相关具体内容参考 stm32f4xx_hal_time.h
几种模式函数的类型都差不多,包括基本类型(Base),输出比较(OC),输入捕获(IC),pwm(PWM),单脉冲(One_Pulse)和编码器(Encoder)。
/****** xxx使用上述几种模式的英文替换即可*******/
HAL_TIM_xxx_Init
HAL_TIM_xxx_DeInit
HAL_TIM_xxx_MspInit
HAL_TIM_xxx_MspDeInit
/*********轮询方式启动/停止******/
HAL_TIM_xxx_Start
HAL_TIM_xxx_Stop
/*********中断方式启动/停止******/
HAL_TIM_xxx_Start_IT
HAL_TIM_xxx_Stop_IT
/**********DMA方式启动/停止******/
HAL_TIM_xxx_Start_DMA
HAL_TIM_xxx_Stop_DMA
定时器基本函数:
/* Time Base functions ********************************************************/
HAL_StatusTypeDef HAL_TIM_Base_Init(TIM_HandleTypeDef *htim);
HAL_StatusTypeDef HAL_TIM_Base_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_Base_Start(TIM_HandleTypeDef *htim);
HAL_StatusTypeDef HAL_TIM_Base_Stop(TIM_HandleTypeDef *htim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_Base_Start_IT(TIM_HandleTypeDef *htim);
HAL_StatusTypeDef HAL_TIM_Base_Stop_IT(TIM_HandleTypeDef *htim);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIM_Base_Start_DMA(TIM_HandleTypeDef *htim, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIM_Base_Stop_DMA(TIM_HandleTypeDef *htim);
输出比较模式:
/* Timer Output Compare functions **********************************************/
HAL_StatusTypeDef HAL_TIM_OC_Init(TIM_HandleTypeDef *htim);
HAL_StatusTypeDef HAL_TIM_OC_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_OC_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_OC_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling 轮询模式*/
HAL_StatusTypeDef HAL_TIM_OC_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_OC_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt 中断模式 */
HAL_StatusTypeDef HAL_TIM_OC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_OC_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: DMA DMA模式*/
HAL_StatusTypeDef HAL_TIM_OC_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIM_OC_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Timer PWM functions *********************************************************/
HAL_StatusTypeDef HAL_TIM_PWM_Init(TIM_HandleTypeDef *htim);
HAL_StatusTypeDef HAL_TIM_PWM_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_PWM_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_PWM_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_PWM_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_PWM_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIM_PWM_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIM_PWM_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Timer Input Capture functions ***********************************************/
HAL_StatusTypeDef HAL_TIM_IC_Init(TIM_HandleTypeDef *htim);
HAL_StatusTypeDef HAL_TIM_IC_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_IC_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_IC_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_IC_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_IC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_IC_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIM_IC_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length);
HAL_StatusTypeDef HAL_TIM_IC_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
单脉冲模式:
/* Timer One Pulse functions ***************************************************/
HAL_StatusTypeDef HAL_TIM_OnePulse_Init(TIM_HandleTypeDef *htim, uint32_t OnePulseMode);
HAL_StatusTypeDef HAL_TIM_OnePulse_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_OnePulse_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_OnePulse_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_OnePulse_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
HAL_StatusTypeDef HAL_TIM_OnePulse_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_OnePulse_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
HAL_StatusTypeDef HAL_TIM_OnePulse_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
/* Timer Encoder functions *****************************************************/
HAL_StatusTypeDef HAL_TIM_Encoder_Init(TIM_HandleTypeDef *htim, TIM_Encoder_InitTypeDef* sConfig);
HAL_StatusTypeDef HAL_TIM_Encoder_DeInit(TIM_HandleTypeDef *htim);
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim);
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef *htim);
