用stm32写一段控制520编码器电机转动以及测量转速与位置的代码

你好，这是一个技术问题，我可以回答。以下是一个简单的示例代码：

#include "stm32f4xx.h"

#define ENCODER_TIM TIM2
#define ENCODER_TIM_CLK RCC_APB1Periph_TIM2
#define ENCODER_TIM_IRQn TIM2_IRQn

#define ENCODER_A_GPIO GPIOA
#define ENCODER_A_PIN GPIO_Pin_0
#define ENCODER_A_CLK RCC_AHB1Periph_GPIOA
#define ENCODER_A_SOURCE GPIO_PinSource0
#define ENCODER_A_AF GPIO_AF_TIM2

#define ENCODER_B_GPIO GPIOA
#define ENCODER_B_PIN GPIO_Pin_1
#define ENCODER_B_CLK RCC_AHB1Periph_GPIOA
#define ENCODER_B_SOURCE GPIO_PinSource1
#define ENCODER_B_AF GPIO_AF_TIM2

#define MOTOR_GPIO GPIOB
#define MOTOR_PIN GPIO_Pin_0

#define MOTOR_TIM TIM3
#define MOTOR_TIM_CLK RCC_APB1Periph_TIM3

#define MOTOR_PWM_CHANNEL TIM_OCMode_PWM1
#define MOTOR_PWM_GPIO GPIOB
#define MOTOR_PWM_PIN GPIO_Pin_1
#define MOTOR_PWM_CLK RCC_AHB1Periph_GPIOB
#define MOTOR_PWM_SOURCE GPIO_PinSource1
#define MOTOR_PWM_AF GPIO_AF_TIM3

#define MOTOR_PWM_PERIOD 1000

volatile uint32_t encoder_count = 0;

void ENCODER_TIM_IRQHandler(void)
{
if (TIM_GetITStatus(ENCODER_TIM, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(ENCODER_TIM, TIM_IT_Update);
encoder_count++;
}
}

void encoder_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

RCC_AHB1PeriphClockCmd(ENCODER_A_CLK | ENCODER_B_CLK, ENABLE);
RCC_APB1PeriphClockCmd(ENCODER_TIM_CLK, ENABLE);

GPIO_InitStructure.GPIO_Pin = ENCODER_A_PIN | ENCODER_B_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(ENCODER_A_GPIO, &GPIO_InitStructure);

GPIO_PinAFConfig(ENCODER_A_GPIO, ENCODER_A_SOURCE, ENCODER_A_AF);
GPIO_PinAFConfig(ENCODER_B_GPIO, ENCODER_B_SOURCE, ENCODER_B_AF);

TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD