我的硬件连接是PA0->TIM2_CH1,PA1->TIM2_CH2
需要注意的是编码器需要接上拉电阻，下面是代码
GPIO_InitTypeDef GPIO_InitStructure; //定义一个GPIO结构体变量
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;//定义一个定时器结构体变量
TIM_ICInitTypeDef TIM_ICInitStructure; //定义一个定时器编码器结构体变量
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能GPIOA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定时器2
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //配置PA0->TIM2_CH1,PA1->TIM2_CH2
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //设置50MHz时钟
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //设置为下拉输入模式
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = 0xffff; //计数器最大值
TIM_TimeBaseStructure.TIM_Prescaler = 0; //时钟不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; // 使用的采样频率之间的分频比例
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //初始化定时器2
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12,TIM_ICPolarity_Falling, TIM_ICPolarity_Falling);
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 6;
TIM_ICInit(TIM2, &TIM_ICInitStructure);
TIM_SetCounter(TIM2, 0x7fff);
// TIM_ClearITPendingBit(TIM2, TIM_IT_Update); //清除定时器2中断标志位
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
// TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //打开定时器2中断
TIM_Cmd(TIM2, ENABLE); //计数器使能，开始计数
获取计数值
encoderCount=TIM_GetCounter(TIM2)-0x7fff;
TIM_SetCounter(TIM2, 0x7fff);
减去0x7fff是因为区分正反转，正转值为正 反转值为负
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