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_TIM_Encoder_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_Encoder_Stop(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_TIM_Encoder_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_Encoder_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Non-Blocking mode: DMA */
HAL_StatusTypeDef HAL_TIM_Encoder_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData1, uint32_t *pData2, uint16_t Length);
HAL_StatusTypeDef HAL_TIM_Encoder_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel);
中断处理函数:
/* Interrupt Handler functions **********************************************/
void HAL_TIM_IRQHandler(TIM_HandleTypeDef *htim);
/* Control functions *********************************************************/
HAL_StatusTypeDef HAL_TIM_OC_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OC_InitTypeDef* sConfig, uint32_t Channel);//配置输出比较通道
HAL_StatusTypeDef HAL_TIM_PWM_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OC_InitTypeDef* sConfig, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_IC_ConfigChannel(TIM_HandleTypeDef *htim, TIM_IC_InitTypeDef* sConfig, uint32_t Channel);
HAL_StatusTypeDef HAL_TIM_OnePulse_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OnePulse_InitTypeDef* sConfig, uint32_t OutputChannel, uint32_t InputChannel);
HAL_StatusTypeDef HAL_TIM_ConfigOCrefClear(TIM_HandleTypeDef *htim, TIM_ClearInputConfigTypeDef * sClearInputConfig, uint32_t Channel);
//时钟源配置函数
HAL_StatusTypeDef HAL_TIM_ConfigClockSource(TIM_HandleTypeDef *htim, TIM_ClockConfigTypeDef * sClockSourceConfig);
HAL_StatusTypeDef HAL_TIM_ConfigTI1Input(TIM_HandleTypeDef *htim, uint32_t TI1_Selection);
HAL_StatusTypeDef HAL_TIM_SlaveConfigSynchronization(TIM_HandleTypeDef *htim, TIM_SlaveConfigTypeDef * sSlaveConfig);
HAL_StatusTypeDef HAL_TIM_SlaveConfigSynchronization_IT(TIM_HandleTypeDef *htim, TIM_SlaveConfigTypeDef * sSlaveConfig);
HAL_StatusTypeDef HAL_TIM_DMABurst_WriteStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, uint32_t BurstRequestSrc, uint32_t *BurstBuffer, uint32_t BurstLength);
HAL_StatusTypeDef HAL_TIM_DMABurst_WriteStop(TIM_HandleTypeDef *htim, uint32_t BurstRequestSrc);
HAL_StatusTypeDef HAL_TIM_DMABurst_ReadStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, uint32_t BurstRequestSrc, uint32_t *BurstBuffer, uint32_t BurstLength);
HAL_StatusTypeDef HAL_TIM_DMABurst_ReadStop(TIM_HandleTypeDef *htim, uint32_t BurstRequestSrc);
HAL_StatusTypeDef HAL_TIM_GenerateEvent(TIM_HandleTypeDef *htim, uint32_t EventSource);
uint32_t HAL_TIM_ReadCapturedValue(TIM_HandleTypeDef *htim, uint32_t Channel);
/* Callback in non blocking modes (Interrupt and DMA) *************************/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);//周期结束时调用。
void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim); //CCR匹配即翻转时,发生调用。
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim);
void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim);
void HAL_TIM_TriggerCallback(TIM_HandleTypeDef *htim);
void HAL_TIM_ErrorCallback(TIM_HandleTypeDef *htim);
/* Peripheral State functions 就是获取相应TIM_HandleTypeDef句柄结构的state成员**************************************************/
HAL_TIM_StateTypeDef HAL_TIM_Base_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_OC_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_PWM_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_IC_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_OnePulse_GetState(TIM_HandleTypeDef *htim);
HAL_TIM_StateTypeDef HAL_TIM_Encoder_GetState(TIM_HandleTypeDef *htim);
还有几个宏定义是为了获取和设置计时器相关的寄存器的值(CCR ,CNT,ARR )
#define __HAL_TIM_SET_COMPARE(__HANDLE__, __CHANNEL__, __COMPARE__) \
(*(__IO uint32_t *)(&((__HANDLE__)->Instance->CCR1) + ((__CHANNEL__) >> 2U)) = (__COMPARE__))
#define __HAL_TIM_GET_COMPARE(__HANDLE__, __CHANNEL__) \
(*(__IO uint32_t *)(&((__HANDLE__)->Instance->CCR1) + ((__CHANNEL__) >> 2U)))
Counter Register(CNT):
#define __HAL_TIM_SET_COUNTER(__HANDLE__, __COUNTER__) ((__HANDLE__)->Instance->CNT = (__COUNTER__))
#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
Autoreload Register(ARR):
#define __HAL_TIM_SET_AUTORELOAD(__HANDLE__, __AUTORELOAD__) \
do{ \
