【STM32F1标准库】编码器代码

void Encoder_Init_TIM4(void)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
	TIM_ICInitTypeDef TIM_ICInitStructure;  
	GPIO_InitTypeDef GPIO_InitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//?????2???
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//??PA PB????
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;	//???? PA15
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //????
	GPIO_Init(GPIOB, &GPIO_InitStructure);					      //?????????GPIOA
  
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;	//???? PB3
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //????
	GPIO_Init(GPIOB, &GPIO_InitStructure);					      //?????????GPIOB
	
	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
	TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // ???? 
	TIM_TimeBaseStructure.TIM_Period = 65535; //??????????
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//??????:???
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//?????? 
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);  //??????2
	
	TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//???????3
	
	TIM_ICStructInit(&TIM_ICInitStructure); //?TIM_ICInitStruct ?????????????
	TIM_ICInitStructure.TIM_ICFilter = 10;  //???????
	TIM_ICInit(TIM4, &TIM_ICInitStructure);//?? TIM_ICInitStruct ????????	TIMx
 
	TIM_ClearFlag(TIM4, TIM_FLAG_Update);//??TIM??????
	TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);//???????
	
	TIM_SetCounter(TIM4,0);
	TIM_Cmd(TIM4, ENABLE); //?????2
}


int Read_Encoder4(void)
{
	int encoder_num;
	encoder_num = (int)((int16_t)(TIM4->CNT)); // ????????????
	//TIM_SetCounter(TIM3, 0);
	return encoder_num;
}