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Encoder Interface 编码器接口
编码器接口可接收增量（正交）编码器的信号，根据编码器旋转产生的正交信号脉冲，自动控制CNT自增或自减，从而指示编码器的位置、旋转方向和旋转速度
每个高级定时器和通用定时器都拥有1个编码器接口
两个输入引脚借用了输入捕获的通道1和通道2

void Encoder_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);GPIO_InitTypeDef GPIO_InitStruture;GPIO_InitStruture.GPIO_Mode = GPIO_Mode_IPU;GPIO_InitStruture.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;GPIO_InitStruture.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStruture);TIM_ICInitTypeDef  TIM_ICInitStructure;TIM_ICStructInit(&TIM_ICInitStructure);TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;TIM_ICInitStructure.TIM_ICFilter = 0xF;TIM_ICInit(TIM3, &TIM_ICInitStructure);TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;TIM_ICInitStructure.TIM_ICFilter = 0xF;TIM_ICInit(TIM3, &TIM_ICInitStructure);TIM_TimeBaseInitTypeDef  TIM_TimeBaseInitStructure;TIM_TimeBaseStructInit(&TIM_TimeBaseInitStructure);TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
//	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStructure.TIM_Prescaler = 1 - 1;TIM_TimeBaseInitStructure.TIM_Period = 65536 - 1;TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
//	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);TIM_Cmd(TIM3, ENABLE);
}int16_t Encoder_Get(void)
{int16_t temp = TIM_GetCounter(TIM3);TIM_SetCounter(TIM3, 0);return temp;
}

 用到了一点输入捕获的部分

	TIM_ICInitTypeDef  TIM_ICInitStructure;TIM_ICStructInit(&TIM_ICInitStructure);TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;TIM_ICInitStructure.TIM_ICFilter = 0xF;TIM_ICInit(TIM3, &TIM_ICInitStructure);TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;TIM_ICInitStructure.TIM_ICFilter = 0xF;TIM_ICInit(TIM3, &TIM_ICInitStructure);