兩種方案：第一種就時STM32每個IO口都用按鍵中斷，你可以犧牲一個定時器，當一個中斷過來就計數，等待下一個中斷進來后兩者的差就得出了一個與速度相關的值，說句實話編碼器沒用過，我用的是HALL接口。這種方法是比較簡單的，
第二種方法就是樓主所說的，定時器里面有hall接口，同時可以捕獲定時器的值，還是以HALL為例，配置好后會每60度（電角度）進入中斷一次，同事進入后捕獲開始，也就是定時器開始計數。計數出來的值就是電機轉過60度的時間（電角度）。配置我會截圖給你，其實還可以計數跑了多少個PWM周期。在PWM中斷里計數。通常他們是這莫做的，應為在FOC中可以簡化運算。不知道你的編碼器是咋樣回事了，但是都應該通用的。
配置如下：
//GPIO
GPIO_InitTypeDef GPIO_InitStructure;
//Interrupt
NVIC_InitTypeDef NVIC_InitStructure;
//Tmer
TIM_BDTRInitTypeDef TIM_BDTRInitStructure; //死區剎車結構體變量定義
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure; //定義結構體變量
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
//---------------------------------TMER3 HALL------------------------------
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_0);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_0);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_0);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_DeInit(TIM3);
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 47; //TIM基本初始化
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period =65535;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //選擇通道1
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //輸入上升沿捕獲
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC ; //配置通道為輸入，并映射到哪里
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //輸入捕獲預分頻值
TIM_ICInitStructure.TIM_ICFilter = 10; //輸入濾波器帶寬設置
TIM_ICInit(TIM3, &TIM_ICInitStructure); //輸入通道配置
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing; //TIM輸出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_Pulse =65535;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC4Init(TIM3,&TIM_OCInitStructure);
TIM_SelectHallSensor(TIM3,ENABLE); //使能TIMx的霍爾傳感器接口
TIM_SelectInputTrigger(TIM3, TIM_TS_TI1F_ED); //輸入觸發源選擇
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset); //從模式選擇
TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);//主從模式選擇
// TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_OC2Ref );//選擇輸出觸發模式(TRGO端)
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //開TIM3中斷
NVIC_InitStructure.NVIC_IRQChannelPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM3, TIM_IT_Trigger|TIM_IT_CC4, ENABLE); //開定時器中斷
TIM_ClearFlag(TIM3, TIM_FLAG_Trigger);
TIM_ClearFlag(TIM3, TIM_FLAG_CC4);
TIM_Cmd(TIM3,ENABLE);
//中斷入口。
void TIM3_IRQHandler(void)
{
if((TIM_GetFlagStatus(TIM3,TIM_FLAG_Trigger)) != RESET )
{
TIM_ClearITPendingBit(TIM3, TIM_FLAG_Trigger);
HallPLLCtrl();
}
}
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