原文链接：https://www.itdoy.com/index.php/post/15.html
编码器型号：62SY22D11-3(品牌：HUAVEI)
ARM IC：STM32F429IGT6

一、编码器建议电路图

需要注意的是，编码器的AB两个接口需要2.2K的上拉电阻。

二、定时器3的初始化函数

TIM_HandleTypeDef hTimEncoder;void eNcoderInit(void)
{TIM_Encoder_InitTypeDef hEncoder;TIM_MasterConfigTypeDef sMasterConfig;hTimEncoder.Instance = TIM3;hTimEncoder.Init.Prescaler = 0;hTimEncoder.Init.CounterMode = TIM_COUNTERMODE_UP;hTimEncoder.Init.Period = 0xFFFF;hTimEncoder.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;hEncoder.EncoderMode = TIM_ENCODERMODE_TI12;hEncoder.IC1Polarity = TIM_ICPOLARITY_RISING;hEncoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;hEncoder.IC1Prescaler = TIM_ICPSC_DIV1;hEncoder.IC1Filter = 0;hEncoder.IC2Polarity = TIM_ICPOLARITY_RISING;hEncoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;hEncoder.IC2Prescaler = TIM_ICPSC_DIV1;hEncoder.IC2Filter = 0;HAL_TIM_Encoder_Init(&hTimEncoder,&hEncoder);sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;HAL_TIMEx_MasterConfigSynchronization(&hTimEncoder, &sMasterConfig);HAL_TIM_Encoder_Start(&hTimEncoder,TIM_CHANNEL_ALL);
}void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim)
{if(htim->Instance==TIM3){GPIO_InitTypeDef GPIO_Initure;__HAL_RCC_GPIOA_CLK_ENABLE();//使能TIM3时钟__HAL_RCC_TIM3_CLK_ENABLE();//开启GPIOA时钟GPIO_Initure.Pin=GPIO_PIN_6|GPIO_PIN_7;GPIO_Initure.Mode=GPIO_MODE_AF_OD;     //输入GPIO_Initure.Pull=GPIO_NOPULL;          //无上下拉GPIO_Initure.Alternate=GPIO_AF2_TIM3;HAL_GPIO_Init(GPIOA,&GPIO_Initure);}

}
三、主函数中读取数据

if(__HAL_TIM_DIRECTION_STATUS(&hTimEncoder)==0)i=i+__HAL_TIM_GetCounter(&hTimEncoder);
else if(__HAL_TIM_GetCounter(&hTimEncoder)!=0)i=i-(0xFFFF-__HAL_TIM_GetCounter(&hTimEncoder)+1);
printf("%d\n",i);
__HAL_TIM_SetCounter(&hTimEncoder,0);
vTaskDelay(100);