stm32正交编码器问题

查看了很多资料讲解到stm32编码器，自己也做学习了一下，用stm32外接as5047测试电动机的转速，经过调试可以测出来，但是问题在于 电机的速度为什么和串口打印延时有关？？？路过的大神求教。。。

#include "encoder.h"
#include "usart.h"
#include "usart.h"

#define TRUE 1
#define FALSE 0
s16 hPrevious_angle, hSpeed_Buffer[SPEED_BUFFER_SIZE], hRot_Speed;
static u8 bSpeed_Buffer_Index = 0;
static volatile u16 hEncoder_Timer_Overflow; 
static unsigned char bIs_First_Measurement = TRUE;

void ENC_Init(void)
{
<span style="white-space:pre">	</span>TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
 <span style="white-space:pre">	</span>TIM_ICInitTypeDef TIM_ICInitStructure;
     
  <span style="white-space:pre">	</span>GPIO_InitTypeDef GPIO_InitStructure;
<span style="white-space:pre">	</span>NVIC_InitTypeDef NVIC_InitStructure;
  
  <span style="white-space:pre">	</span>RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
  <span style="white-space:pre">	</span>RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
  
  <span style="white-space:pre">	</span>GPIO_StructInit(&GPIO_InitStructure);
 
 <span style="white-space:pre">	</span>GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
 <span style="white-space:pre">	</span>GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  <span style="white-space:pre">	</span>GPIO_Init(GPIOA, &GPIO_InitStructure);
  
  <span style="white-space:pre">	</span>NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
  <span style="white-space:pre">	</span>NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
  <span style="white-space:pre">	</span>NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  <span style="white-space:pre">	</span>NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  <span style="white-space:pre">	</span>NVIC_Init(&NVIC_InitStructure);

  <span style="white-space:pre">	</span>TIM_DeInit(ENCODER_TIMER);
  <span style="white-space:pre">	</span>TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
  
  <span style=