(__HANDLE__)->Instance->ARR = (__AUTORELOAD__); \
(__HANDLE__)->Init.Period = (__AUTORELOAD__); \
} while(0U)
#define __HAL_TIM_GET_AUTORELOAD(__HANDLE__) ((__HANDLE__)->Instance->ARR)
TIM Clock Division value:
#define __HAL_TIM_GET_CLOCKDIVISION(__HANDLE__) ((__HANDLE__)->Instance->CR1 & TIM_CR1_CKD)
#define __HAL_TIM_SET_CLOCKDIVISION(__HANDLE__, __CKD__) \
do{ \
(__HANDLE__)->Instance->CR1 &= (uint16_t)(~TIM_CR1_CKD); \
(__HANDLE__)->Instance->CR1 |= (__CKD__); \
(__HANDLE__)->Init.ClockDivision = (__CKD__); \
} while(0U)
TIM Input Capture prescaler:
#define __HAL_TIM_SET_ICPRESCALER(__HANDLE__, __CHANNEL__, __ICPSC__) \
do{ \
TIM_RESET_ICPRESCALERVALUE((__HANDLE__), (__CHANNEL__)); \
TIM_SET_ICPRESCALERVALUE((__HANDLE__), (__CHANNEL__), (__ICPSC__)); \
} while(0U)
#define __HAL_TIM_GET_ICPRESCALER(__HANDLE__, __CHANNEL__) \
(((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 & TIM_CCMR1_IC1PSC) :\
((__CHANNEL__) == TIM_CHANNEL_2) ? (((__HANDLE__)->Instance->CCMR1 & TIM_CCMR1_IC2PSC) >> 8U) :\
((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 & TIM_CCMR2_IC3PSC) :\
(((__HANDLE__)->Instance->CCMR2 & TIM_CCMR2_IC4PSC)) >> 8U)
以IC模式的源代码为例:
HAL_StatusTypeDef HAL_TIM_IC_Init(TIM_HandleTypeDef *htim)
{
/* Check the TIM handle allocation */
if(htim == NULL)
{
return HAL_ERROR;
}
/* Check the parameters */
assert_param(IS_TIM_INSTANCE(htim->Instance));
assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode));
assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision));
if(htim->State == HAL_TIM_STATE_RESET)
{
/* Allocate lock resource and initialize it */
htim->Lock = HAL_UNLOCKED;
/* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */
HAL_TIM_XXX_MspInit(htim); //这里有区别
}
/* Set the TIM state */
htim->State= HAL_TIM_STATE_BUSY;
/* Init the base time for the input capture */
TIM_Base_SetConfig(htim->Instance, &htim->Init); //重要部分
/* Initialize the TIM state*/
htim->State= HAL_TIM_STATE_READY;
return HAL_OK;
}
关键代码步骤说明:
(4)将状态设置为READY。htim->State= HAL_TIM_STATE_READY;
TIM_Base_SetConfig(htim->Instance, &htim->Init)函数功能:
(1)设置控制寄存器 CR1(包括计数方向、计数对齐模式、时钟分频三个)
(2)设置自动重载寄存器 ARR 。// TIMx->ARR = (uint32_t)Structure->Period ;
(3)设置预分频寄存器 PSC
(4)设置重复计数器寄存器RCR
(5)触发更新事件,加载预分频器与重复计数器的值。TIMx->EGR = TIM_EGR_UG;
/* Reset the OPM Bit */
htim->Instance->CR1 &= ~TIM_CR1_OPM;
/* Configure the OPM Mode */
htim->Instance->CR1 |= OnePulseMode;
即设置CR1的第三位:
1:计数器在发生下一更新事件时停止计数(将CEN位清零)
函数参数的第二个参数就是为了设置CR1的第三位。
可以使用的值为:
/*1、SMCR的SMS位来选择编码器模式*************************/
/* Reset the SMS bits */
htim->Instance->SMCR &= ~TIM_SMCR_SMS;
/* Get the TIMx SMCR register value */
tmpsmcr = htim->Instance->SMCR;
/* Set the encoder Mode */
tmpsmcr |= sConfig->EncoderMode;
/*2、通道映射 CC1通道为输入,IC1映射到TI1上C2通道为输入,IC2映射到TI2上*/
/* Get the TIMx CCMR1 register value */
tmpccmr1 = htim->Instance->CCMR1;
/* Select the Capture Compare 1 and the Capture Compare 2 as input */
tmpccmr1 &= ~(TIM_CCMR1_CC1S | TIM_CCMR1_CC2S); //先清零
tmpccmr1 |= (sConfig->IC1Selection | (sConfig->IC2Selection << 8U)); //通道映射
/* 3、设置预分频和滤波 Set the Capture Compare 1 and the Capture Compare 2 prescalers and filters */
tmpccmr1 &= ~(TIM_CCMR1_IC1PSC | TIM_CCMR1_IC2PSC);
tmpccmr1 &= ~(TIM_CCMR1_IC1F | TIM_CCMR1_IC2F);//后面6位全部清零
tmpccmr1 |= sConfig->IC1Prescaler | (sConfig->IC2Prescaler << 8U); //预分频
tmpccmr1 |= (sConfig->IC1Filter << 4U) | (sConfig->IC2Filter << 12U); //无滤波
/* 4、Set the TI1 and the TI2 Polarities 设置极性 上升沿触发*/
/* Get the TIMx CCER register value */
tmpccer = htim->Instance->CCER;
tmpccer &= ~(TIM_CCER_CC1P | TIM_CCER_CC2P); //先清零
tmpccer &= ~(TIM_CCER_CC1NP | TIM_CCER_CC2NP); //先清零
tmpccer |= sConfig->IC1Polarity | (sConfig->IC2Polarity << 4U);
/* Write to TIMx SMCR */
htim->Instance->SMCR = tmpsmcr;
/* Write to TIMx CCMR1 */
htim->Instance->CCMR1 = tmpccmr1;
/* Write to TIMx CCER */
htim->Instance->CCER = tmpccer;
寄存器的配置步骤如下:
(1)SMCR的SMS位来选择编码器模式(6)将配置好的参数写入到寄存器中
上面参数的参数的传递是使用TIM_Encoder_InitTypeDef结构体(九个参数全部用到)。结构体的具体定义如下:
typedef struct
{
uint32_t EncoderMode; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Encoder_Mode */
uint32_t IC1Polarity; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Input_Capture_Polarity */
uint32_t IC1Selection; /*!< Specifies the input.
