C++ TIM_SelectInputTrigger函数代码示例

static void reset_hsync_timers()
{
    // Stop both timers
    TIM_Cmd(dev_cfg->pixel_timer.timer, DISABLE);

    uint32_t tim_id;
    const struct pios_tim_channel *channels = &dev_cfg->hsync_capture;

    // BUG: This is nuts this line is needed.  It simply results in allocating
    // all the memory but somehow leaving it out breaks the timer functionality.
    // I do not see how these can be related
    if (failcount == 0) {
        if (PIOS_TIM_InitChannels(&tim_id, channels, 1, &px_callback, 0) < 0) {
            failcount++;
        }
    }

    dev_cfg->pixel_timer.timer->CNT = 0xFFFF - 100; // dc;

    // Listen to Channel1 (HSYNC)
    switch (dev_cfg->hsync_capture.timer_chan) {
    case TIM_Channel_1:
        TIM_SelectInputTrigger(dev_cfg->pixel_timer.timer, TIM_TS_TI1FP1);
        break;
    case TIM_Channel_2:
        TIM_SelectInputTrigger(dev_cfg->pixel_timer.timer, TIM_TS_TI2FP2);
        break;
    default:
        PIOS_Assert(0);
    }
    TIM_SelectSlaveMode(dev_cfg->pixel_timer.timer, TIM_SlaveMode_Trigger);
}

void PWD_Config(void)
{
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;//定时器初始化结构
	TIM_ICInitTypeDef TIM_ICInitStructure;         //通道输入初始化结构
	GPIO_InitTypeDef GPIO_InitStructure;

	//浮动输入方式
	GPIO_InitStructure.GPIO_Pin = /* GPIO_Pin_0 | */GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3;
  	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6; 
	GPIO_Init(GPIOB, &GPIO_InitStructure);

	//输出初始化
  	TIM_TimeBaseStructure.TIM_Period = 65535;     //周期
  	TIM_TimeBaseStructure.TIM_Prescaler = 720;       //时钟分频
  	TIM_TimeBaseStructure.TIM_ClockDivision = 0;   //时钟分割
  	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//模式
  	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);//基本初始化
  	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

	//捕捉初始化  
	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;//下降沿
 	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;//管脚与寄存器对应关系
  	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;//分频器
  	TIM_ICInitStructure.TIM_ICFilter = 0x4;        //滤波设置，经历几个周期跳变认定波形稳定0x0～0xF
 	TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;//通道选择	
//  TIM_ICInit(TIM2, &TIM_ICInitStructure);        //初始化	
  	TIM_ICInit(TIM4, &TIM_ICInitStructure);        //初始化				 
 	TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;//通道选择
  	TIM_ICInit(TIM2, &TIM_ICInitStructure);        //初始化
 	TIM_ICInitStructure.TIM_Channel = TIM_Channel_3;//通道选择
  	TIM_ICInit(TIM2, &TIM_ICInitStructure);        //初始化
 	TIM_ICInitStructure.TIM_Channel = TIM_Channel_4;//通道选择
  	TIM_ICInit(TIM2, &TIM_ICInitStructure);        //初始化
  
  	TIM_SelectInputTrigger(TIM2, TIM_TS_TI1FP1);   //选择时钟触发源				   
  	TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);//触发方式					  
  	TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable); //启动定时器的被动触发
  	TIM_ITConfig(TIM2, /*TIM_IT_CC1|*/TIM_IT_CC2|TIM_IT_CC3|TIM_IT_CC4, ENABLE);        //打开中断
 
	TIM_SelectInputTrigger(TIM4, TIM_TS_TI1F_ED);   //选择时钟触发源				   
  	TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset);//触发方式					  
  	TIM_SelectMasterSlaveMode(TIM4, TIM_MasterSlaveMode_Enable); //启动定时器的被动触发
  	TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE);        //打开中断

  	TIM_Cmd(TIM2, ENABLE);		  //启动TIM2
	TIM_Cmd(TIM4, ENABLE);
}

/*********************************************************************************************************
  功能 ：TIM3初始化,83(PD2),对外部计数,计算出泵流量,每秒1次
 **********************************************************************************************************/
void Tim3_ETR_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;	
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    //引脚初始化

