u32?mSPEED=0;

int main(void)

{?

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//設(shè)置系統(tǒng)中斷優(yōu)先級(jí)分組2

delay_init(168);?//初始化延時(shí)函數(shù)

uart_init(9600);

// LED_Init(); //初始化LED端口

TIM4_Encoder_Init(65535,0);

// TIM3_Int_Init(1000,8400-1); //定時(shí)器時(shí)鐘84M，分頻系數(shù)8400，所以84M/8400=10Khz的計(jì)數(shù)頻率，計(jì)數(shù)5000次為500ms???

while(1)

{

mSPEED = TIM_GetCounter(TIM4);

TIM_SetCounter(TIM4,0);

delay_ms(1000);//延時(shí)200ms

printf("編碼器1S脈沖計(jì)數(shù)值: %d\r\n ",mSPEED);

}

}

void TIM4_Encoder_Init(u16 arr,u16 psc)

{

GPIO_InitTypeDef?????GPIO_InitStructure;? //定義GPIO相關(guān)結(jié)構(gòu)體

TIM_TimeBaseInitTypeDef?TIM_TimeBaseStructure; //定義定時(shí)器基本參數(shù)結(jié)構(gòu)體

TIM_ICInitTypeDef????TIM_ICInitStructure;??//定義定時(shí)器輸入捕獲參數(shù)結(jié)構(gòu)體

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //定時(shí)器4時(shí)鐘使能

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//GPIOB 時(shí)鐘使能

GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_TIM4); //GPIOx復(fù)用為定時(shí)器

GPIO_PinAFConfig(GPIOB,GPIO_PinSource7,GPIO_AF_TIM4); //GPIOx復(fù)用為定時(shí)器

/*- 正交編碼器輸入引腳 PB->6?PB->7 -*/

GPIO_InitStructure.GPIO_Pin??= GPIO_Pin_6 | GPIO_Pin_7;?????

GPIO_InitStructure.GPIO_Mode?= GPIO_Mode_AF;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_InitStructure.GPIO_PuPd?= GPIO_PuPd_UP;????????

GPIO_Init(GPIOB, &GPIO_InitStructure);????

//定時(shí)器基本配置（重裝在值、預(yù)分頻系數(shù)、時(shí)鐘分割、計(jì)數(shù)模式）

TIM_DeInit(TIM4);

TIM_TimeBaseStructure.TIM_Period ??= 65535;

TIM_TimeBaseStructure.TIM_Prescaler ??= 0;

TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

TIM_TimeBaseStructure.TIM_CounterMode??= TIM_CounterMode_Up;

TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);????????

//定時(shí)器編碼器模式相關(guān)配置

TIM_EncoderInterfaceConfig(TIM4,TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Rising);

TIM_ICStructInit(&TIM_ICInitStructure);

??TIM_ICInitStructure.TIM_ICFilter = 10;

??TIM_ICInit(TIM4, &TIM_ICInitStructure);

??TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新標(biāo)志位

??TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);

??//Reset counter

??TIM_SetCounter(TIM4,0);

??TIM_Cmd(TIM4, ENABLE);

}