/* Encoder Initialization */
   /* TIM4 Clock */
   RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
   /* 01: CC1 channel is configured as input, IC1 is mapped on TI1
    * 01: CC2 channel is configured as input, IC2 is mapped on TI2 */
   TIM4->CCMR1 |= (TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0);
   TIM4->CCMR1 &= ~(TIM_CCMR1_CC1S_1 | TIM_CCMR1_CC2S_1);
   /* 00: noninverted/rising edge */
   TIM4->CCER &= ~(TIM_CCER_CC1P | TIM_CCER_CC2P);
   TIM4->CCER &= ~(TIM_CCER_CC2NP | TIM_CCER_CC2NP);
   /* 001: Encoder mode 1 - Counter counts up/down on TI2FP1 edge depending on TI1FP2 level */
   TIM4->SMCR |= TIM_SMCR_SMS_0;  // 001 считаем только по входу TI1 , ели надо по обоим то 011
   TIM4->SMCR |= TIM_SMCR_SMS_1;
   TIM4->SMCR &= ~TIM_SMCR_SMS_2;
   /* 1111: fSAMPLING = fDTS / 32, N = 8 */
   TIM4->CCMR1 |= (TIM_CCMR1_IC1F_0 | TIM_CCMR1_IC1F_1 | TIM_CCMR1_IC1F_2); //| TIM_CCMR1_IC1F_3);
   TIM4->CCMR1 |= (TIM_CCMR1_IC2F_0 | TIM_CCMR1_IC2F_1 | TIM_CCMR1_IC2F_2); //| TIM_CCMR1_IC2F_3);

   TIM4->CCMR1 &=~TIM_CCMR1_IC1F_3;//уменьшили уже не 32x8
   TIM4->CCMR2 &=~TIM_CCMR1_IC2F_3;

   /* Auto-Reload Register (MAX counter number) */
   TIM4->ARR = 0xffff;//30;


   //разрешаем прерывание от таймера 4
   NVIC_EnableIRQ(TIM4_IRQn);
   NVIC_SetPriority (TIM4_IRQn, 5);

   TIM4->DIER |= TIM_DIER_CC1IE | TIM_DIER_CC2IE | TIM_DIER_CC3IE | TIM_DIER_CC4IE;// включаем прерывание по совпадению

   TIM4->CCR1 = 1000;
   TIM4->CCR2 = 2000;
   TIM4->CCR3 = 3000;
   TIM4->CCR4 = 4000;

   /* 1: Counter enabled */
   TIM4->CR1 |= TIM_CR1_CEN;
//----------
//ну и сам обработчик прерывания
void TIM4_IRQHandler(void)
{

   sprintf(txt, "%d", (unsigned int)TIM4->CNT);
   UART3_Write_Text((unsigned char*)txt);UART3_Write_Text((unsigned char*)"\t");

   if(TIM4->SR & TIM_SR_UIF){
      TIM4->SR = ~TIM_SR_UIF;

   }

   if(TIM4->SR & TIM_SR_CC1IF){
      TIM4->SR = ~TIM_SR_CC1IF;
      UART3_Write_Text((unsigned char*)"CC1IF\r\n");
      LED2_INV();
   }

   if(TIM4->SR & TIM_SR_CC2IF){
      TIM4->SR = ~TIM_SR_CC2IF;
      UART3_Write_Text((unsigned char*)"CC2IF\r\n");
      LED2_INV();
   }

   if(TIM4->SR & TIM_SR_CC3IF){
      TIM4->SR = ~TIM_SR_CC3IF;
      UART3_Write_Text((unsigned char*)"CC3IF\r\n");
      LED2_INV();
   }

   if(TIM4->SR & TIM_SR_CC4IF){
      TIM4->SR = ~TIM_SR_CC4IF;
      UART3_Write_Text((unsigned char*)"CC4IF\r\n");
      LED2_INV();
   }


}