stm32g070rbt6 编码盘代码

以下是一个简单的STM32G070RBT6编码器的示例代码：

#include "stm32g0xx_hal.h"

#define ENCODER_PIN1 GPIO_PIN_0
#define ENCODER_PIN2 GPIO_PIN_1
#define ENCODER_PORT GPIOA

TIM_HandleTypeDef htim2;

void SystemClock_Config(void);

static void MX_GPIO_Init(void);

static void MX_TIM2_Init(void);

int main(void) {
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_TIM2_Init();

  HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);

  int32_t encoder_value = 0;

  while (1) {
    encoder_value = __HAL_TIM_GET_COUNTER(&htim2);
    // Do something with encoder_value
  }
}

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

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
                                RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
    Error_Handler();
  }
}

static void MX_TIM2_Init(void) {
  TIM_Encoder_InitTypeDef sConfig = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 65535;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK) {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void) {
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin : ENCODER_PIN1 */
  GPIO_InitStruct.Pin = ENCODER_PIN1;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(ENCODER_PORT, &GPIO_InitStruct);

  /*Configure GPIO pin : ENCODER_PIN2 */
  GPIO_InitStruct.Pin = ENCODER_PIN2;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(ENCODER_PORT, &GPIO_InitStruct);
}

该代码使用TIM2和GPIOA上的2个GPIO引脚作为编码器输入。TIM2用于计数器，而GPIOA上的2个引脚用于A和B信号。在main()中，初始化TIM2和GPIOA，启动编码器并使用__HAL_TIM_GET_COUNTER()函数读取计数器值。

注意：该代码仅作为示例，具体实现可能需要根据你的硬件和应用程序进行修改。