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   -> 嵌入式 -> STM32F4调试编码器遇到的问题及解决（一） -> 正文阅读

[嵌入式]STM32F4调试编码器遇到的问题及解决（一）

项目中使用STM32F405RGT6作为主芯片，Tim2和Tim8分别输出驱动两路电机的PWM（每个Timer两个通道），Tim5和Tim3分别用作两路电机上编码器的计数（同样是每个Timer两个通道）。

关于如何通过Cube MX进行引脚以及Timer的配置在此不细说了，网上尤其是CSDN上有很多文章可以借鉴和参考，如：STM32CUBEMX F103 HAL库开发 两路定时器的Encoder编码器模式 - 简书。

实际上编码器的例程也有很多，步骤也都是大同小异，可以参考：STM32 HAL库学习系列第5篇 定时器TIM---编码器接口模式配置 - CodeAllen - 博客园

其实就是先配置好GPIO以及Timer，之后调用HAL_TIM_Encoder_Start(&htimx_Encoder, TIM_CHANNEL_ALL);开启编码器计数。如果是两路编码器，则一共调用两次这个函数，开启两路，如：

HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);

之后或是在主循环中（得到脉冲数和方向，只计算圈数），或是在SysTick或单独的定时器中断中进行脉冲数的读取（得到脉冲数和方向，计算转速）。例如：

DirectionA = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3);     
DirectionB = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim4);

__HAL_TIM_IS_TIM_COUNTING_DOWN?可以获得当前电机的转向?0为正、1为反。

CaptureNumberA=__HAL_TIM_GET_COUNTER(&htim3);
CaptureNumberB=__HAL_TIM_GET_COUNTER(&htim4);

??__HAL_TIM_GET_COUNTER?获取计数器的计数值，即编码器的脉冲数。

一切看起来很简单。更有利的是，除了网上的例程，笔者还拿到了野火电机编码器测速例程，里边有完整的在野火骄阳电机开发板上验证通过的代码。笔者基于这个代码编写了以下代码：

/**
  ******************************************************************************
  * File Name          : TIM.c
  * Description        : This file provides code for the configuration
  *                      of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "tim.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim5;
TIM_HandleTypeDef htim7;
TIM_HandleTypeDef htim8;

/* TIM2 init function */
void MX_TIM2_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 1-1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 8400-1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 6300;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim2);

}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 65535;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_FALLING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
}
/* TIM5 init function */
void MX_TIM5_Init(void)
{
  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim5.Instance = TIM5;
  htim5.Init.Prescaler = 0;
  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim5.Init.Period = 65535;
  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim5, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
}
/* TIM7 init function */
void MX_TIM7_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim7.Instance = TIM7;
  htim7.Init.Prescaler = 8400-1;
  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim7.Init.Period = 1000-1;
  htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

}
/* TIM8 init function */
void MX_TIM8_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  htim8.Instance = TIM8;
  htim8.Init.Prescaler = 2-1;
  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim8.Init.Period = 8400-1;
  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim8.Init.RepetitionCounter = 0;
  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 6300;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim8);

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspInit 0 */

  /* USER CODE END TIM2_MspInit 0 */
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();
  /* USER CODE BEGIN TIM2_MspInit 1 */

  /* USER CODE END TIM2_MspInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM7)
  {
  /* USER CODE BEGIN TIM7_MspInit 0 */

  /* USER CODE END TIM7_MspInit 0 */
    /* TIM7 clock enable */
    __HAL_RCC_TIM7_CLK_ENABLE();

    /* TIM7 interrupt Init */
    HAL_NVIC_SetPriority(TIM7_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM7_IRQn);
  /* USER CODE BEGIN TIM7_MspInit 1 */

  /* USER CODE END TIM7_MspInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspInit 0 */

  /* USER CODE END TIM8_MspInit 0 */
    /* TIM8 clock enable */
    __HAL_RCC_TIM8_CLK_ENABLE();
  /* USER CODE BEGIN TIM8_MspInit 1 */

  /* USER CODE END TIM8_MspInit 1 */
  }
}

void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(tim_encoderHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM3 GPIO Configuration
    PA6     ------> TIM3_CH1
    PA7     ------> TIM3_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* TIM3 interrupt Init */
    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspInit 1 */
	//清零计数器
	__HAL_TIM_SET_COUNTER(&htim3, 0);

