diff --git a/keil_project/Services/IncrEncoder.c b/keil_project/Services/IncrEncoder.c
index 1a72e29..bc9f795 100644
--- a/keil_project/Services/IncrEncoder.c
+++ b/keil_project/Services/IncrEncoder.c
@@ -2,37 +2,65 @@
 #include "stm32f1xx_ll_gpio.h" 
 #include "stm32f1xx_ll_bus.h"
 #include "stm32f1xx_ll_exti.h"
+#include "stm32f1xx_ll_tim.h"
 
 int index_passed = 0;
+int counts_per_revolution = 360;
 
 void INCR_ENCODER_Init(void){
-// use timer in encoder mode (14.3.16)
-	// attach interrupt to pa5 for i
-	// enable gpio clock
-	// configure pin
-	// attach interrupt?
+	
+	// GPIO initialization for channels a and b of the encoder
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	LL_GPIO_InitTypeDef  channel_a_pin_conf, channel_b_pin_conf;
+	
+	channel_a_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+	channel_a_pin_conf.Pin = LL_GPIO_PIN_6;
+	LL_GPIO_Init(GPIOA, &channel_a_pin_conf);
+	
+	channel_b_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+	channel_b_pin_conf.Pin = LL_GPIO_PIN_7;
+	LL_GPIO_Init(GPIOA, &channel_b_pin_conf);
+	
+	// timer init
+	LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
+	LL_TIM_InitTypeDef tim3_init_struct;
+	
+	tim3_init_struct.Autoreload= counts_per_revolution*4-1;
+	tim3_init_struct.Prescaler=0;
+	tim3_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
+	tim3_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
+	tim3_init_struct.RepetitionCounter=0;
+	
+	LL_TIM_Init(TIM3, &tim3_init_struct);
+	
+	// timer as encoder init
+	LL_TIM_ENCODER_InitTypeDef encoder_init_struct;
+	encoder_init_struct.EncoderMode = LL_TIM_ENCODERMODE_X4_TI12;
+	encoder_init_struct.IC1Polarity =  LL_TIM_IC_POLARITY_RISING;
+	encoder_init_struct.IC2Polarity = LL_TIM_IC_POLARITY_RISING;
+	encoder_init_struct.IC1ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
+	encoder_init_struct.IC2ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
+	encoder_init_struct.IC1Prescaler = LL_TIM_ICPSC_DIV1;
+	encoder_init_struct.IC2Prescaler= LL_TIM_ICPSC_DIV1;
+	encoder_init_struct.IC1Filter = LL_TIM_IC_FILTER_FDIV1 ;
+	encoder_init_struct.IC2Filter = LL_TIM_IC_FILTER_FDIV1 ;
+	
+  LL_TIM_ENCODER_Init(TIM3, &encoder_init_struct);
+	
+  LL_TIM_EnableCounter(TIM3);
 	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
 	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_AFIO);
 
 	
-	LL_GPIO_InitTypeDef index_pin_conf, a_pin_conf, b_pin_conf;
+	// gpio init for index (interrup) pin
+	LL_GPIO_InitTypeDef index_pin_conf;
 	
 	index_pin_conf.Pin = LL_GPIO_PIN_5;
 	index_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
 	
-	a_pin_conf.Pin = LL_GPIO_PIN_6;
-	a_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
-
-	
-	b_pin_conf.Pin = LL_GPIO_PIN_7;
-	b_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
-
-	
 	LL_GPIO_Init(GPIOC, &index_pin_conf);
-	LL_GPIO_Init(GPIOC, &a_pin_conf);
-	LL_GPIO_Init(GPIOC, &b_pin_conf);
-	
 	
+	// exti init (interrupt)
 	LL_EXTI_InitTypeDef exti;
 	
 	exti.Line_0_31 = LL_EXTI_LINE_5;
@@ -41,18 +69,18 @@ void INCR_ENCODER_Init(void){
 	exti.Trigger = LL_EXTI_TRIGGER_RISING;
 	
 	LL_EXTI_Init(&exti);
-	
 	LL_GPIO_AF_SetEXTISource(LL_GPIO_AF_EXTI_PORTA, LL_GPIO_AF_EXTI_LINE5);
-
+  
+	// enable interrupt from exti in NVIC
 	NVIC_SetPriority(EXTI9_5_IRQn, 12); // prio??
 	NVIC_EnableIRQ(EXTI9_5_IRQn);
 	
-	//TIMER HERE
 }
 
 void EXTI9_5_IRQHandler(void){
 	index_passed = 1;
-	//Set cnt to 0
+	// reset counter = encoder position to 0 position
+	LL_TIM_WriteReg(TIM3,CNT,0);
 	
 	// clear pending (EXTI necessary ?)
 	LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_5);
@@ -66,5 +94,5 @@ int INCR_ENCODER_IsAbsolute(void)
 
 int INCR_ENCODER_GetAngle(void)
 {
-	//TODO return cnt or fct(cnt)
+	return LL_TIM_ReadReg(TIM3,CNT);
 };