This parameter can be a value of @ref TIM_Input_Capture_Selection */
uint32_t IC1Prescaler; /*!< Specifies the Input Capture Prescaler.
This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
uint32_t IC1Filter; /*!< Specifies the input capture filter.
This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */
uint32_t IC2Polarity; /*!< Specifies the active edge of the input signal.
This parameter can be a value of @ref TIM_Input_Capture_Polarity */
uint32_t IC2Selection; /*!< Specifies the input.
This parameter can be a value of @ref TIM_Input_Capture_Selection */
uint32_t IC2Prescaler; /*!< Specifies the Input Capture Prescaler.
This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
uint32_t IC2Filter; /*!< Specifies the input capture filter.
This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */
} TIM_Encoder_InitTypeDef;
各种功能的配置只需要按照结构体结构来填充内容,然后调用相应的初始化函数即可。
1、对于基本模型,具体代码如下:
HAL_StatusTypeDef HAL_TIM_Base_Start(TIM_HandleTypeDef *htim)
{
/* Check the parameters */
assert_param(IS_TIM_INSTANCE(htim->Instance));
/* Set the TIM state */
htim->State= HAL_TIM_STATE_BUSY;
/* Enable the Peripheral */
__HAL_TIM_ENABLE(htim);
/* Change the TIM state*/
htim->State= HAL_TIM_STATE_READY;
return HAL_OK;
}
整个函数的核心代码只有一行 __HAL_TIM_ENABLE(htim);。
跳转到__HAL_TIM_ENABLE函数的具体实现,可以看到函数其实是一个宏定义:
#define __HAL_TIM_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1|=(TIM_CR1_CEN)) //设置CR1的计数器使能位为1即可。
函数实现步骤
:
__HAL_
TIM_ENABLE(htim);
//计数器使能位为1即可
2、对于输出比较模式,
HAL_StatusTypeDef HAL_TIM_OC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel)
TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE);
if(IS_TIM_ADVANCED_INSTANCE(htim->Instance) != RESET)
{
/* Enable the main output */
__HAL_TIM_MOE_ENABLE(htim);
}
函数实现步骤
:3、对于PWM模式,启动函数与上相同。
HAL_StatusTypeDef HAL_TIM_PWM_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
4、对于输入捕获模式,启动函数比上面少一步。
HAL_StatusTypeDef HAL_TIM_IC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel);
函数实现步骤:
(1)使能定时器的输入捕获通道。 TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE);
(2)计数器使能位为1即可。 __HAL_TIM_ENABLE(htim);
5、对于单脉冲模式,需要使能 两个通道。
HAL_StatusTypeDef HAL_TIM_OnePulse_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel);
模式说明:
6、对于编码器模式,需要根据编码器计数的方式选择使能合适的通道。
HAL_StatusTypeDef HAL_TIM_Encoder_Start(TIM_HandleTypeDef *htim, uint32_t Channel);
(1)使能输入输出通道。使能一个或者两个都使能。
switch (Channel)
{case TIM_CHANNEL_1:
{
/* Enable the TIM Capture/Compare 1 interrupt */
__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1);
}
break;
case TIM_CHANNEL_2:
{
/* Enable the TIM Capture/Compare 2 interrupt */
__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2);
}
break;
case TIM_CHANNEL_3:
{
/* Enable the TIM Capture/Compare 3 interrupt */
__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3);
}
break;
case TIM_CHANNEL_4:
{
/* Enable the TIM Capture/Compare 4 interrupt */
__HAL_TIM_ENABLE_IT(htim, TIM_IT_CC4);
}
break;
default:
break;
}
这里有一个大的前提,就是要在配置定时器的中断。 /* 配置定时器中断优先级并使能 */
HAL_NVIC_SetPriority(STEPMOTOR_TIMx_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(STEPMOTOR_TIMx_IRQn);
在每次发生更新事件就会调用下面的回调函数:void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
在每次发生输出翻转是就会调用下面的回调函数:
void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
我们可以在中断中对定时器的参数进行实时修改。