stm32f4编码器输入捕获

Question

输入捕获只有定时器3接收到脉冲，为什么我把TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);里面的TIM_ICPolarity_BothEdge改成TIM_ICPolarity_Rising就接受不到编码器脉冲了?同样配置和电机，TIM3通道的就可以，其他通道（2.4.5）的都不行，但如果不改的话就只有正值，没有负值

void encoder_Init(void)
{
    GPIO_InitTypeDef         GPIO_InitStructure; 
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_ICInitTypeDef        TIM_ICInitStructure;
 
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);//开启TIM4时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);//开启GPIOD时钟
    
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5,ENABLE);//开启TIM3时钟
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);//开启TIM3时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);//开启GPIOA时钟
    
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);//开启TIM3时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD,ENABLE);//开启GPIOE时钟
  
    GPIO_PinAFConfig(GPIOD,GPIO_PinSource12,GPIO_AF_TIM4);//PB0引脚复用
    GPIO_PinAFConfig(GPIOD,GPIO_PinSource13,GPIO_AF_TIM4);//PB1引脚服用
    
      GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_TIM2);//PB0引脚复用
    GPIO_PinAFConfig(GPIOA,GPIO_PinSource15,GPIO_AF_TIM2);//PB1引脚服用
    
      GPIO_PinAFConfig(GPIOB,GPIO_PinSource4,GPIO_AF_TIM3);//PB0引脚复用
    GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_TIM3);//PB1引脚服用
        
        GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_TIM5);//PB0引脚复用
    GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_TIM5);//PB1引脚服用
  /*--------------------------------------------------------------*/
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13; //GPIOD12,GPIOD13
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOD,&GPIO_InitStructure); 
        
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_15; //GPIOA1.2.15
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA,&GPIO_InitStructure); 
        
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_3; //GPIOB4.5.6
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOB,&GPIO_InitStructure); 
         

  /*--------------------------------------------------------------*/
    
    TIM_TimeBaseStructure.TIM_Period = 65535; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
    TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值  不分频
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
//    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); 
        TIM_ICStructInit(&TIM_ICInitStructure);    
 
    TIM_TimeBaseStructure.TIM_Period =65535; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
    TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值  不分频
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
//    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); 
        TIM_ICStructInit(&TIM_ICInitStructure);    
 
    TIM_TimeBaseStructure.TIM_Period =65535; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
    TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值  不分频
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;; //设置时钟分割:TDTS = Tck_tim
//    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); 
        TIM_ICStructInit(&TIM_ICInitStructure);
        
        TIM_TimeBaseStructure.TIM_Period = 65535; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
    TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值  不分频
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;; //设置时钟分割:TDTS = Tck_tim
//    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
    TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
        TIM_ICStructInit(&TIM_ICInitStructure);
/*--------------------------------------------------------------*/

    TIM_ICInit(TIM4, &TIM_ICInitStructure);
    TIM_EncoderInterfaceConfig(TIM4,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
    TIM_ICInitStructure.TIM_ICFilter = 8;  //输入滤波器
    TIM_ClearFlag(TIM4, TIM_FLAG_Update);  //清楚所有标志位
    TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); //允许中断更新
    TIM_SetCounter(TIM4, 0);    
    TIM_Cmd(TIM4, ENABLE);  //使能TIM4
        
        TIM_ICInit(TIM3, &TIM_ICInitStructure);
        TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
    TIM_ICInitStructure.TIM_ICFilter = 10;  //输入滤波器
    TIM_ClearFlag(TIM3, TIM_FLAG_Update);  //清楚所有标志位
    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //允许中断更新
    TIM_SetCounter(TIM3, 0);    
    TIM_Cmd(TIM3, ENABLE);  //使能TIM3
        
//        TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
//        TIM_ICStructInit(&TIM_ICInitStructure);
//    TIM_ICInitStructure.TIM_ICFilter = 10;  //输入滤波器
//        TIM_ICInit(TIM2, &TIM_ICInitStructure);
//    TIM_ClearFlag(TIM2, TIM_FLAG_Update);  //清楚所有标志位
//    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //允许中断更新
//    TIM2->CNT = 0;
//    TIM_Cmd(TIM2, ENABLE);  //使能TIM3
        TIM_ICInit(TIM2, &TIM_ICInitStructure);
        TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI1,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);
    TIM_ICInitStructure.TIM_ICFilter = 10;  //输入滤波器
    TIM_ClearFlag(TIM2, TIM_FLAG_Update);  //清楚所有标志位
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //允许中断更新
    TIM_SetCounter(TIM2, 0);    
    TIM_Cmd(TIM2, ENABLE);  //使能TIM3

        
        TIM_ICInit(TIM5, &TIM_ICInitStructure);
        TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
    TIM_ICInitStructure.TIM_ICFilter = 10;  //输入滤波器
    TIM_ClearFlag(TIM5, TIM_FLAG_Update);  //清楚所有标志位
    TIM_ITConfig(TIM5, TIM_IT_Update, ENABLE); //允许中断更新
    TIM_SetCounter(TIM5, 0);
    TIM_Cmd(TIM5, ENABLE);  //使能TIM5
}





EncoderStructure1 EncoderStructure;
void Read_Encoder(void)
{
int i;

     EncoderStructure.Encoder_Value[0]=TIM2 -> CNT;      //正数
     EncoderStructure.Encoder_Value[1]=TIM3 -> CNT;    
     EncoderStructure.Encoder_Value[2]=TIM4 -> CNT;    
     EncoderStructure.Encoder_Value[3]=TIM5 -> CNT;
//清零
    TIM2 -> CNT=0;TIM3 -> CNT=0;
    TIM4 -> CNT=0;TIM5 -> CNT=0;
    
    for(i=0;i<=3;i++)
    {
        if(EncoderStructure.Encoder_Value[i]>6000)
        {
          EncoderStructure.Encoder_Value[i]=EncoderStructure.Encoder_Value[i]-65535;  //负数
        }
    }
  // 屏蔽小波动
    for(i=0;i<=3;i++)
    {
        if(EncoderStructure.Encoder_Value[i]<=2&&EncoderStructure.Encoder_Value[i]>=-2)
        {EncoderStructure.Encoder_Value[i]=0;
        }
    }

}

```c

Answer 1

原因是没有和单片机公地，我天