	//清零中断标志位
	__HAL_TIM_CLEAR_IT(&htim3, TIM_IT_UPDATE);
	//使能定时器的更新事件中断
	__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
	//设置更新事件请求源为：计数器溢出
	__HAL_TIM_URS_ENABLE(&htim3);

	//设置中断优先级
	HAL_NVIC_SetPriority(TIM3_IRQn, 5, 0);
	//使能定时器中断
	HAL_NVIC_EnableIRQ(TIM3_IRQn);

	//使能编码器接口
	HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
  /* USER CODE END TIM3_MspInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM5)
  {
  /* USER CODE BEGIN TIM5_MspInit 0 */

  /* USER CODE END TIM5_MspInit 0 */
    /* TIM5 clock enable */
    __HAL_RCC_TIM5_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM5 GPIO Configuration
    PA0-WKUP     ------> TIM5_CH1
    PA1     ------> TIM5_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM5_MspInit 1 */
	//清零计数器
	__HAL_TIM_SET_COUNTER(&htim5, 0);

	//清零中断标志位
	__HAL_TIM_CLEAR_IT(&htim5, TIM_IT_UPDATE);
	//使能定时器的更新事件中断
	__HAL_TIM_ENABLE_IT(&htim5, TIM_IT_UPDATE);
	//设置更新事件请求源为：计数器溢出
	__HAL_TIM_URS_ENABLE(&htim5);

	//设置中断优先级
	HAL_NVIC_SetPriority(TIM5_IRQn, 5, 1);
	//使能定时器中断
	HAL_NVIC_EnableIRQ(TIM5_IRQn);

	//使能编码器接口
	HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_ALL);
  /* USER CODE END TIM5_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(timHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspPostInit 0 */

  /* USER CODE END TIM2_MspPostInit 0 */
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM2 GPIO Configuration
    PB10     ------> TIM2_CH3
    PB11     ------> TIM2_CH4
    */
    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM2_MspPostInit 1 */

  /* USER CODE END TIM2_MspPostInit 1 */
  }
  else if(timHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspPostInit 0 */

  /* USER CODE END TIM8_MspPostInit 0 */

    __HAL_RCC_GPIOC_CLK_ENABLE();
    /**TIM8 GPIO Configuration
    PC6     ------> TIM8_CH1
    PC7     ------> TIM8_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM8_MspPostInit 1 */

  /* USER CODE END TIM8_MspPostInit 1 */
  }

}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspDeInit 0 */

  /* USER CODE END TIM2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM2_CLK_DISABLE();
  /* USER CODE BEGIN TIM2_MspDeInit 1 */

  /* USER CODE END TIM2_MspDeInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM7)
  {
  /* USER CODE BEGIN TIM7_MspDeInit 0 */

  /* USER CODE END TIM7_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM7_CLK_DISABLE();

    /* TIM7 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM7_IRQn);
  /* USER CODE BEGIN TIM7_MspDeInit 1 */

  /* USER CODE END TIM7_MspDeInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspDeInit 0 */

  /* USER CODE END TIM8_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM8_CLK_DISABLE();
  /* USER CODE BEGIN TIM8_MspDeInit 1 */

  /* USER CODE END TIM8_MspDeInit 1 */
  }
}

void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{

  if(tim_encoderHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspDeInit 0 */

  /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();

    /**TIM3 GPIO Configuration
    PA6     ------> TIM3_CH1
    PA7     ------> TIM3_CH2
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_6|GPIO_PIN_7);

    /* TIM3 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspDeInit 1 */

  /* USER CODE END TIM3_MspDeInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM5)
  {
  /* USER CODE BEGIN TIM5_MspDeInit 0 */

  /* USER CODE END TIM5_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM5_CLK_DISABLE();

    /**TIM5 GPIO Configuration
    PA0-WKUP     ------> TIM5_CH1
    PA1     ------> TIM5_CH2
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1);

  /* USER CODE BEGIN TIM5_MspDeInit 1 */

  /* USER CODE END TIM5_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
/*
 * @brief  定时器更新事件回调函数
 * @param  无
 * @retval 无
 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *tim_baseHandle)    //定时器中断回调
{
	if(tim_baseHandle->Instance == TIM6)
	{
		