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOD, &GPIO_InitStructure);

    //Time base configuration
    TIM_TimeBaseStructure.TIM_Period = 65535;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    TIM3->CNT = 0;
    TIM_SelectInputTrigger(TIM3,TIM_TS_ETRF);//选择触发源
    TIM_ETRClockMode2Config(TIM3,TIM_ExtTRGPSC_OFF,TIM_ExtTRGPolarity_NonInverted,0x00);

    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM3, ENABLE);
}

void config_tim3( void )
{
	NVIC_InitTypeDef NVIC_InitStructure;
	TIM_ICInitTypeDef  TIM_ICInitStructure;

	/* Enable the TIM3 global Interrupt */
	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);

	TIM_ICStructInit( &TIM_ICInitStructure );
	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_PWMIConfig(TIM3, &TIM_ICInitStructure);

	/* Select the TIM3 Input Trigger: TI2FP1 */
	TIM_SelectInputTrigger(TIM3, TIM_TS_TI1FP1);

	/* Select the slave Mode: Reset Mode */
	TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);

	/* Enable the Master/Slave Mode */
	TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);

	/* TIM enable counter */
	TIM_Cmd(TIM3, ENABLE);

	/* Enable the CC1 Interrupt Request */
	TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE);
}

void Freq_Meter_Init(void)
{      
  /* TIM Configuration */
  TIM_Config();

  /* TIM4 configuration: PWM Input mode ------------------------
     The external signal is connected to TIM4 CH2 pin (PB.07), 
     The Rising edge is used as active edge,
     The TIM4 CCR2 is used to compute the frequency value 
     The TIM4 CCR1 is used to compute the duty cycle value
  ------------------------------------------------------------ */

  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
  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_PWMIConfig(TIM4, &TIM_ICInitStructure);

  /* Select the TIM4 Input Trigger: TI2FP2 */
  TIM_SelectInputTrigger(TIM4, TIM_TS_TI2FP2);

  /* Select the slave Mode: Reset Mode */
  TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset);
  TIM_SelectMasterSlaveMode(TIM4,TIM_MasterSlaveMode_Enable);

  /* TIM enable counter */
  TIM_Cmd(TIM4, ENABLE);

  /* Enable the CC2 Interrupt Request */
  TIM_ITConfig(TIM4, TIM_IT_CC2, ENABLE);
}

void TIM4_Init(void)
{
	 TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  TIM_ICInitTypeDef  				TIM_ICInitStructure;
  GPIO_InitTypeDef					GPIO_InitStructure;
  NVIC_InitTypeDef 					NVIC_InitStructure;

  /* TIM4 clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

  /* GPIOB clock enable */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
  
  /* TIM4 chennel2 configuration : PB.07 */
  GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_7;
  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);
  
  /* Connect TIM pin to AF2 */
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
	
	TIM_TimeBaseStructure.TIM_Period = 0xffff; //设置自动重装载寄存期的值	
	TIM_TimeBaseStructure.TIM_Prescaler =83; //设置用来作为TIMx时钟频率除数的预分频值  1Mhz的计数频率  
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV4; //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); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
 
	
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV4;
  TIM_ICInitStructure.TIM_ICFilter = 0x0;

  TIM_PWMIConfig(TIM4, &TIM_ICInitStructure);

  /* Select the TIM4 Input Trigger: TI2FP2 */
  TIM_SelectInputTrigger(TIM4, TIM_TS_TI2FP2);

  /* Select the slave Mode: Reset Mode */
  TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset);
  TIM_SelectMasterSlaveMode(TIM4,TIM_MasterSlaveMode_Enable);

  /* TIM enable counter */
  TIM_Cmd(TIM4, ENABLE);

  /* Enable the CC2 Interrupt Request */

    /* Enable the TIM4 global Interrupt */
  NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

