stm32f103c8t6的定时器4设为输入捕获模式，但无法正确都读电机编码器的值

Question

stm32f103c8t6的定时器4设为输入捕获模式，但无法正确都读电机编码器的值，只有0和1，怎么办？
tim2的设置和tim4完全一样，tim2可以正常读取

Ecoder.c

void Encoder_TIM2_Init(void)   //定时器3编码器初始化
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA,&GPIO_InitStructure);        
    
    
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;  //向上计数
    TIM_TimeBaseInitStructure.TIM_Period = 65535;    //ARR(0~65535)      1s
    TIM_TimeBaseInitStructure.TIM_Prescaler = 0;  //PSC(0~65535)      定时频率=72M/(PSC+1)/(ARR+1)
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;   //重复计数器（高级计数器特有）    
    TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);
    
    TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);//配置编码器模式
    
    TIM_ICInitTypeDef TIM_ICInitStructure;
    TIM_ICStructInit(&TIM_ICInitStructure);//初始化输入捕获
    TIM_ICInitStructure.TIM_ICFilter=10;
    TIM_ICInit(TIM2,&TIM_ICInitStructure);
    
    TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);//配置溢出更新中断标志位
    TIM_SetCounter(TIM2,0);//清零定时器计数值
    
    TIM_Cmd(TIM2,ENABLE);
}

void Encoder_TIM4_Init(void)    //定时器4编码器初始化
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
    
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB,&GPIO_InitStructure);        
    
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;  //向上计数
    TIM_TimeBaseInitStructure.TIM_Period = 65535;    //ARR(0~65535)      1s
    TIM_TimeBaseInitStructure.TIM_Prescaler = 0;  //PSC(0~65535)      定时频率=72M/(PSC+1)/(ARR+1)
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;   //重复计数器（高级计数器特有）    
    TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);
    
    TIM_EncoderInterfaceConfig(TIM4,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);//配置编码器模式
    
    TIM_ICInitTypeDef TIM_ICInitStructure;
    TIM_ICStructInit(&TIM_ICInitStructure);//初始化输入捕获
    TIM_ICInitStructure.TIM_ICFilter=10;
    TIM_ICInit(TIM4,&TIM_ICInitStructure);
    
    TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);//配置溢出更新中断标志位
    TIM_SetCounter(TIM4,0);//清零定时器计数值
    
    TIM_Cmd(TIM4,ENABLE);

}

/**********************
编码器
速度读取函数
入口参数：定时器
**********************/
int Read_Speed(int TIMx)
{
    int value_1;    
   switch(TIMx)
     {
       case 2:  value_1= (short)TIM_GetCounter(TIM2);TIM_SetCounter(TIM2,0);break;
         case 4:  value_1= (short)TIM_GetCounter(TIM4);TIM_SetCounter(TIM4,0);break;
     }
        return value_1;

}

void TIM2_IRQHandler(void)
{
    if(TIM_GetITStatus(TIM2,TIM_IT_Update) == SET)
    {
        
        TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
    }
}

void TIM4_IRQHandler(void)
{
    if(TIM_GetITStatus(TIM4,TIM_IT_Update) == SET)
    {
        
        TIM_ClearITPendingBit(TIM4,TIM_IT_Update);
    }
}

Answer 1

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• 我还给你找了一篇非常好的博客，你可以看看是否有帮助，链接：stm32f0设置tim2单脉冲模式-tim1内部触发
• 除此之外, 这篇博客: STM32F4深入学习【定时器】（下）中的 高级定时器（TIM1、TIM8）的特殊控制库函数 部分也许能够解决你的问题, 你可以仔细阅读以下内容或跳转源博客中阅读:
  

  STM32F4中具有两个高级定时器，ST也为它们提供了库函数

  下面是基本使用方法

  1. 使用输出比较模式配置定时器通道
  2. 使用TIM_BDTRInitStruct结构体设置时钟断点极性、死区时间、锁定等级、OSSI/OSSR状态和AOE（自动输出使能）模式
  3. 使用TIM_BDTRConfig(TIMx, &TIM_BDTRInitStruct)配置定时器的高级功能
  4. 使用TIM_CtrlPWMOutputs(TIM1, ENABLE)函数使能主输出
  5. 一旦断点发生，定时器的输出信号就会被置于重置或某个经过TIM_BDTRConfig()设定的状态

