stm32f103定时器编码器模式开启多个定时器后，PWM输出不对

飞天奇侠

想做个四驱遥控小车，采用高级定时器TIM1和TIM8输出8路PWM波，采用通用定时器TIM2，3，4，5进行电机编码器的输入捕获，定时器初始化代码如下，采用逻辑分析仪查看引脚电平信号时，当只开启定时器1和8的时候，TIM1的四路PWM引脚输出正常，但是再开启定时器2后，TIM1的4路PWM输出不正常，只有1个引脚输出了正常的PWM波，另外3路都是低电平，而TIM8的4路PWM输出始终正常。PS：在main函数中开启了串口1，如果关掉串口1，则TIM1的4路PWM输出就正常了，希望有人帮忙看看到底是什么问题，谢谢！
void PWM_Init(void)
{
        GPIO_InitTypeDef GPIO_InitStructure;
        TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
        TIM_ICInitTypeDef  TIM_ICInitStructure;
        TIM_OCInitTypeDef TIM_OCInitStructure;
       
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOE|RCC_APB2Periph_TIM1|RCC_APB2Periph_TIM8|RCC_APB2Periph_AFIO,ENABLE);
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
       
       
        GPIO_PinRemapConfig(GPIO_FullRemap_TIM1,ENABLE);            //重映射到PE9,11,13,14（引脚和串口1的重合）
        GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);      //下面定时器要用到PA15，所以关掉JTAG
        GPIO_PinRemapConfig(GPIO_PartialRemap1_TIM2,ENABLE);     //重映射到PA15,PB3
       
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_11|GPIO_Pin_13|GPIO_Pin_14;                //定时器1的4路PWM       
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;                  
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                 
        GPIO_Init(GPIOE, &GPIO_InitStructure);
       
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9;                        //定时器8的4路PWM
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;                  
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                 
        GPIO_Init(GPIOC, &GPIO_InitStructure);
       
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;                                  //定时器2的输入捕获通道1
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;                                  
        GPIO_Init(GPIOA, &GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3|GPIO_Pin_6|GPIO_Pin_7;                        //定时器2和定时器4的输入捕获         
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;                                  
        GPIO_Init(GPIOB, &GPIO_InitStructure);
       
        TIM_TimeBaseStructure.TIM_Period = 7199; //设置在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
        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(TIM1, &TIM_TimeBaseStructure);
        TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
        TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
        TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
        TIM_OCInitStructure.TIM_Pulse=3600;                                                //设置捕获/比较寄存器
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
        TIM_OC1Init(TIM1, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4 OC1
        TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
        TIM_OCInitStructure.TIM_Pulse=3600;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性低
        TIM_OC2Init(TIM1, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4 OC2
        TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
        TIM_OCInitStructure.TIM_Pulse=3600;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
        TIM_OC3Init(TIM1, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4 OC3
        TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
        TIM_OCInitStructure.TIM_Pulse=3600;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性低
        TIM_OC4Init(TIM1, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM4 OC4
        TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
       
        TIM_ARRPreloadConfig(TIM1, ENABLE);
        TIM_CtrlPWMOutputs(TIM1, ENABLE);
       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
        TIM_OCInitStructure.TIM_Pulse=3600;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
        TIM_OC1Init(TIM8, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM5 OC1
        TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
        TIM_OCInitStructure.TIM_Pulse=3600;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性低
        TIM_OC2Init(TIM8, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM5 OC2
        TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
        TIM_OCInitStructure.TIM_Pulse=3600;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
        TIM_OC3Init(TIM8, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM5 OC3
        TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable);
       
        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
        TIM_OCInitStructure.TIM_Pulse=3600;
        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性低
        TIM_OC4Init(TIM8, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM5 OC4
        TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
       
        TIM_ARRPreloadConfig(TIM8, ENABLE);
        TIM_CtrlPWMOutputs(TIM8, ENABLE);
       
        TIM_EncoderInterfaceConfig(TIM2,TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
//        TIM2_ICInitStructure.TIM_Channel = TIM_Channel_1|TIM_Channel_2; //CC1S=01         选择输入端 IC1映射到TI1上
//          TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;        //上升沿捕获
//          TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
//          TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;         //配置输入分频,不分频
          TIM_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置输入滤波器 不滤波
          TIM_ICInit(TIM2, &TIM_ICInitStructure);
        TIM_ClearFlag(TIM2, TIM_FLAG_Update);
        TIM_SetCounter(TIM2,0);

        TIM_EncoderInterfaceConfig(TIM4,TIM_EncoderMode_TI12,TIM_ICPolarity_BothEdge,TIM_ICPolarity_BothEdge);
//        TIM1_ICInitStructure.TIM_Channel = TIM_Channel_1|TIM_Channel_2; //CC1S=01         选择输入端 IC1映射到TI1上
//          TIM1_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;        //上升沿捕获
//          TIM1_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
//          TIM1_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;         //配置输入分频,不分频
          TIM_ICInitStructure.TIM_ICFilter = 0x00;//IC1F=0000 配置输入滤波器 不滤波
          TIM_ICInit(TIM4, &TIM_ICInitStructure);
        TIM_ClearFlag(TIM4, TIM_FLAG_Update);
        TIM_SetCounter(TIM4,0);
       
        TIM_Cmd(TIM1,ENABLE);
        TIM_Cmd(TIM8,ENABLE);
        TIM_Cmd(TIM2,ENABLE);
        TIM_Cmd(TIM4, ENABLE);
}

Haile

楼主解决了吗，我的也是用编码器模式，TIM2或TIM4单独开启能正常读取数据，但同时开启时，TIM2就无法读取，只有TIM4可用

sr861126

Haile 发表于 2020-3-23 22:34
楼主解决了吗，我的也是用编码器模式，TIM2或TIM4单独开启能正常读取数据，但同时开启时，TIM2就无法读取， ...

单任务开启2个定时器，哪个先，哪个后