 *//* 3.1 预分频器的配置 */TIM2->PSC = 1 - 1;/* 3.2 自动重装载寄存器的配置，设为最大值 */TIM2->ARR = 0xFFFF;/* 关于编码器模式的配置 *//* 编码器3模式，SMS=011 */TIM2 -> SMCR |= TIM_SMCR_SMS;TIM2 -> SMCR &= ~TIM_SMCR_SMS_2;/* CC1S\CC2S = 01 */TIM2 -> CCMR1 |= (TIM_CCMR1_CC1S_0|TIM_CCMR1_CC2S_0);TIM2 -> CCMR1 &= ~(TIM_CCMR1_CC1S_1|TIM_CCMR1_CC2S_1);/* CC1P\CC2P = 0 */TIM2 -> CCER &= ~(TIM_CCER_CC1P|TIM_CCER_CC2P);/* 使能定时器的计数器 */TIM2 ->CR1 |= TIM_CR1_CEN;}/*** @description: TIM3编码器模式：B2A、B2B* @return {*}*/
void Dri_TIM3_Init()
{/* 1.1 定时器2的时钟 */RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;/* 1.2 GPIO的时钟 PA\PB */RCC->APB2ENR |= (RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN|RCC_APB2ENR_AFIOEN);/* 关闭JTAG，但是启用SWD（SWJ_CFG=010） */AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_1;AFIO->MAPR &= ~(AFIO_MAPR_SWJ_CFG_2 | AFIO_MAPR_SWJ_CFG_0);/* 重映射引脚 TIM3_REMAP=10(PB4=TIM3-CH1,PB5=TIM3-CH2) */AFIO->MAPR |= AFIO_MAPR_TIM3_REMAP_1;AFIO->MAPR &= ~AFIO_MAPR_TIM3_REMAP_0;/* 初始化引脚，浮空输入（mode=00，cnf=01） */GPIOB->CRL &= ~GPIO_CRL_MODE4;GPIOB->CRL &= ~GPIO_CRL_CNF4_1;GPIOB->CRL |= GPIO_CRL_CNF4_0;GPIOB->CRL &= ~GPIO_CRL_MODE5;GPIOB->CRL &= ~GPIO_CRL_CNF5_1;GPIOB->CRL |= GPIO_CRL_CNF5_0;/* 定时器配置基本配置 *//* 3.1 预分频器的配置 */TIM3->PSC = 1 - 1;/* 3.2 自动重装载寄存器的配置，设为最大值 */TIM3->ARR = 0xFFFF;/* 关于编码器模式的配置 *//* 编码器3模式，SMS=011 */TIM3 -> SMCR |= TIM_SMCR_SMS;TIM3 -> SMCR &= ~TIM_SMCR_SMS_2;/* CC1S\CC2S = 01 */TIM3 -> CCMR1 |= (TIM_CCMR1_CC1S_0|TIM_CCMR1_CC2S_0);TIM3 -> CCMR1 &= ~(TIM_CCMR1_CC1S_1|TIM_CCMR1_CC2S_1);/* CC1P\CC2P = 0 */TIM3 -> CCER &= ~(TIM_CCER_CC1P|TIM_CCER_CC2P);/* 使能定时器的计数器 */TIM3 ->CR1 |= TIM_CR1_CEN;}

Dri_TIM.h

#ifndef __DRI_TIM_H
#define __DRI_TIM_H#include "stm32f10x.h"void Dri_TIM4_Init();void Dri_TIM2_Init();void Dri_TIM3_Init();#endif