AVAGO H9701编码器 stm32编码

以下是一个使用STM32F4DISCOVERY板和HAL库的AVAGO H9701编码器示例代码，可以读取AVAGO H9701编码器的脉冲信号并输出到串口监视器上：

#include "main.h"
#include "stm32f4xx_hal.h"

TIM_HandleTypeDef htim3;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM3_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_TIM3_Init();

  HAL_TIM_Encoder_Start_IT(&htim3, TIM_CHANNEL_ALL);

  while (1)
  {
    int16_t encCount = __HAL_TIM_GET_COUNTER(&htim3);
    printf("Encoder count: %d\r\n", encCount);
    HAL_Delay(500);
  }
}

void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(tim_encoderHandle->Instance==TIM3)
  {
    __HAL_RCC_TIM3_CLK_ENABLE();
    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOB_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_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_4;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  }
}

void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{
  if(tim_encoderHandle->Instance==TIM3)
  {
    __HAL_RCC_TIM3_CLK_DISABLE();

    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_4);
  }
}

void MX_TIM3_Init(void)
{
  TIM_Encoder_InitTypeDef sConfig = {0};

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 0xFFFF;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.RepetitionCounter = 0;
  if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
}

void MX_GPIO_Init(void)
{
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_USART2_CLK_ENABLE();

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 84;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|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_2) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

void Error_Handler(void)
{
  __disable_irq();
  while (1)
  {
  }
}

这个示例程序使用TIM3作为编码器计数器，使用PA6、PA7和PB4引脚作为编码器的A相、B相和Z相信号输入引脚。在主循环中，读取编码器计数值并输出到串口监视器上。需要注意的是，这里的计数值是有符号16位整数，可以表示正负方向的旋转。