stm32使用pwm和编码器模式（包含重映射）
#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;
}