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//开启时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

//配置TIM2为内部时钟
TIM_InternalClockConfig(TIM2);

//时基单元初始化
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 10000 - 1;
TIM_TimeBaseInitStructure.TIM_Prescaler = 7200 - 1;
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);

//中断配置
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);

//NVIC配置
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_Init(&NVIC_InitStructure);

//使能定时器
TIM_Cmd(TIM2, ENABLE);

//中断函数
void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)
    {
      
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    }
}

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//开启时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

//GPIO初始化
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

//时钟配置
TIM_InternalClockConfig(TIM2);

//时基单元初始化
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;
TIM_TimeBaseInitStructure.TIM_Prescaler = 720 - 1;
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);

//输出比较初始化
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);

//使能定时器
TIM_Cmd(TIM2, ENABLE);

//CCR设置函数
void PWM_SetCompare1(uint16_t Compare)
{
    TIM_SetCompare1(TIM2, Compare);
}

//ARR设置函数
void PWM_SetAutoreload(uint16_t Autoreload)
{
    TIM_SetAutoreload(TIM2, Autoreload);
}

//PSC设置函数
void PWM_SetPrescaler(uint16_t Prescaler)
{
    TIM_PrescalerConfig(TIM2, Prescaler, TIM_PSCReloadMode_Update);
}

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//配置时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

//配置GPIO
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

//配置定时器
TIM_InternalClockConfig(TIM3);
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 65536 - 1;
TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);

//配置捕获通道
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInitStructure.TIM_ICFilter = 0xF;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_PWMIConfig(TIM3, &TIM_ICInitStructure);
    //TIM_ICInit(TIM3, &TIM_ICInitStructure);

//配置从模式
TIM_SelectInputTrigger(TIM3, TIM_TS_TI1FP1);
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);

//使能定时器
TIM_Cmd(TIM3, ENABLE);

//获取频率
uint32_t IC_GetFreq(void)
{
    return 1000000 / (TIM_GetCapture1(TIM3) + 1);
}

//获取占空比
uint32_t IC_GetDuty(void)
{
    return (TIM_GetCapture2(TIM3) + 1) * 100 / (TIM_GetCapture1(TIM3) + 1);
}

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TIM_SelectInputTrigger(TIM3, TIM_TS_TI1FP1);
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);

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TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);
TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_Update);

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//配置时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

//GPIO配置（配置CH1和CH2）
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

//时基单元配置
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;            
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period = 65536 - 1;
TIM_TimeBaseInitStructure.TIM_Prescaler = 1 - 1;
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);

//通道配置（配置CH1和CH2）
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 0xF;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
TIM_ICInit(TIM3, &TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
TIM_ICInit(TIM3, &TIM_ICInitStructure);

//配置编码器接口
TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

//使能定时器
TIM_Cmd(TIM3, ENABLE);

int16_t Encoder_Get(void)
{
    // int16_t Temp;
    // Temp = TIM_GetCounter(TIM3);
    // TIM_SetCounter(TIM3, 0);
    // return Temp;
    return TIM_GetCounter(TIM3);
}