请帮我写一份stm32f407控制编码器电机并读取速度代码

好的，我可以回答这个问题。以下是一份基本的stm32f407控制编码器电机并读取速度的代码：

#include "stm32f4xx.h"

#define ENCODER_TIM TIM2
#define MOTOR_TIM TIM3

volatile int32_t encoder_count = 0;
volatile int32_t last_encoder_count = 0;
volatile uint32_t motor_speed = 0;

void TIM2_IRQHandler(void)
{
    if (ENCODER_TIM->SR & TIM_SR_UIF) {
        ENCODER_TIM->SR &= ~TIM_SR_UIF;
        int32_t current_encoder_count = ENCODER_TIM->CNT;
        int32_t encoder_diff = current_encoder_count - last_encoder_count;
        last_encoder_count = current_encoder_count;
        encoder_count += encoder_diff;
    }
}

void TIM3_IRQHandler(void)
{
    if (MOTOR_TIM->SR & TIM_SR_UIF) {
        MOTOR_TIM->SR &= ~TIM_SR_UIF;
        motor_speed = encoder_count * 60 / 4; // 4 is the number of encoder counts per motor revolution
        encoder_count = 0;
    }
}

int main(void)
{
    // Initialize GPIO pins for motor control
    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
    GPIOA->MODER |= GPIO_MODER_MODER0_0 | GPIO_MODER_MODER1_0;
    GPIOA->ODR &= ~(GPIO_ODR_ODR_0 | GPIO_ODR_ODR_1);

    // Initialize encoder input pins
    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
    GPIOB->MODER &= ~(GPIO_MODER_MODER6 | GPIO_MODER_MODER7);
    GPIOB->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1;

    // Initialize encoder timer
    RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
    ENCODER_TIM->PSC = 0;
    ENCODER_TIM->ARR = 0xFFFF;
    ENCODER_TIM->CR1 = TIM_CR1_CEN;

    // Initialize motor timer
    RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
    MOTOR_TIM->PSC = 0;
    MOTOR_TIM->ARR = 1000; // 1 kHz PWM frequency
    MOTOR_TIM->CCR1 = 500; // 50% duty cycle
    MOTOR_TIM->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2;
    MOTOR_TIM->CCER = TIM_CCER_CC1E;
    MOTOR_TIM->DIER = TIM_DIER_UIE;
    MOTOR_TIM->CR1 = TIM_CR1_CEN;

    // Enable interrupts
    NVIC_EnableIRQ(TIM2_IRQn);
    NVIC_EnableIRQ(TIM3_IRQn);

    while (1) {
        // Control motor speed using encoder feedback
        if (motor_speed < 100) {
            GPIOA->ODR &= ~(GPIO_ODR_ODR_0 | GPIO_ODR_ODR_1);
        } else if (motor_speed > 200) {
            GPIOA->ODR |= GPIO_ODR_ODR_0;
            GPIOA->ODR &= ~GPIO_ODR_ODR_1;
        } else {
            GPIOA->ODR |= GPIO_ODR_ODR_1;
            GPIOA->ODR &= ~GPIO_ODR_ODR_0;
        }
    }
}

这份代码使用了两个定时器，一个用于读取编码器的计数值，另一个用于控制电机的PWM输出。在每个PWM周期结束时，我们使用编码器计数值来计算电机的速度，并将计数器清零。然后，我们根据电机速度来控制电机的方向和PWM占空比，以达到所需的速度。