	}
	else if(tim_baseHandle->Instance == TIM7)
	{
		static uint16_t i = 0;

		i++;
		if(i >= 5) //500ms计算一次
		{
			i = 0;
			if(encoder_init_finished == 1)
			{
				//电机1旋转方向 = 计数器1计数方向
				motor1_direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim5);
				//当前时刻总计数值 = 计数器值 + 计数溢出次数 * ENCODER_TIM_PERIOD
				capture_count1 = __HAL_TIM_GET_COUNTER(&htim5) + (encoder1_overflow_count * 65535);
				//转轴转速1 = 单位时间内的计数值 / 编码器总分辨率 * 时间系数
				//shaft1_speed = (float)(capture_count1 - last_count1) / ENCODER_TOTAL_RESOLUTION * 10;
				shaft1_speed = (float)(capture_count1 - last_count1) / ENCODER_TOTAL_RESOLUTION * 2;

				//电机2旋转方向 = 计数器2计数方向
				motor2_direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3);
				//当前时刻总计数值 = 计数器值 + 计数溢出次数 * ENCODER_TIM_PERIOD
				capture_count2 = __HAL_TIM_GET_COUNTER(&htim3) + (encoder2_overflow_count * 65535);
				//转轴转速2 = 单位时间内的计数值 / 编码器总分辨率 * 时间系数
				//shaft2_speed = (float)(capture_count2 - last_count2) / ENCODER_TOTAL_RESOLUTION * 10;
				shaft2_speed = (float)(capture_count2 - last_count2) / ENCODER_TOTAL_RESOLUTION * 2;

				printf("电机1方向：%d\r\n", motor1_direction);
				printf("单位时间内有效计数值：%d\r\n", capture_count1 - last_count1); //单位时间计数值 = 当前时刻总计数值 - 上一时刻总计数值
				printf("电机1转轴处转速：%.2f 转/秒\r\n", shaft1_speed);
				printf("电机1输出轴转速：%.2f 转/秒\r\n", shaft1_speed / REDUCTION_RATIO); //输出轴转速 = 转轴转速 / 减速比

				printf("电机2方向：%d\r\n", motor2_direction);
				printf("单位时间内有效计数值：%d\r\n", capture_count2 - last_count2); //单位时间计数值 = 当前时刻总计数值 - 上一时刻总计数值
				printf("电机2转轴处转速：%.2f 转/秒\r\n", shaft2_speed);
				printf("电机2输出轴转速：%.2f 转/秒\r\n\n", shaft2_speed / REDUCTION_RATIO); //输出轴转速 = 转轴转速 / 减速比

				//记录当前总计数值，供下一时刻计算使用
				last_count1 = capture_count1;
				last_count2 = capture_count2;
			}
		}
	}
	else if(tim_baseHandle->Instance == TIM3)
	{
		//判断当前计数器计数方向
		if(__HAL_TIM_IS_TIM_COUNTING_DOWN(tim_baseHandle))
		{
			//下溢
			encoder2_overflow_count--;
		}
		else
		{
			//上溢
			encoder2_overflow_count++;
		}
	}
	else if(tim_baseHandle->Instance == TIM5)
	{
		//判断当前计数器计数方向
		if(__HAL_TIM_IS_TIM_COUNTING_DOWN(tim_baseHandle))
		{
			//下溢
			encoder1_overflow_count--;
		}
		else
		{
			//上溢
			encoder1_overflow_count++;
		}
	}
}
/* USER CODE END 1 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

需要添加的语句没有几条，网上资料又很多，而且还借鉴了例程，应该说一把就应该能跑通。但是实际烧录到板子上测试的时候，意想不到的事情发生了，完全读不到转速以及编码器脉冲数！

为什么会读不到脉冲？笔者首先想到的是，看一下硬件上有没有脉冲发过来。结果通过示波器测量，相应引脚始终为低电平，正常的情况下应该是源源不断的脉冲。

到这里就有两条路需要怀疑：硬件和软件。

先检查硬件上是不是有问题，发现如果编码器不接到相应的MCU引脚上，当电机旋转时，是可以产生脉冲的。这就排除了硬件的问题。

既然已经明确了是软件的问题，那么就需要仔细检查问题出在哪里，好在有能够正确工作的例程作为参考。仔细对比上述程序和例程的区别，将有区别的语句一一向例程看齐，尤其是GPIO初始化以及Timer初始化部分。代码部分包括了GPIO的Mode，Pull以及Timer的IC2Polarity等，都与例程保持了一致。再次编译并烧录程序，结果和之前一样，问题依旧！

又经过了反复调试，最终定位到，如果将上边代码中的HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_ALL);及HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);封掉，则即使将编码器接到相应引脚上，脉冲也是OK的，不会出现之前始终为低电平的情况。但这两句话是开启编码器计数，是至关重要的。而且野火例程中，即使这两句程序不注释掉，也没有问题。这是什么原因？为什么同样的代码在人家的例程上就能够正确跑，而自己的代码却不行？

