STM32F1高级定时器

stm32定时器分三种，TIM1和TIM8是高级定时器，TIM2~TIM5是通用计时器，TIM6和TIM7是基本定时器。本文主要讲解TIM1。

下面是定时器1的配置代码：

GPIO_InitTypeDef GPIO_InitStructure2;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;//定时器基本配置
TIM_OCInitTypeDef TIM_OCInitStructure;//pwm输出配置
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;//死区和刹车功能配置,高级定时器独有

第一步：配置时钟 

  /* Enable GPIOA, GPIOC, GPIOE, AFIO clocks */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA |
                         RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOB| RCC_APB2Periph_GPIOD, ENABLE);

  /* Enable TIM1 clock */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

第二步，配置gpio口

  /* GPIOE Configuration: Channel 1, 1N, 2, 2N, 3, 3N and 4 Output */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10  ;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure); 

  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure); 

第三步，定时器基本配置 

  /* TIM1 Registers reset */
  TIM_DeInit(TIM1);//初始化TIM1

  /* Time Base configuration */
  TIM1_TimeBaseStructure.TIM_Prescaler = psc;//设置时钟频率除数的预分频值
  TIM1_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;//对齐模式，中心对齐1
  TIM1_TimeBaseStructure.TIM_Period = arr;//设置自动重装载寄存器周期的值
  TIM1_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV2;//设置时钟分割
  
  // Initial condition is REP=0 to set the UPDATE only on the underflow
  TIM1_TimeBaseStructure.TIM_RepetitionCounter = RCR;
  TIM_TimeBaseInit(TIM1, &TIM1_TimeBaseStructure);

首先讲解TIM_RepetitionCounter，对应重复计数寄存器(TIMx_RCR)，影响更新事件（中断）产生的周期。
下面看STM32参考手册中的一张图：

从图中不难发现；
中央对齐模式下：

• RCR = 0，更新事件没有延迟；
• RCR = 1，更新事件延后了半个PWM周期；
• RCR = 2,  更新事件延后了一个PWM周期；
• RCR = 3，更新事件延后了3/2个PWM周期。

因此，中央对齐模式，更新事件延迟的PWM周期数量等于RCR/2。

RCR 寄存器的范围是 0~0xFF；

边沿对齐模式下：

• RCR = 0，更新事件没有延迟；
• RCR = 1，更新事件延后了一个PWM周期；
• RCR = 2,  更新事件延后了两个PWM周期；
• RCR = 3，更新事件延后了三个PWM周期。

因此，边沿对齐模式，更新事件延迟的PWM周期数量等于RCR；

即，TIM_RepetitionCounter的作用是倍数中断更新事件的时间。

（1）中断时间计算

1.STM32时钟系统

 参考正点原子讲解。

下面讲解系统时钟初始化函数。

/*******************************************************************************
* Function Name  : RCC_Configuration
* Description    : Configures the different system clocks.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void RCC_Configuration(void)
{ 
  ErrorStatus HSEStartUpStatus;// 正\否标志结构体

  /* RCC system reset(for debug purpose) */
  RCC_DeInit();

  /* Enable HSE */
  RCC_HSEConfig(RCC_HSE_ON);

  /* Wait till HSE is ready */
  HSEStartUpStatus = RCC_WaitForHSEStartUp();
  
  if(HSEStartUpStatus == SUCCESS)
  {
    /* HCLK = SYSCLK */
    RCC_HCLKConfig(RCC_SYSCLK_Div1); 
  
    /* PCLK2 = HCLK */
    RCC_PCLK2Config(RCC_HCLK_Div1); 

    /* PCLK1 = HCLK/2 */
    RCC_PCLK1Config(RCC_HCLK_Div2);

    /* Flash 2 wait state */
    FLASH_SetLatency(FLASH_Latency_2);
    /* Enable Prefetch Buffer */
    FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

    /* PLLCLK = 8MHz * 9 = 72 MHz */
    RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);

    /* Enable PLL */ 
    RCC_PLLCmd(ENABLE);

    /* Wait till PLL is ready */
    while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
    {
    }

    /* Select PLL as system clock source */
    RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);

    /* Wait till PLL is used as system clock source */
    while(RCC_GetSYSCLKSource() != 0x08)
    {
    }
  }
}

通过阅读RCC_Configuration（）函数可知，函数开启了外部时钟HSE（8M），经9倍频后到达PLLCLK后变为72MHz。且AHB未分频，APB2未分频，所以APB2挂载的TIM1的时钟频率为72MHz。

接下来，我们可以计算TIM1的中断时间了。

实际频率 = 72MHz/psc;

中断时间 = arr/实际频率；

若是定义了重复定时器

TIM1_TimeBaseStructure.TIM_RepetitionCounter = RCR;

则实际中断时间 = 计算得到的中断时间*RCR；

第四步：pwm输出配置

  /* Channel 1, 2,3 in PWM mode */
  TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM1_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
  TIM1_OCInitStructure.TIM_Pulse = 0x505; //dummy value
  TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM1_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
  TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY;
  
  TIM_OC1Init(TIM1, &TIM1_OCInitStructure);
  TIM_OC2Init(TIM1, &TIM1_OCInitStructure);
  TIM_OC3Init(TIM1, &TIM1_OCInitStructure);

  /* Channel 4 Configuration in OC */
  TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;  
  TIM1_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; 
  TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;                  
  TIM1_OCInitStructure.TIM_Pulse = PWM_PERIOD - 1; 
  
  TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; 
  TIM1_OCInitStructure.TIM_OCNPolarity =TIM_OCNPolarity_Low;         
  TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
  TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY;            
  
  TIM_OC4Init(TIM1, &TIM1_OCInitStructure);
  
  /* Enables the TIM1 Preload on CC1 Register */
  TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
  /* Enables the TIM1 Preload on CC2 Register */
  TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
  /* Enables the TIM1 Preload on CC3 Register */
  TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
  /* Enables the TIM1 Preload on CC4 Register */
  TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);

参数TIM_OCMode。

 TIMx_CCR1即 TIM1_OCInitStructure.TIM_Pulse。

TIM_OC4Init（）可以跳过，这里定义只是预留一下，便于修改。

TIM_OC1PreloadConfig（x，x）如果使能了这个函数，则占空比发生改变后，不会立即生效，而是等下一个中断发生后才会更新。

第五步：死区和刹车功能配置，高级定时器独有

  /* Automatic Output enable, Break, dead time and lock configuration*/
  TIM1_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
  TIM1_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
  TIM1_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1; 
  TIM1_BDTRInitStructure.TIM_DeadTime = DEADTIME;
  TIM1_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
  TIM1_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
  TIM1_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;

  TIM_BDTRConfig(TIM1, &TIM1_BDTRInitStructure);