# include "test. H" 
/* TIM2 initialized to encoder interface */
Void Encoder_Init_TIM2 (void) 
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; 
TIM_ICInitTypeDef TIM_ICInitStructure; 
GPIO_InitTypeDef GPIO_InitStructure; 

RCC_APB1PeriphClockCmd (RCC_APB1Periph_TIM2, ENABLE);//can make the clock timer 4 
RCC_APB2PeriphClockCmd (RCC_APB2Periph_GPIOA, ENABLE);//can make PA port clock 

GPIO_InitStructure. GPIO_Pin=GPIO_Pin_0 | GPIO_Pin_1;//port configuration 
GPIO_InitStructure. GPIO_Mode=GPIO_Mode_IN_FLOATING;//floated input 
GPIO_Init (GPIOA, & amp; GPIO_InitStructure);//according to set parameters initialization GPIOA 

TIM_TimeBaseStructInit (& amp; TIM_TimeBaseStructure); 
TIM_TimeBaseStructure. TIM_Prescaler=0 x0;//the preassigned frequency, 
TIM_TimeBaseStructure. TIM_Period=65535;//set the counter automatically reinstall value 
TIM_TimeBaseStructure. TIM_ClockDivision=TIM_CKD_DIV1;//select the clock frequency division: regardless of frequency 
TIM_TimeBaseStructure. TIM_CounterMode=TIM_CounterMode_Up;//TIM counting up 
TIM_TimeBaseInit (TIM2, & amp; TIM_TimeBaseStructure); 
TIM_EncoderInterfaceConfig (TIM2, TIM_EncoderMode_TI12 TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//use the encoder model 3 
TIM_ICStructInit (& amp; TIM_ICInitStructure); 
TIM_ICInitStructure. TIM_ICFilter=10; 
TIM_ICInit (TIM2, & amp; TIM_ICInitStructure); 
TIM_ClearFlag (TIM2, TIM_FLAG_Update);//remove TIM updated flags 
TIM_ITConfig (TIM2, TIM_IT_Update, ENABLE); 
//Reset counter 
TIM_SetCounter (TIM2, 0); 
TIM_Cmd (TIM2, ENABLE); 
} 

/* TIM4 initialized to encoder interface */
Void Encoder_Init_TIM4 (void) 
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; 
TIM_ICInitTypeDef TIM_ICInitStructure; 
GPIO_InitTypeDef GPIO_InitStructure; 
RCC_APB1PeriphClockCmd (RCC_APB1Periph_TIM4, ENABLE);//can make the clock timer 4 
RCC_APB2PeriphClockCmd (RCC_APB2Periph_GPIOB, ENABLE);//can make PB port clock 

GPIO_InitStructure. GPIO_Pin=GPIO_Pin_6 | GPIO_Pin_7;//port configuration 
GPIO_InitStructure. GPIO_Mode=GPIO_Mode_IN_FLOATING;//floated input 
GPIO_Init (GPIOB, & amp; GPIO_InitStructure);//according to set parameters initialization GPIOB 

TIM_TimeBaseStructInit (& amp; TIM_TimeBaseStructure); 
TIM_TimeBaseStructure. TIM_Prescaler=0 x0;//the preassigned frequency, 
TIM_TimeBaseStructure. TIM_Period=65535;//set the counter automatically reinstall value 
TIM_TimeBaseStructure. TIM_ClockDivision=TIM_CKD_DIV1;//select the clock frequency division: regardless of frequency 
TIM_TimeBaseStructure. TIM_CounterMode=TIM_CounterMode_Up;//TIM counting up 
TIM_TimeBaseInit (TIM4, & amp; TIM_TimeBaseStructure); 
TIM_EncoderInterfaceConfig (TIM4, TIM_EncoderMode_TI12 TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//use the encoder model 3 
TIM_ICStructInit (& amp; TIM_ICInitStructure); 
TIM_ICInitStructure. TIM_ICFilter=10; 
TIM_ICInit (TIM4, & amp; TIM_ICInitStructure); 
TIM_ClearFlag (TIM4, TIM_FLAG_Update);//remove TIM updated flags 
TIM_ITConfig (TIM4, TIM_IT_Update, ENABLE); 
//Reset counter 
TIM_SetCounter (TIM4, 0); 
TIM_Cmd (TIM4, ENABLE); 
} 

Timer/* unit time counting encoder input output speed value */
Int Read_Encoder (u8 TIMX) 
{
Int Encoder_TIM; 
The switch (TIMX) 
{
Case 2: Encoder_TIM=(short) TIM2 - & gt; CNT. TIM2 - & gt; CNT=0; break; 
Case 3: Encoder_TIM=(short) TIM3 - & gt; CNT. TIM3 - & gt; CNT=0; break; 
Case 4: Encoder_TIM=(short) TIM4 - & gt; CNT. TIM4 - & gt; CNT=0; break; 
Default: Encoder_TIM=0; 
} 
Return Encoder_TIM; 
} 

Void TIM4_IRQHandler (void) 
{
If (TIM4 - & gt; SR& Overflow interrupt 0 x0001)//
{
} 
TIM4 - & gt; SR&=~ (1 & lt; <0);//remove the interrupt flag bit 
} 

Void TIM2_IRQHandler (void) 
{
If (TIM2 - & gt; SR& Overflow interrupt 0 x0001)//
{
} 
TIM2 - & gt; SR&=~ (1 & lt; <0);//remove the interrupt flag bit 
}