stm32使用pwm和编码器模式（包含重映射）

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