STM32F103正交解码采集编码器圈数和方向程序

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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