请帮我写一份stm32f407读取编码器电机代码

好的，我可以为您提供一份基于STM32F407的编码器电机读取代码。以下是代码：

#include "stm32f4xx.h"

#define ENCODER_TIM TIM3
#define ENCODER_TIM_CLK RCC_APB1Periph_TIM3
#define ENCODER_TIM_IRQn TIM3_IRQn

#define ENCODER_TIM_GPIO GPIOB
#define ENCODER_TIM_GPIO_CLK RCC_AHB1Periph_GPIOB
#define ENCODER_TIM_PIN1 GPIO_Pin_4
#define ENCODER_TIM_PIN2 GPIO_Pin_5

volatile int32_t encoder_count = 0;

void ENCODER_TIM_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

  RCC_AHB1PeriphClockCmd(ENCODER_TIM_GPIO_CLK, ENABLE);

  GPIO_InitStructure.GPIO_Pin = ENCODER_TIM_PIN1 | ENCODER_TIM_PIN2;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(ENCODER_TIM_GPIO, &GPIO_InitStructure);

  GPIO_PinAFConfig(ENCODER_TIM_GPIO, GPIO_PinSource4, GPIO_AF_TIM3);
  GPIO_PinAFConfig(ENCODER_TIM_GPIO, GPIO_PinSource5, GPIO_AF_TIM3);

  RCC_APB1PeriphClockCmd(ENCODER_TIM_CLK, ENABLE);

  TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
  TIM_TimeBaseStructure.TIM_Prescaler = 0;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(ENCODER_TIM, &TIM_TimeBaseStructure);

  TIM_ICStructInit(&TIM_ICInitStructure);
  TIM_ICInitStructure.TIM_ICFilter = 0x0F;
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
  TIM_ICInit(ENCODER_TIM, &TIM_ICInitStructure);

  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
  TIM_ICInit(ENCODER_TIM, &TIM_ICInitStructure);

  TIM_EncoderInterfaceConfig(ENCODER_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

  TIM_Clear