}

// 计时器设置为PWM捕获器，此时只能捕获1路
// eg: TIM5, CH2, 捕获PA1
void Timer::mode_pwm_input(PinTypedef p) {
  Pin pin(p); // 函数调用后变量就消失了
  uint8_t tmp = this->GPIO_AF_TIM(this->TIM);
  // 看看tmp有没有问题
  pin.mode_pwm_input(tmp);

  NVIC_InitTypeDef NVIC_InitStructure;  // 中断初始化器
  NVIC_InitStructure.NVIC_IRQChannel = this->IRQn;
  // 低频高优先级原则，20mS的捕获中断设为最高优先级
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; // IRQ 通道使能
  NVIC_Init(&NVIC_InitStructure);

  // 时钟预分频
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructrue; // 计时器分频初始化器
  TIM_TimeBaseStructrue.TIM_Prescaler = PRESCALER;
  TIM_TimeBaseStructrue.TIM_Prescaler = PRESCALER;
  switch (this->TIM_No) {
    case (1):
    case (8):
    case (9):
    case (10):
    case (11): {
      TIM_TimeBaseStructrue.TIM_Prescaler = PRESCALER_APB2;
      break;
    }
  }
  TIM_TimeBaseStructrue.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseStructrue.TIM_Period = PERIOD;
  TIM_TimeBaseStructrue.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseInit(this->TIM, &TIM_TimeBaseStructrue);

  // 设置TIM5 CH2 pin为外部信号输入
  // CCR2测频率
  // CCR1测占空比
  TIM_ICInitTypeDef TIM_ICInitStructure; // 计时器模块初始化器
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2; // input channel 2
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; // 上升沿中断
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; // map IC1 to TI1
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; // 输入分频，不分频
  TIM_ICInitStructure.TIM_ICFilter = 0x00; //滤波设置，经历几个周期跳变认定波形稳定0x0～0xF

  TIM_PWMIConfig(this->TIM, &TIM_ICInitStructure);

  /* Select the TIM5 Input Trigger: TI2FP2 */
  TIM_SelectInputTrigger(this->TIM, TIM_TS_TI2FP2);

  TIM_SelectSlaveMode(this->TIM,TIM_SlaveMode_Reset);//TIM从模式：触发信号的上升沿重新初始化计数器和触发寄存器的更新事件
  TIM_SelectMasterSlaveMode(this->TIM,TIM_MasterSlaveMode_Enable); //启动定时器的被动触发

  TIM_Cmd(this->TIM, ENABLE); // run TIM5
  // 设置中断ISR为PWM Input模式中断
  // this->set_IRQHandler(Timer::PWM_Input_Handler_Dispatch);
  if ((TIM_No==1)||(TIM_No==8))
    TIM_ITConfig(this->TIM, TIM_IT_Update, ENABLE); // 打开中断，不要
  else
    TIM_ITConfig(this->TIM, TIM_IT_CC2, ENABLE); // 打开中断，TIM_IT_Update不要
}

//--------------------------------------------------------------
// interne Funktion
// Init vom Timer
//--------------------------------------------------------------
void P_ICPWM_InitTIM(void)
{
  TIM_ICInitTypeDef  TIM_ICInitStructure;

  // Clock enable
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); 

  // Vorteiler einstellen
  TIM_PrescalerConfig(TIM2, ICPWM_TIM2_PRESCALE, TIM_PSCReloadMode_Immediate);
  
  if(ICPWM_TIM2.CHANNEL==1) {
    // Channel 1
    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_PWMIConfig(TIM2, &TIM_ICInitStructure);

    // input Trigger
    TIM_SelectInputTrigger(TIM2, TIM_TS_TI1FP1);      
  }
  if(ICPWM_TIM2.CHANNEL==2) {
    // Channel 2
    TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
    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_PWMIConfig(TIM2, &TIM_ICInitStructure);

    // input Trigger
    TIM_SelectInputTrigger(TIM2, TIM_TS_TI2FP2);
  }

  // Slave-Mode (Reset)
  TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);
  TIM_SelectMasterSlaveMode(TIM2,TIM_MasterSlaveMode_Enable);

