本帖最后由 静候一个奇迹xs 于 2019-5-31 17:44 编辑

void TIM3_coder_Init(void)
{
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;

/* Encoder unit connected to TIM3, 4X mode */   
  GPIO_InitTypeDef GPIO_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

  /* TIM3 clock source enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
  /* Enable GPIOA, clock */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

  GPIO_StructInit(&GPIO_InitStructure);
  /* Configure PA.06,07 as encoder input */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  /* Enable the TIM3 Update Interrupt */
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
  NVIC_InitStructure.NVIC_IRQChannel =  TIM3_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;//1
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;//0
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  /* Timer configuration in Encoder mode */
  TIM_DeInit(ENCODER_TIMER);
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

  TIM_TimeBaseStructure.TIM_Prescaler = 0;  // No prescaling
  TIM_TimeBaseStructure.TIM_Period = (512*4)-1; //512线四倍频
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;   
  TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure);

  TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12,  
                             TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge);//四倍频？？
  TIM_ICStructInit(&TIM_ICInitStructure);       
  TIM_ICInitStructure.TIM_ICFilter = 6;        
  TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);

// Clear all pending interrupts
  TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);
//  TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE);
        TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, DISABLE);
  //Reset counter
// TIM3->CNT = COUNTER_RESET;

  //ENC_Clear_Speed_Buffer();

  TIM_Cmd(ENCODER_TIMER, ENABLE);  
}