| 请参考如下代码: 
 void ENC_Init(void)
 {
 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
 TIM_ICInitTypeDef TIM_ICInitStructure;
 
 #if defined(TIMER2_HANDLES_ENCODER) // Encoder unit connected to TIM2, 4X mode
 
 GPIO_InitTypeDef GPIO_InitStructure;
 NVIC_InitTypeDef NVIC_InitStructure;
 
 /* TIM2 clock source enable */
 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
 /* Enable GPIOA, clock */
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
 
 GPIO_StructInit(&GPIO_InitStructure);
 /* Configure PA.00,01 as encoder input */
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
 GPIO_Init(GPIOA, &GPIO_InitStructure);
 
 /* Enable the TIM2 Update Interrupt */
 NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQChannel;
 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
 NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
 NVIC_Init(&NVIC_InitStructure);
 
 #elif defined(TIMER3_HANDLES_ENCODER) // 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_Init(GPIOA, &GPIO_InitStructure);
 
 /* Enable the TIM3 Update Interrupt */
 NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQChannel;
 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
 NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
 NVIC_Init(&NVIC_InitStructure);
 
 #elif defined(TIMER4_HANDLES_ENCODER) // Encoder unit connected to TIM4, 4X mode
 GPIO_InitTypeDef GPIO_InitStructure;
 NVIC_InitTypeDef NVIC_InitStructure;
 
 /* TIM4 clock source enable */
 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
 /* Enable GPIOA, clock */
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
 
 GPIO_StructInit(&GPIO_InitStructure);
 /* Configure PB.06,07 as encoder input */
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
 GPIO_Init(GPIOB, &GPIO_InitStructure);
 
 /* Enable the TIM4 Update Interrupt */
 NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQChannel;
 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIMx_PRE_EMPTION_PRIORITY;
 NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIMx_SUB_PRIORITY;
 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
 NVIC_Init(&NVIC_InitStructure);
 #endif
 
 /* Timer configuration in Encoder mode */
 TIM_DeInit(ENCODER_TIMER);
 TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
 
 TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // No prescaling
 TIM_TimeBaseStructure.TIM_Period = (4*ENCODER_PPR)-1;
 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
 TIM_TimeBaseInit(ENCODER_TIMER, &TIM_TimeBaseStructure);
 
 TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12,
 TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
 TIM_ICStructInit(&TIM_ICInitStructure);
 
 TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
 TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);
 
 TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
 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);
 //Reset counter
 TIM2->CNT = COUNTER_RESET;
 
 TIM_Cmd(ENCODER_TIMER, ENABLE);
 }
 
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