  // Timer enable
  TIM_Cmd(TIM2, ENABLE);
}

//timer 1
void pwmInit(void) 
{
    GPIO_InitTypeDef GPIO_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    TIM_ICInitTypeDef  TIM_ICInitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;

    pwmSetConstants();

    // TIM1 channel 1 pin (PA.08) configuration
    GPIO_InitStructure.GPIO_Pin = PWM_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(PWM_PORT, &GPIO_InitStructure);

    // Enable the TIM1 global Interrupt
    NVIC_InitStructure.NVIC_IRQChannel = PWM_IRQ;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);



    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Prescaler = (PWM_CLK_DIVISOR-1);
    TIM_TimeBaseStructure.TIM_Period = 0xffff;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(PWM_TIM, &TIM_TimeBaseStructure);

    TIM_ICInitStructure.TIM_Channel = PWM_CHANNEL;
    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_PWMIConfig(PWM_TIM, &TIM_ICInitStructure);


    // Select the TIM Input Trigger: TI1FP1
	// 滤波后的定时器输入1(TI1FP1) 
    TIM_SelectInputTrigger(PWM_TIM, TIM_TS_TI1FP1);

    // Select the slave Mode: Reset Mode
    TIM_SelectSlaveMode(PWM_TIM, TIM_SlaveMode_Reset);//复位模式

    // Enable the Master/Slave Mode
    TIM_SelectMasterSlaveMode(PWM_TIM, TIM_MasterSlaveMode_Enable);

    // TIM enable counter
    TIM_Cmd(PWM_TIM, ENABLE);

    pwmIsrAllOn();
}

void hall_sensor_init (void)
{
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  // timer base configuration
  // 84 => 655ms till overflow ; 100kHz (10us) TimerClock [24MHz/Prescaler]
  TIM_TimeBaseStructure.TIM_Prescaler = 240;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseStructure.TIM_Period = 65535;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
  TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

  // enable hall sensor
  // T1F_ED will be connected to  HallSensors Inputs
  // TIM3_CH1, TIM3_CH2, TIM3_CH3
  TIM_SelectHallSensor(TIM3, ENABLE);

  // HallSensor event is delivered with signal TI1F_ED
  // (this is XOR of the three hall sensor lines)
  // Signal TI1F_ED: falling and rising edge of the inputs is used
  TIM_SelectInputTrigger(TIM3, TIM_TS_TI1F_ED);

  // On every TI1F_ED event the counter is resetted and update is tiggered
  TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);

  // Channel 1 in input capture mode
  // on every TCR edge (build from TI1F_ED which is a HallSensor edge)
  // the timervalue is copied into ccr register and a CCR1 Interrupt
  // TIM_IT_CC1 is fired
  TIM_ICInitTypeDef TIM_ICInitStructure;
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
  // listen to T1, the  HallSensorEvent
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC;
  // Div:1, every edge
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
  TIM_ICInitStructure.TIM_ICFilter = 0;
  TIM_ICInit(TIM3, &TIM_ICInitStructure);

  /* Enable the TIM3 Trigger Interrupt Request */
  TIM_ITConfig(TIM3, TIM_IT_Trigger, ENABLE);

  NVIC_InitTypeDef NVIC_InitStructure;
  /* Configure and enable TIM3 interrupt */
  NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  TIM_Cmd(TIM3, ENABLE);
}

void hw::spindle::initialize()
{
	// Index pin
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_StructInit(&GPIO_InitStructure);
	GPIO_InitStructure.GPIO_Pin = _index_pin;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_Init(_index_port, &GPIO_InitStructure);

	// Get system frequency
	RCC_ClocksTypeDef RCC_Clocks;
	RCC_GetClocksFreq(&RCC_Clocks);

	// Setup timer for index pin
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
	TIM_DeInit(_index_timer);

	// Tick every 0.1ms
	TIM_TimeBaseStructure.TIM_Prescaler = (RCC_Clocks.HCLK_Frequency / 10000)
			- 1;
	TIM_TimeBaseStructure.TIM_Period = 0xffff;
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(_index_timer, &TIM_TimeBaseStructure);

	// Configure capture
	TIM_ICInitTypeDef TIM_ICInitStructure;
	TIM_ICStructInit(&TIM_ICInitStructure);

	TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
	TIM_ICInitStructure.TIM_ICFilter = 2;
	TIM_ICInit(_index_timer, &TIM_ICInitStructure);

	// Configure slave mode, reset on capture
	TIM_SelectSlaveMode(_index_timer, TIM_SlaveMode_Reset);
	TIM_SelectInputTrigger(_index_timer, TIM_TS_TI1FP1);

	// We don't want capture event to generate update interrupt.
	// Update interrupt is used to detect cases when spindle speed is too low
	// (or spindle is stopped)
	TIM_UpdateRequestConfig(_index_timer, TIM_UpdateSource_Regular);

	// Configure interrupts
	TIM_ClearITPendingBit(_index_timer, TIM_IT_Update | TIM_IT_CC1);
	TIM_ITConfig(_index_timer, TIM_IT_Update | TIM_IT_CC1, ENABLE);

	TIM_Cmd(_index_timer, ENABLE);
}

/**
  * @brief  Main program
  * @param  None
  * @retval None
  */
int main(void)
{
  /*!< At this stage the microcontroller clock setting is already configured, 
       this is done through SystemInit() function which is called from startup
       files (startup_stm32f40_41xxx.s/startup_stm32f427_437xx.s/startup_stm32f429_439xx.s)
       before to branch to application main. 
       To reconfigure the default setting of SystemInit() function, refer to
       system_stm32f4xx.c file
     */
       
  /* TIM Configuration */
  TIM_Config();

  
  /* --------------------------------------------------------------------------- 
    TIM4 configuration: PWM Input mode

    In this example TIM4 input clock (TIM4CLK) is set to 2 * APB1 clock (PCLK1), 
    since APB1 prescaler is different from 1.   
      TIM4CLK = 2 * PCLK1  
      PCLK1 = HCLK / 4 
      => TIM4CLK = HCLK / 2 = SystemCoreClock /2

    External Signal Frequency = TIM4 counter clock / TIM4_CCR2 in Hz. 

    External Signal DutyCycle = (TIM4_CCR1*100)/(TIM4_CCR2) in %.

  --------------------------------------------------------------------------- */
  
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
  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_PWMIConfig(TIM4, &TIM_ICInitStructure);

  /* Select the TIM4 Input Trigger: TI2FP2 */
  TIM_SelectInputTrigger(TIM4, TIM_TS_TI2FP2);

  /* Select the slave Mode: Reset Mode */
  TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset);
  TIM_SelectMasterSlaveMode(TIM4,TIM_MasterSlaveMode_Enable);

  /* TIM enable counter */
  TIM_Cmd(TIM4, ENABLE);

  /* Enable the CC2 Interrupt Request */
   TIM_ITConfig(TIM4, TIM_IT_CC2, ENABLE);

  while (1);
}

/*采用PA.0 作为外部脉冲计数*/
void pulse_init( void )
{
	GPIO_InitTypeDef	GPIO_InitStructure;
	NVIC_InitTypeDef	NVIC_InitStructure;
	TIM_ICInitTypeDef	TIM_ICInitStructure;

	/* TIM5 clock enable */
	RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM5, ENABLE );

	/* GPIOA clock enable */
	RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOA, ENABLE );

	/* TIM5 chennel1 configuration : PA.0 */
	GPIO_InitStructure.GPIO_Pin		= GPIO_Pin_0;
	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 );

	/* Connect TIM pin to AF0 */
	GPIO_PinAFConfig( GPIOA, GPIO_PinSource0, GPIO_AF_TIM5 );

	/* Enable the TIM5 global Interrupt */
	NVIC_InitStructure.NVIC_IRQChannel						= TIM5_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority	= 0;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority			= 1;
	NVIC_InitStructure.NVIC_IRQChannelCmd					= ENABLE;
	NVIC_Init( &NVIC_InitStructure );

	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_PWMIConfig( TIM5, &TIM_ICInitStructure );

	/* Select the TIM5 Input Trigger: TI1FP1 */
	TIM_SelectInputTrigger( TIM5, TIM_TS_TI1FP1 );

