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两种方案：第一种就时STM32每个IO口都用按键中断，你可以牺牲一个定时器，当一个中断过来就计数，等待下一个中断进来后两者的差就得出了一个与速度相关的值，说句实话编码器没用过，我用的是HALL接口。这种方法是比较简单的，
第二种方法就是楼主所说的，定时器里面有hall接口，同时可以捕获定时器的值，还是以HALL为例，配置好后会每60度（电角度）进入中断一次，同事进入后捕获开始，也就是定时器开始计数。计数出来的值就是电机转过60度的时间（电角度）。配置我会截图给你，其实还可以计数跑了多少个PWM周期。在PWM中断里计数。通常他们是这莫做的，应为在FOC中可以简化运算。不知道你的编码器是咋样回事了，但是都应该通用的。
配置如下：
//GPIO
GPIO_InitTypeDefGPIO_InitStructure;
//Interrupt
NVIC_InitTypeDef NVIC_InitStructure;
//Tmer
TIM_BDTRInitTypeDefTIM_BDTRInitStructure; //死区刹车结构体变量定义
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure; //定义结构体变量
TIM_TimeBaseInitTypeDefTIM_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; //选择通道1
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //输入上升沿捕获
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC ; //配置通道为输入，并映射到哪里
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //输入捕获预分频值
TIM_ICInitStructure.TIM_ICFilter = 10; //输入滤波器带宽设置
TIM_ICInit(TIM3, &TIM_ICInitStructure); //输入通道配置
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing; //TIM输出通道初始化
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的霍尔传感器接口
TIM_SelectInputTrigger(TIM3, TIM_TS_TI1F_ED); //输入触发源选择
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset); //从模式选择
TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);//主从模式选择
// TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_OC2Ref );//选择输出触发模式(TRGO端)
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //开TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM3, TIM_IT_Trigger|TIM_IT_CC4, ENABLE); //开定时器中断
TIM_ClearFlag(TIM3, TIM_FLAG_Trigger);
TIM_ClearFlag(TIM3, TIM_FLAG_CC4);
TIM_Cmd(TIM3,ENABLE);
//中断入口。
void TIM3_IRQHandler(void)
{
if((TIM_GetFlagStatus(TIM3,TIM_FLAG_Trigger)) != RESET )
{
TIM_ClearITPendingBit(TIM3, TIM_FLAG_Trigger);
HallPLLCtrl();
}
}
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