diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index e24d132..c4c5681 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -139,7 +139,7 @@ void MX_TIM2_Init(void)
   htim2.Init.Period = 4294967295;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -183,7 +183,7 @@ void MX_TIM3_Init(void)
   htim3.Init.Period = 65535;
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -227,7 +227,7 @@ void MX_TIM5_Init(void)
   htim5.Init.Period = 4294967295;
   htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -272,7 +272,7 @@ void MX_TIM8_Init(void)
   htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim8.Init.RepetitionCounter = 0;
   htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
diff --git a/asserv-controller.ioc b/asserv-controller.ioc
index 7f6d432..7b4c6ae 100644
--- a/asserv-controller.ioc
+++ b/asserv-controller.ioc
@@ -396,9 +396,13 @@ TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM1.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation4 CH4,PeriodNoDither,Prescaler
 TIM1.PeriodNoDither=4095
 TIM1.Prescaler=0
+TIM2.EncoderMode=TIM_ENCODERMODE_TI12
 TIM2.IPParameters=EncoderMode
+TIM3.EncoderMode=TIM_ENCODERMODE_TI12
 TIM3.IPParameters=EncoderMode
+TIM5.EncoderMode=TIM_ENCODERMODE_TI12
 TIM5.IPParameters=EncoderMode
+TIM8.EncoderMode=TIM_ENCODERMODE_TI12
 TIM8.IPParameters=EncoderMode
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2