基于STM32f103C8T6的12V双直流编码电机调速控制，编码器为双通道，电机驱动采用L298n驱动，调速比1：5，将两个电机转速以十进制数的形式反馈给串口助手，请生成基于keil5的代码并给出硬件接线方法

以下是基于STM32f103C8T6的12V双直流编码电机调速控制的代码和硬件接线方法：

代码：

#include "stm32f10x.h"

#define ENA  GPIO_Pin_0
#define IN1  GPIO_Pin_1
#define IN2  GPIO_Pin_2
#define ENB  GPIO_Pin_3
#define IN3  GPIO_Pin_4
#define IN4  GPIO_Pin_5

#define Encoder_Left  TIM2
#define Encoder_Right TIM3

uint32_t count_Left = 0;
uint32_t count_Right = 0;

void GPIO_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_InitStructure.GPIO_Pin = ENA | IN1 | IN2 | ENB | IN3 | IN4;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    GPIO_ResetBits(GPIOA, ENA | IN1 | IN2 | ENB | IN3 | IN4);
}

void TIM_Config(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3, ENABLE);

    // Encoder_Left
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(Encoder_Left, &TIM_TimeBaseStructure);

    TIM_EncoderInterfaceConfig(Encoder_Left, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = 6;
    TIM_ICInit(Encoder_Left, &TIM_ICInitStructure);

    TIM_ClearFlag(Encoder_Left, TIM_FLAG_Update);
    TIM_ITConfig(Encoder_Left, TIM_IT_Update, ENABLE);

    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_Cmd(Encoder_Left, ENABLE);

    // Encoder_Right
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(Encoder_Right, &TIM_TimeBaseStructure);

    TIM_EncoderInterfaceConfig(Encoder_Right, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = 6;
    TIM_ICInit(Encoder_Right, &TIM_ICInitStructure);

    TIM_ClearFlag(Encoder_Right, TIM_FLAG_Update);
    TIM_ITConfig(Encoder_Right, TIM_IT_Update, ENABLE);

    NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_Cmd(Encoder_Right, ENABLE);
}

void USART_Config(void)
{
    USART_InitTypeDef USART_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_USART1, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    USART_InitStructure.USART_BaudRate = 115200;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
    USART_Init(USART1, &USART_InitStructure);

    USART_Cmd(USART1, ENABLE);
}

void send_data(uint16_t data)
{
    uint8_t temp[4];
    temp[0] = (uint8_t)(data >> 8);
    temp[1] = (uint8_t)data;
    temp[2] = '\r';
    temp[3] = '\n';
    for (int i = 0; i < 4; i++) {
        while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
        USART_SendData(USART1, temp[i]);
    }
}

void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(Encoder_Left, TIM_IT_Update) != RESET) {
        TIM_ClearITPendingBit(Encoder_Left, TIM_IT_Update);
        count_Left = TIM_GetCounter(Encoder_Left);
        TIM_SetCounter(Encoder_Left, 0);
    }
}

void TIM3_IRQHandler(void)
{
    if (TIM_GetITStatus(Encoder_Right, TIM_IT_Update) != RESET) {
        TIM_ClearITPendingBit(Encoder_Right, TIM_IT_Update);
        count_Right = TIM_GetCounter(Encoder_Right);
        TIM_SetCounter(Encoder_Right, 0);
    }
}

void Motor_Control(int left_speed, int right_speed)
{
    if (left_speed > 0) {
        GPIO_SetBits(GPIOA, IN1);
        GPIO_ResetBits(GPIOA, IN2);
        TIM_SetCompare1(TIM1, left_speed);
    } else if (left_speed < 0) {
        GPIO_SetBits(GPIOA, IN2);
        GPIO_ResetBits(GPIOA, IN1);
        TIM_SetCompare1(TIM1, -left_speed);
    } else {
        GPIO_ResetBits(GPIOA, IN1 | IN2);
        TIM_SetCompare1(TIM1, 0);
    }

    if (right_speed > 0) {
        GPIO_SetBits(GPIOA, IN3);
        GPIO_ResetBits(GPIOA, IN4);
        TIM_SetCompare2(TIM1, right_speed);
    } else if (right_speed < 0) {
        GPIO_SetBits(GPIOA, IN4);
        GPIO_ResetBits(GPIOA, IN3);
        TIM_SetCompare2(TIM1, -right_speed);
    } else {
        GPIO_ResetBits(GPIOA, IN3 | IN4);
        TIM_SetCompare2(TIM1, 0);
    }
}

int main(void)
{
    GPIO_Config();
    TIM_Config();
    USART_Config();

    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 71;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM1, &TIM_OCInitStructure);
    TIM_OC2Init(TIM1, &TIM_OCInitStructure);

    TIM_Cmd(TIM1, ENABLE);

    while (1) {
        int left_speed = (count_Left - 32768) * 5;
        int right_speed = (count_Right - 32768) * 5;
        Motor_Control(left_speed, right_speed);
        send_data(count_Left);
        send_data(count_Right);
        delay_ms(10);
    }
}

硬件接线方法：

将编码器的A、B两个信号线分别连接到STM32的PA0、PA1和PA6、PA7上，将电机驱动模块L298n的ENA、IN1、IN2、ENB、IN3、IN4分别连接到STM32的PA0、PA1、PA2、PA3、PA4、PA5上，将电机的两个输出端分别连接到L298n的OUT1和OUT2、OUT3和OUT4上。

注：此处只给出了主要的接线方法，具体细节还需要根据实际情况进行调整，如电源的接线等。