库里似乎没有，找代理FAE也没提过，自己跟着寄存器搓了下
- void Encoder_Init() {
- stc_gpio_cfg_t stcGpioCfg = {0};
- Sysctrl_SetPeripheralGate(SysctrlPeripheralGpio, TRUE); //端口外设时钟使能
- stcGpioCfg.enDir = GpioDirIn;
- stcGpioCfg.enDrv = GpioDrvL;
- stcGpioCfg.enPu = GpioPuEnable;
- stcGpioCfg.enPd = GpioPdDisable;
- stcGpioCfg.enOD = GpioOdDisable;
- stcGpioCfg.enCtrlMode = GpioAHB;
- Gpio_Init(ENCODER_GPIO_Port, ENCODER_A_PHASE_Pin, &stcGpioCfg);
- Gpio_SetAfMode(ENCODER_GPIO_Port, ENCODER_A_PHASE_Pin, GpioAf4);
- Gpio_Init(ENCODER_GPIO_Port, ENCODER_B_PHASE_Pin, &stcGpioCfg);
- Gpio_SetAfMode(ENCODER_GPIO_Port, ENCODER_B_PHASE_Pin, GpioAf6);
- stc_tim3_mode23_cfg_t stcTim3BaseCfg = {0};
- Sysctrl_SetPeripheralGate(SysctrlPeripheralTim3, TRUE); //Timer3外设时钟使能
- stcTim3BaseCfg.enWorkMode = Tim3WorkMode2; //锯齿波模式
- stcTim3BaseCfg.enCT = Tim3Timer; //定时器功能，计数时钟为内部PCLK
- stcTim3BaseCfg.enPRS = Tim3PCLKDiv2; //PCLK/2
- stcTim3BaseCfg.enCntDir = Tim3CntUp; //向上计数，在三角波模式时只读
- Tim3_Mode23_Init(&stcTim3BaseCfg); //TIM3 的模式23功能初始化
- // see RM_HC32L13x系列参考手册_Rev2.35 14.2.7 正交编码计数功能
- M0P_TIM3_MODE23->MSCR_f.SMS = 6;
- M0P_TIM3_MODE1->FLTR_f.FLTA0 = 0b100;
- M0P_TIM3_MODE1->FLTR_f.FLTB0 = 0b100;
- M0P_TIM3_MODE23->CRCH0_f.CFA_CRA_BKSA = 0b11;
- M0P_TIM3_MODE23->CRCH0_f.CFB_CRB_BKSB = 0b11;
- Tim3_M23_Cnt16Set(encoder_central_count);
- Tim3_M23_Run();
- encoder_check = true;
- }
- uint16_t Encoder_GetCnt() {
- return Tim3_M23_Cnt16Get();
- }
- void Encoder_SetCnt(uint16_t cnt) {
- Tim3_M23_Cnt16Set(cnt);
- }
| 
