额 编码器接口没配置，直接初始化了，，， 下面是初始化函数
void Encoder_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
TIM_DeInit(TIM1);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 1; // No prescaling
TIM_TimeBaseStructure.TIM_Period = 65535;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI2,
TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter =6 ;//;TIM_ICFilter_Mask 6
TIM_ICInit(TIM1, &TIM_ICInitStructure);
// Clear all pending interrupts
TIM_ClearFlag(TIM1, TIM_FLAG_Update);
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
//Reset counter
TIM1->CNT = T1_Register_val;
TIM_Cmd(TIM1, ENABLE);
}
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