  • 配置断点输入（Break input）、死区时间、锁定等级、OSSI、OSSR状态、AOE（自动输入使能）

  void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct)
  {
    /* Check the parameters */
    assert_param(IS_TIM_LIST4_PERIPH(TIMx));
    assert_param(IS_TIM_OSSR_STATE(TIM_BDTRInitStruct->TIM_OSSRState));
    assert_param(IS_TIM_OSSI_STATE(TIM_BDTRInitStruct->TIM_OSSIState));
    assert_param(IS_TIM_LOCK_LEVEL(TIM_BDTRInitStruct->TIM_LOCKLevel));
    assert_param(IS_TIM_BREAK_STATE(TIM_BDTRInitStruct->TIM_Break));
    assert_param(IS_TIM_BREAK_POLARITY(TIM_BDTRInitStruct->TIM_BreakPolarity));
    assert_param(IS_TIM_AUTOMATIC_OUTPUT_STATE(TIM_BDTRInitStruct->TIM_AutomaticOutput));
  
    /* Set the Lock level, the Break enable Bit and the Polarity, the OSSR State,
       the OSSI State, the dead time value and the Automatic Output Enable Bit */
    TIMx->BDTR = (uint32_t)TIM_BDTRInitStruct->TIM_OSSRState | TIM_BDTRInitStruct->TIM_OSSIState |
               TIM_BDTRInitStruct->TIM_LOCKLevel | TIM_BDTRInitStruct->TIM_DeadTime |
               TIM_BDTRInitStruct->TIM_Break | TIM_BDTRInitStruct->TIM_BreakPolarity |
               TIM_BDTRInitStruct->TIM_AutomaticOutput;
  }
  
  //使用初始化结构体默认设置
  void TIM_BDTRStructInit(TIM_BDTRInitTypeDef* TIM_BDTRInitStruct)
  {
    /* Set the default configuration */
    TIM_BDTRInitStruct->TIM_OSSRState = TIM_OSSRState_Disable;
    TIM_BDTRInitStruct->TIM_OSSIState = TIM_OSSIState_Disable;
    TIM_BDTRInitStruct->TIM_LOCKLevel = TIM_LOCKLevel_OFF;
    TIM_BDTRInitStruct->TIM_DeadTime = 0x00;
    TIM_BDTRInitStruct->TIM_Break = TIM_Break_Disable;
    TIM_BDTRInitStruct->TIM_BreakPolarity = TIM_BreakPolarity_Low;
    TIM_BDTRInitStruct->TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
  }
  

  • 使能/失能定时器外设主输出

  void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState)
  {
    /* Check the parameters */
    assert_param(IS_TIM_LIST4_PERIPH(TIMx));
    assert_param(IS_FUNCTIONAL_STATE(NewState));
  
    if (NewState != DISABLE)
    {
      /* Enable the TIM Main Output */
      TIMx->BDTR |= TIM_BDTR_MOE;
    }
    else
    {
      /* Disable the TIM Main Output */
      TIMx->BDTR &= (uint16_t)~TIM_BDTR_MOE;
    }  
  }
  

  • 选择通讯事件

  //选择通信事件
  void TIM_SelectCOM(TIM_TypeDef* TIMx, FunctionalState NewState)
  {
    /* Check the parameters */
    assert_param(IS_TIM_LIST4_PERIPH(TIMx));
    assert_param(IS_FUNCTIONAL_STATE(NewState));
  
    if (NewState != DISABLE)
    {
      /* Set the COM Bit */
      TIMx->CR2 |= TIM_CR2_CCUS;
    }
    else
    {
      /* Reset the COM Bit */
      TIMx->CR2 &= (uint16_t)~TIM_CR2_CCUS;
    }
  }
  

  • 设置/重置捕获比较预装载控制位

  //设置捕获比较预装载控制位
  void TIM_CCPreloadControl(TIM_TypeDef* TIMx, FunctionalState NewState)
  { 
    /* Check the parameters */
    assert_param(IS_TIM_LIST4_PERIPH(TIMx));
    assert_param(IS_FUNCTIONAL_STATE(NewState));
    if (NewState != DISABLE)
    {
      /* Set the CCPC Bit */
      TIMx->CR2 |= TIM_CR2_CCPC;
    }
    else
    {
      /* Reset the CCPC Bit */
      TIMx->CR2 &= (uint16_t)~TIM_CR2_CCPC;
    }
  }
  

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