Правлю модуль энкодера.

desk/modules/menu/control.cpp

@@ -38,12 +38,12 @@ void init_encoder(void)
     sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
     sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
     sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
-    sConfig.IC1Filter = 0; //100;
+    sConfig.IC1Filter = 100;
     
     sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
     sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
     sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
-    sConfig.IC2Filter = 0; //100;
+    sConfig.IC2Filter = 100;
     
     HAL_TIM_Encoder_Init(&htim2, &sConfig);