又经过了一番“折腾”，最终定位到是关键代码的位置放置得不对所导致的。将上边代码中HAL_TIM_Encoder_MspInit函数中的?/* USER CODE BEGIN TIM5_MspInit 1 */与?/* USER CODE END TIM5_MspInit 1 */之间的代码以及?/* USER CODE BEGIN TIM3_MspInit 1 */与/* USER CODE END TIM3_MspInit 1 */之间的代码（如下代码所示）分别挪到void MX_TIM5_Init(void)和void MX_TIM3_Init(void)的最后，这样就可以了。

void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(tim_encoderHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM3 GPIO Configuration
    PA6     ------> TIM3_CH1
    PA7     ------> TIM3_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* TIM3 interrupt Init */
    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspInit 1 */
	//清零计数器
	__HAL_TIM_SET_COUNTER(&htim3, 0);

	//清零中断标志位
	__HAL_TIM_CLEAR_IT(&htim3, TIM_IT_UPDATE);
	//使能定时器的更新事件中断
	__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
	//设置更新事件请求源为：计数器溢出
	__HAL_TIM_URS_ENABLE(&htim3);

	//设置中断优先级
	HAL_NVIC_SetPriority(TIM3_IRQn, 5, 0);
	//使能定时器中断
	HAL_NVIC_EnableIRQ(TIM3_IRQn);

	//使能编码器接口
	HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
  /* USER CODE END TIM3_MspInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM5)
  {
  /* USER CODE BEGIN TIM5_MspInit 0 */

  /* USER CODE END TIM5_MspInit 0 */
    /* TIM5 clock enable */
    __HAL_RCC_TIM5_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM5 GPIO Configuration
    PA0-WKUP     ------> TIM5_CH1
    PA1     ------> TIM5_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM5_MspInit 1 */
	//清零计数器
	__HAL_TIM_SET_COUNTER(&htim5, 0);

	//清零中断标志位
	__HAL_TIM_CLEAR_IT(&htim5, TIM_IT_UPDATE);
	//使能定时器的更新事件中断
	__HAL_TIM_ENABLE_IT(&htim5, TIM_IT_UPDATE);
	//设置更新事件请求源为：计数器溢出
	__HAL_TIM_URS_ENABLE(&htim5);

	//设置中断优先级
	HAL_NVIC_SetPriority(TIM5_IRQn, 5, 1);
	//使能定时器中断
	HAL_NVIC_EnableIRQ(TIM5_IRQn);

	//使能编码器接口
	HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_ALL);
  /* USER CODE END TIM5_MspInit 1 */
  }
}

修改后的完整代码如下：

/**
  ******************************************************************************
  * File Name          : TIM.c
  * Description        : This file provides code for the configuration
  *                      of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "tim.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim5;
TIM_HandleTypeDef htim7;
TIM_HandleTypeDef htim8;

/* TIM2 init function */
void MX_TIM2_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 1-1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 8400-1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 6300;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim2);

}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 65535;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_FALLING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

	//清零计数器
	__HAL_TIM_SET_COUNTER(&htim3, 0);

	//清零中断标志位
	__HAL_TIM_CLEAR_IT(&htim3, TIM_IT_UPDATE);
	//使能定时器的更新事件中断
	__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
	//设置更新事件请求源为：计数器溢出
	__HAL_TIM_URS_ENABLE(&htim3);

	//设置中断优先级
	HAL_NVIC_SetPriority(TIM3_IRQn, 5, 0);
	//使能定时器中断
	HAL_NVIC_EnableIRQ(TIM3_IRQn);

	//使能编码器接口
	HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
}
/* TIM5 init function */
void MX_TIM5_Init(void)
{
  TIM_Encoder_InitTypeDef sConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim5.Instance = TIM5;
  htim5.Init.Prescaler = 0;
  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim5.Init.Period = 65535;
  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_Init(&htim5, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

	//清零计数器
	__HAL_TIM_SET_COUNTER(&htim5, 0);

	//清零中断标志位
	__HAL_TIM_CLEAR_IT(&htim5, TIM_IT_UPDATE);
	//使能定时器的更新事件中断
	__HAL_TIM_ENABLE_IT(&htim5, TIM_IT_UPDATE);
	//设置更新事件请求源为：计数器溢出
	__HAL_TIM_URS_ENABLE(&htim5);

