STM32定时器详细教程（代码分析）：从基础到应用

原创 于 2025-05-18 15:12:33 发布 · 406 阅读 · 8 ·
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#stm32 #单片机 #c语言

引言

本文章通过代码的展示与分析更直观明了的对STM32定时器代码编写进行解读，跟随小编的步伐即可轻松掌握定时器代码的编写，对大家有帮助的话点赞和关注支持一下哦。

一、概述

STM32微控制器内置了多种定时器，可应对不同环境下的需求。主要分为以下三类：

1、基本定时器（TIM6, TIM7）：最简单的定时器，主要用于产生时基。

2、通用定时器（TIM2-TIM5, TIM9-TIM14）：功能较丰富，可用于输入捕获、输出比较等。

3、高级定时器（TIM1, TIM8）：具备通用定时器所有功能，还具备死区插入、互补输出等高级功能。

二、定时器基本工作原理

定时器本质上是一个计数器，可以向上计数、向下计数或中央对齐计数。定时器的主要组成部分包括：

1、预分频器（PSC）：对时钟源进行分频

2、计数器（CNT）：根据时钟信号递增或递减

3、自动重装载寄存器（ARR）：定义计数器的周期

定时器的工作频率计算公式为：

                                                定时器频率 = 定时器时钟源 / (PSC + 1)
                                                定时周期 = (ARR + 1) / 定时器频率

三、定时器基本配置

1、硬件初始化（c）

#include "stm32f4xx.h"

void TIM3_Init(void)
{
    // 1. 使能TIM3时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    
    // 2. 初始化定时器参数
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 999;           // 自动重装载值ARR
    TIM_TimeBaseStructure.TIM_Prescaler = 83;         // 预分频值PSC
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;      // 时钟分频
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; // 向上计数模式
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
    
    // 3. 使能定时器中断
    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
    
    // 4. 配置NVIC
    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // 5. 启动定时器
    TIM_Cmd(TIM3, ENABLE);
}

2.中断服务函数（c）

void TIM3_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
        
        // 在这里处理定时中断任务
        // 例如：翻转LED灯
        GPIO_ToggleBits(GPIOD, GPIO_Pin_13);
    }
}

3.主函数（c）

int main(void)
{
    // 初始化系统时钟等
    SystemInit();
    
    // 初始化LED GPIO
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NONE;
    GPIO_Init(GPIOD, &GPIO_InitStructure);
    
    // 初始化定时器
    TIM3_Init();
    
    while(1)
    {
        // Main loop
    }
}

四、定时器工作模式详解

1. PWM输出模式(c)

PWM（脉冲宽度调制）是定时器的重要应用之一。以下是配置TIM1通道1输出PWM的示例：

void PWM_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    
    // 1. 使能时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    
    // 2. 配置GPIO
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; // TIM1_CH1
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_TIM1);
    
    // 3. 配置定时器时基
    TIM_TimeBaseStructure.TIM_Period = 999; // ARR
    TIM_TimeBaseStructure.TIM_Prescaler = 83; // PSC
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
    
    // 4. 配置PWM模式
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
    TIM_OCInitStructure.TIM_Pulse = 500; // 占空比 = Pulse/(ARR+1)
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    TIM_OC1Init(TIM1, &TIM_OCInitStructure);
    
    // 5. 使能预装载寄存器
    TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM1, ENABLE);
    
    // 6. 使能定时器
    TIM_CtrlPWMOutputs(TIM1, ENABLE);
    TIM_Cmd(TIM1, ENABLE);
}

2.输入捕获模式(c)

输入捕获可以测量脉冲宽度或频率。以下是配置TIM2通道1为输入捕获的示例：

void InputCapture_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    
    // 1. 使能时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    
    // 2. 配置GPIO
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; // TIM2_CH1
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
    
    // 3. 配置定时器时基
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF; // 最大计数值
    TIM_TimeBaseStructure.TIM_Prescaler = 83; // 1MHz计数频率
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
    
    // 4. 配置输入捕获
    TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
    TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
    TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
    TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
    TIM_ICInitStructure.TIM_ICFilter = 0x0;
    TIM_ICInit(TIM2, &TIM_ICInitStructure);
    
    // 5. 配置中断
    TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);
    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // 6. 启动定时器
    TIM_Cmd(TIM2, ENABLE);
}

// 中断服务函数
volatile uint32_t IC_Value1 = 0, IC_Value2 = 0;
volatile uint32_t Capture = 0;
volatile uint8_t Capture_Flag = 0;

void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)
    {
        if (Capture_Flag == 0)
        {
            IC_Value1 = TIM_GetCapture1(TIM2);
            Capture_Flag = 1;
            // 改为下降沿触发
            TIM_OC1PolarityConfig(TIM2, TIM_ICPolarity_Falling);
        }
        else if (Capture_Flag == 1)
        {
            IC_Value2 = TIM_GetCapture1(TIM2);
            if (IC_Value2 > IC_Value1)
            {
                Capture = IC_Value2 - IC_Value1;
            }
            else
            {
                Capture = (0xFFFFFFFF - IC_Value1) + IC_Value2;
            }
            Capture_Flag = 0;
            // 改回上升沿触发
            TIM_OC1PolarityConfig(TIM2, TIM_ICPolarity_Rising);
        }
        TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
    }
}

五、定时器高级应用

1. 编码器接口模式(c)

STM32定时器支持编码器接口，可以方便地读取正交编码器的信号：

void Encoder_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;
    
    // 1. 使能时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    
    // 2. 配置GPIO
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; // TIM4_CH1, TIM4_CH2
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
    
    // 3. 配置定时器时基
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF; // 最大计数值
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
    
    // 4. 配置编码器接口
    TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, 
                             TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    
    // 5. 配置输入捕获
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = 6; // 适当滤波
    TIM_ICInit(TIM4, &TIM_ICInitStructure);
    
    // 6. 启动定时器
    TIM_Cmd(TIM4, ENABLE);
}

// 读取编码器值
int16_t Encoder_GetValue(void)
{
    return (int16_t)TIM_GetCounter(TIM4);
}

2. 定时器级联(c)

STM32定时器支持级联，可以实现更长的定时周期

void Timer_Cascade(void)
{
    // 主定时器TIM2配置为定时中断
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    
    TIM_TimeBaseStructure.TIM_Period = 999; // 1ms中断
    TIM_TimeBaseStructure.TIM_Prescaler = 83;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
    
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    
    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // 从定时器TIM3配置为被触发模式
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    
    TIM_TimeBaseStructure.TIM_Period = 9; // 计数10次
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
    
    // 配置TIM3为从模式，由TIM2触发
    TIM_SelectInputTrigger(TIM3, TIM_TS_ITR1); // TIM2连接到ITR1
    TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_External1);
    TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);
    
    // 使能TIM3更新中断
    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
    
    NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
    NVIC_Init(&NVIC_InitStructure);
    
    // 启动定时器
    TIM_Cmd(TIM2, ENABLE);
    TIM_Cmd(TIM3, ENABLE);
}

// TIM2中断服务函数（1ms）
void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
        // 1ms任务
    }
}

// TIM3中断服务函数（10ms）
void TIM3_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
        // 10ms任务
    }
}

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