帮我写关于stm32控制带有霍尔编码器的直流电机旋转指定圈数的代码

好的，我可以回答这个问题。以下是一个简单的示例代码，可以控制带有霍尔编码器的直流电机旋转指定圈数：

#include <stdio.h>
#include "stm32f4xx.h"

#define MOTOR_PIN1 GPIO_Pin_0
#define MOTOR_PIN2 GPIO_Pin_1
#define MOTOR_PIN3 GPIO_Pin_2
#define MOTOR_PIN4 GPIO_Pin_3

#define ENCODER_PIN1 GPIO_Pin_4
#define ENCODER_PIN2 GPIO_Pin_5
#define ENCODER_PIN3 GPIO_Pin_6

#define ENCODER_PPR 1000 // 每转的脉冲数

void motor_rotate(int angle);

int main(void)
{
    // 初始化 GPIO 和定时器
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = MOTOR_PIN1 | MOTOR_PIN2 | MOTOR_PIN3 | MOTOR_PIN4;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = ENCODER_PIN1 | ENCODER_PIN2 | ENCODER_PIN3;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = 1000 - 1; // 定时器周期为 1ms
    TIM_TimeBaseStructure.TIM_Prescaler = 84 - 1; // 定时器时钟频率为 84MHz
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &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(TIM2, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);

    // 控制电机旋转 360 度
    motor_rotate(360);

    while (1) {
        // 等待电机旋转完成
    }
}

void motor_rotate(int angle)
{
    int target_count = angle * ENCODER_PPR / 360;
    int current_count = 0;

    // 重置编码器计数器
    TIM_SetCounter(TIM2, 0);

    // 控制电机旋转
    GPIO_SetBits(GPIOA, MOTOR_PIN1);
    GPIO_ResetBits(GPIOA, MOTOR_PIN2);
    GPIO_SetBits(GPIOA, MOTOR_PIN3);
    GPIO_ResetBits(GPIOA, MOTOR_PIN4);

    while (current_count < target_count) {
        // 等待编码器计数器达到目标值
        if (GPIO_ReadInputDataBit(GPIOA, ENCODER_PIN1) == 1 &&
            GPIO_ReadInputDataBit(GPIOA, ENCODER_PIN2) == 0 &&
            GPIO_ReadInputDataBit(GPIOA, ENCODER_PIN3) == 1) {
            current_count++;
        }
    }

    // 停止电机旋转
    GPIO_ResetBits(GPIOA, MOTOR_PIN1);
    GPIO_ResetBits(GPIOA, MOTOR_PIN2);
    GPIO_ResetBits(GPIOA, MOTOR_PIN3);
    GPIO_ResetBits(GPIOA, MOTOR_PIN4);
}

这个代码使用了 STM32 的定时器和 GPIO 控制电机旋转，同时使用了霍尔编码器来检测电机旋转的角度。在 `motor_rotate` 函数中，我们计算出需要旋转的脉冲数，然后等待编码器计数器达到目标值，最后停止电机旋转。