/**************************************************************************
函数功能：把TIM2初始化为编码器接口模式
入口参数：无
返回  值：无
**************************************************************************/
void Encoder_Init_TIM2(void)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
  TIM_ICInitTypeDef TIM_ICInitStructure;  
  GPIO_InitTypeDef GPIO_InitStructure;
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定时器4的时钟
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PB端口时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;	//端口配置

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入

GPIO_Init(GPIOA, &GPIO_InitStructure);					      //根据设定参数初始化GPIOB
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器

TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值

TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数

TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3

TIM_ICStructInit(&TIM_ICInitStructure);

TIM_ICInitStructure.TIM_ICFilter = 10;

TIM_ICInit(TIM2, &TIM_ICInitStructure);

TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位

TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);

//Reset counter

TIM_SetCounter(TIM2,0);

TIM_Cmd(TIM2, ENABLE);

}

/**************************************************************************

函数功能：把TIM4初始化为编码器接口模式

入口参数：无

返回  值：无

**************************************************************************/

void Encoder_Init_TIM4(void)

{

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

TIM_ICInitTypeDef TIM_ICInitStructure;

GPIO_InitTypeDef GPIO_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;	//端口配置

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入

GPIO_Init(GPIOB, &GPIO_InitStructure);					      //根据设定参数初始化GPIOB

TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器

TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值

TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数

TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3

TIM_ICStructInit(&TIM_ICInitStructure);

TIM_ICInitStructure.TIM_ICFilter = 10;

TIM_ICInit(TIM4, &TIM_ICInitStructure);

TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位

TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);

//Reset counter

TIM_SetCounter(TIM4,0);

TIM_Cmd(TIM4, ENABLE);

}