	/* Select the slave Mode: Reset Mode */
	TIM_SelectSlaveMode( TIM5, TIM_SlaveMode_Reset );
	TIM_SelectMasterSlaveMode( TIM5, TIM_MasterSlaveMode_Enable );

	/* TIM enable counter */
	TIM_Cmd( TIM5, ENABLE );

	/* Enable the CC2 Interrupt Request */
	TIM_ITConfig( TIM5, TIM_IT_CC2, ENABLE );
}

/**
  * @brief   Main program
  * @param  None
  * @retval None
  */
int main(void)
{
  /*!< At this stage the microcontroller clock setting is already configured, 
       this is done through SystemInit() function which is called from startup
       file (startup_stm32f10x_xx.s) before to branch to application main.
       To reconfigure the default setting of SystemInit() function, refer to
       system_stm32f10x.c file
     */     
       
  /* System Clocks Configuration */
  RCC_Configuration();

  /* NVIC configuration */
  NVIC_Configuration();

  /* Configure the GPIO ports */
  GPIO_Configuration();

  /* TIM3 configuration: PWM Input mode ------------------------
     The external signal is connected to TIM3 CH2 pin (PA.01), 
     The Rising edge is used as active edge,
     The TIM3 CCR2 is used to compute the frequency value 
     The TIM3 CCR1 is used to compute the duty cycle value
  ------------------------------------------------------------ */

  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
  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_PWMIConfig(TIM3, &TIM_ICInitStructure);

  /* Select the TIM3 Input Trigger: TI2FP2 */
  TIM_SelectInputTrigger(TIM3, TIM_TS_TI2FP2);

  /* Select the slave Mode: Reset Mode */
  TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);

  /* Enable the Master/Slave Mode */
  TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);

  /* TIM enable counter */
  TIM_Cmd(TIM3, ENABLE);

  /* Enable the CC2 Interrupt Request */
  TIM_ITConfig(TIM3, TIM_IT_CC2, ENABLE);

  while (1);
}

void TIM2_PWMINPUT_INIT(u16 arr,u16 psc)
{
  
        TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;        //TIM???????
        NVIC_InitTypeDef NVIC_InitStructure;                        //????
        TIM_ICInitTypeDef  TIM2_ICInitStructure;                 //TIM2  PWM?????
        GPIO_InitTypeDef GPIO_InitStructure;                         //IO??????
 
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);     //Open TIM2 clock
 // RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);  //open gpioB clock
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, ENABLE);  //??GPIO???AFIO????????
 GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);          //??JTAG
         GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, ENABLE); //Timer2?????  TIM2_CH2->PB3

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;             //GPIO 3
        GPIO_InitStructure.GPIO_Mode =  GPIO_Mode_IPU;          //???? ????
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
        GPIO_Init(GPIOB, &GPIO_InitStructure);
 
        TIM_TimeBaseStructure.TIM_Period = arr; //???????????????????????????  
        TIM_TimeBaseStructure.TIM_Prescaler =psc; //??????TIMx???????????  
        TIM_TimeBaseStructure.TIM_ClockDivision = 0; //??????:TDTS = Tck_tim
        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM??????
        TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //??TIM_TimeBaseInitStruct?????????TIMx???????
 
        
        /*???????*/
        NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;                     
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
 
  TIM2_ICInitStructure.TIM_Channel = TIM_Channel_2;                   
  TIM2_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;       
  TIM2_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;   
  TIM2_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; 
  TIM2_ICInitStructure.TIM_ICFilter = 0x3;   //Filter:??
 
  TIM_PWMIConfig(TIM2, &TIM2_ICInitStructure);     //PWM????           
  TIM_SelectInputTrigger(TIM2, TIM_TS_TI2FP2);     //???????        
  TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);  //?????????
  TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable);//??????????                                       
  TIM_ITConfig(TIM2, TIM_IT_CC2|TIM_IT_Update, ENABLE);          //????
  TIM_ClearITPendingBit(TIM2, TIM_IT_CC2|TIM_IT_Update); //???????
  TIM_Cmd(TIM2, ENABLE);    
}