	//设置中断优先级
	HAL_NVIC_SetPriority(TIM5_IRQn, 5, 1);
	//使能定时器中断
	HAL_NVIC_EnableIRQ(TIM5_IRQn);

	//使能编码器接口
	HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_ALL);
}
/* TIM7 init function */
void MX_TIM7_Init(void)
{
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim7.Instance = TIM7;
  htim7.Init.Prescaler = 8400-1;
  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim7.Init.Period = 1000-1;
  htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

}
/* TIM8 init function */
void MX_TIM8_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  htim8.Instance = TIM8;
  htim8.Init.Prescaler = 2-1;
  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim8.Init.Period = 8400-1;
  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim8.Init.RepetitionCounter = 0;
  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 6300;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_TIM_MspPostInit(&htim8);

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspInit 0 */

  /* USER CODE END TIM2_MspInit 0 */
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();
  /* USER CODE BEGIN TIM2_MspInit 1 */

  /* USER CODE END TIM2_MspInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM7)
  {
  /* USER CODE BEGIN TIM7_MspInit 0 */

  /* USER CODE END TIM7_MspInit 0 */
    /* TIM7 clock enable */
    __HAL_RCC_TIM7_CLK_ENABLE();

    /* TIM7 interrupt Init */
    HAL_NVIC_SetPriority(TIM7_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM7_IRQn);
  /* USER CODE BEGIN TIM7_MspInit 1 */

  /* USER CODE END TIM7_MspInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspInit 0 */

  /* USER CODE END TIM8_MspInit 0 */
    /* TIM8 clock enable */
    __HAL_RCC_TIM8_CLK_ENABLE();
  /* USER CODE BEGIN TIM8_MspInit 1 */

  /* USER CODE END TIM8_MspInit 1 */
  }
}

void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(tim_encoderHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM3 GPIO Configuration
    PA6     ------> TIM3_CH1
    PA7     ------> TIM3_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* TIM3 interrupt Init */
    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspInit 1 */

  /* USER CODE END TIM3_MspInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM5)
  {
  /* USER CODE BEGIN TIM5_MspInit 0 */

  /* USER CODE END TIM5_MspInit 0 */
    /* TIM5 clock enable */
    __HAL_RCC_TIM5_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM5 GPIO Configuration
    PA0-WKUP     ------> TIM5_CH1
    PA1     ------> TIM5_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM5_MspInit 1 */

  /* USER CODE END TIM5_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(timHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspPostInit 0 */

  /* USER CODE END TIM2_MspPostInit 0 */
    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**TIM2 GPIO Configuration
    PB10     ------> TIM2_CH3
    PB11     ------> TIM2_CH4
    */
    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM2_MspPostInit 1 */

  /* USER CODE END TIM2_MspPostInit 1 */
  }
  else if(timHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspPostInit 0 */

  /* USER CODE END TIM8_MspPostInit 0 */

    __HAL_RCC_GPIOC_CLK_ENABLE();
    /**TIM8 GPIO Configuration
    PC6     ------> TIM8_CH1
    PC7     ------> TIM8_CH2
    */
    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM8_MspPostInit 1 */

  /* USER CODE END TIM8_MspPostInit 1 */
  }

}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspDeInit 0 */

  /* USER CODE END TIM2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM2_CLK_DISABLE();
  /* USER CODE BEGIN TIM2_MspDeInit 1 */

  /* USER CODE END TIM2_MspDeInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM7)
  {
  /* USER CODE BEGIN TIM7_MspDeInit 0 */

  /* USER CODE END TIM7_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM7_CLK_DISABLE();

    /* TIM7 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM7_IRQn);
  /* USER CODE BEGIN TIM7_MspDeInit 1 */

  /* USER CODE END TIM7_MspDeInit 1 */
  }
  else if(tim_baseHandle->Instance==TIM8)
  {
  /* USER CODE BEGIN TIM8_MspDeInit 0 */

  /* USER CODE END TIM8_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM8_CLK_DISABLE();
  /* USER CODE BEGIN TIM8_MspDeInit 1 */

  /* USER CODE END TIM8_MspDeInit 1 */
  }
}

void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{

  if(tim_encoderHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspDeInit 0 */

  /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();

    /**TIM3 GPIO Configuration
    PA6     ------> TIM3_CH1
    PA7     ------> TIM3_CH2
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_6|GPIO_PIN_7);

