STM32 定时器正交编码器模式 寄存器配置程序

void Encoder_Init(void)
{
/* TIM3 clock source enable */
RCC->APB1ENR|=1<<1; //TIM3时钟使能
/* Enable GPIOA, clock */
RCC->APB2ENR|=1<<2; //使能PORTA时钟

/* Configure PA.06,07 as encoder input */
GPIOA->CRL&=0XF0FFFFFF;//PA6
GPIOA->CRL|=0X04000000;//浮空输入
GPIOA->CRL&=0X0FFFFFFF;//PA7
GPIOA->CRL|=0X40000000;//浮空输入

/* Enable the TIM3 Update Interrupt */
TIM3->DIER|=1<<0; //允许更新中断
TIM3->DIER|=1<<6; //允许触发中断
MY_NVIC_Init(1,3,TIM3_IRQChannel,2);

/* Timer configuration in Encoder mode */
TIM3->PSC = 0x0;//预分频器
TIM3->ARR = ENCODER_TIM_PERIOD-1;//设定计数器自动重装值
TIM3->CR1 &=~(3<<8);// 选择时钟分频：不分频
TIM3->CR1 &=~(3<<5);// 选择计数模式:边沿对齐模式

TIM3->CCMR1 |= 1<<0; //CC1S='01' IC1FP1映射到TI1
TIM3->CCMR1 |= 1<<8; //CC2S='01' IC2FP2映射到TI2
TIM3->CCER &= ~(1<<1); //CC1P='0' IC1FP1不反相，IC1FP1=TI1
TIM3->CCER &= ~(1<<5); //CC2P='0' IC2FP2不反相，IC2FP2=TI2
TIM3->CCMR1 |= 3<<4; // IC1F='1000' 输入捕获1滤波器
TIM3->SMCR |= 3<<0; //SMS='011' 所有的输入均在上升沿和下降沿有效
TIM3->CNT = COUNTER_RESET;
TIM3->CR1 |= 0x01; //CEN=1，使能定时器
}