STM32CUBE 编码器程序

以下是使用STM32Cube HAL库编写的基本编码器程序示例：

#include "stm32f4xx_hal.h"

TIM_HandleTypeDef htim2;   // 定义定时器句柄
int count = 0;             // 定义计数器

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_TIM2_Init();
  HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL); // 启动编码器
  while (1)
  {
    count = __HAL_TIM_GET_COUNTER(&htim2); // 获取计数值
    printf("Encoder count: %d\n", count);  // 在串口终端输出计数值
    HAL_Delay(100);                        // 延时100ms
  }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
                              |RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

static void MX_TIM2_Init(void)
{
  TIM_Encoder_InitTypeDef sConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 65535;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC1Filter = 0;
  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
  sConfig.IC2Filter = 0;
  if (HAL_TIM_Encoder_ConfigChannel(&htim2, &sConfig, TIM_CHANNEL_1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
  if (HAL_TIM_Encoder_ConfigChannel(&htim2, &sConfig, TIM_CHANNEL_2) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
}

static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct;
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_10;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}

void _Error_Handler(char *file, int line)
{
  printf("Error %s : %d\n", file, line);
  while(1) {}
}

该示例程序使用了STM32F4系列的TIM2定时器，通过编码器模式实现了计数功能。在主程序中，通过HAL库函数`HAL_TIM_Encoder_Start()`启动编码器，并在while循环中通过`__HAL_TIM_GET_COUNTER()`函数获取编码器计数值，并通过串口输出到终端。