    /* TIM3 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM3_IRQn);
  /* USER CODE BEGIN TIM3_MspDeInit 1 */

  /* USER CODE END TIM3_MspDeInit 1 */
  }
  else if(tim_encoderHandle->Instance==TIM5)
  {
  /* USER CODE BEGIN TIM5_MspDeInit 0 */

  /* USER CODE END TIM5_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM5_CLK_DISABLE();

    /**TIM5 GPIO Configuration
    PA0-WKUP     ------> TIM5_CH1
    PA1     ------> TIM5_CH2
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1);

  /* USER CODE BEGIN TIM5_MspDeInit 1 */

  /* USER CODE END TIM5_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
/*
 * @brief  定时器更新事件回调函数
 * @param  无
 * @retval 无
 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *tim_baseHandle)    //定时器中断回调
{
	if(tim_baseHandle->Instance == TIM6)
	{
		
	}
	else if(tim_baseHandle->Instance == TIM7)
	{
		static uint16_t i = 0;

		i++;
		if(i >= 5) //500ms计算一次
		{
			i = 0;
			if(encoder_init_finished == 1)
			{
				//电机1旋转方向 = 计数器1计数方向
				motor1_direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim5);
				//当前时刻总计数值 = 计数器值 + 计数溢出次数 * ENCODER_TIM_PERIOD
				capture_count1 = __HAL_TIM_GET_COUNTER(&htim5) + (encoder1_overflow_count * 65535);
				//转轴转速1 = 单位时间内的计数值 / 编码器总分辨率 * 时间系数
				//shaft1_speed = (float)(capture_count1 - last_count1) / ENCODER_TOTAL_RESOLUTION * 10;
				shaft1_speed = (float)(capture_count1 - last_count1) / ENCODER_TOTAL_RESOLUTION * 2;

				//电机2旋转方向 = 计数器2计数方向
				motor2_direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3);
				//当前时刻总计数值 = 计数器值 + 计数溢出次数 * ENCODER_TIM_PERIOD
				capture_count2 = __HAL_TIM_GET_COUNTER(&htim3) + (encoder2_overflow_count * 65535);
				//转轴转速2 = 单位时间内的计数值 / 编码器总分辨率 * 时间系数
				//shaft2_speed = (float)(capture_count2 - last_count2) / ENCODER_TOTAL_RESOLUTION * 10;
				shaft2_speed = (float)(capture_count2 - last_count2) / ENCODER_TOTAL_RESOLUTION * 2;

				printf("电机1方向：%d\r\n", motor1_direction);
				printf("单位时间内有效计数值：%d\r\n", capture_count1 - last_count1); //单位时间计数值 = 当前时刻总计数值 - 上一时刻总计数值
				printf("电机1转轴处转速：%.2f 转/秒\r\n", shaft1_speed);
				printf("电机1输出轴转速：%.2f 转/秒\r\n", shaft1_speed / REDUCTION_RATIO); //输出轴转速 = 转轴转速 / 减速比

				printf("电机2方向：%d\r\n", motor2_direction);
				printf("单位时间内有效计数值：%d\r\n", capture_count2 - last_count2); //单位时间计数值 = 当前时刻总计数值 - 上一时刻总计数值
				printf("电机2转轴处转速：%.2f 转/秒\r\n", shaft2_speed);
				printf("电机2输出轴转速：%.2f 转/秒\r\n\n", shaft2_speed / REDUCTION_RATIO); //输出轴转速 = 转轴转速 / 减速比

				//记录当前总计数值，供下一时刻计算使用
				last_count1 = capture_count1;
				last_count2 = capture_count2;
			}
		}
	}
	else if(tim_baseHandle->Instance == TIM3)
	{
		//判断当前计数器计数方向
		if(__HAL_TIM_IS_TIM_COUNTING_DOWN(tim_baseHandle))
		{
			//下溢
			encoder2_overflow_count--;
		}
		else
		{
			//上溢
			encoder2_overflow_count++;
		}
	}
	else if(tim_baseHandle->Instance == TIM5)
	{
		//判断当前计数器计数方向
		if(__HAL_TIM_IS_TIM_COUNTING_DOWN(tim_baseHandle))
		{
			//下溢
			encoder1_overflow_count--;
		}
		else
		{
			//上溢
			encoder1_overflow_count++;
		}
	}
}
/* USER CODE END 1 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

?虽然问题解决了，但是还要深入探究调整顺序能够解决问题的具体原因。内容参见在下一篇文章。
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