STM32 旋转编码器初始化代码示例/n/n以下是一个简单的 STM32 旋转编码器初始化代码示例，使用 TIM 模块实现：/n/nc/n#include /'stm32f4xx.h/'/n/nvoid Encoder_Init(void)/n{/n GPIO_InitTypeDef GPIO_InitStructure;/n TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;/n TIM_ICInitTypeDef TIM_ICInitStructure;/n /n RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);/n RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);/n /n GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;/n GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;/n GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;/n GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;/n GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;/n GPIO_Init(GPIOA, &GPIO_InitStructure);/n /n GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_TIM1);/n GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_TIM1);/n /n TIM_TimeBaseStructure.TIM_Prescaler = 0;/n TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;/n TIM_TimeBaseStructure.TIM_Period = 65535;/n TIM_TimeBaseStructure.TIM_ClockDivision = 0;/n TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);/n /n TIM_EncoderInterfaceConfig(TIM1, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);/n /n TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;/n TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;/n TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;/n TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;/n TIM_ICInitStructure.TIM_ICFilter = 0x0;/n TIM_ICInit(TIM1, &TIM_ICInitStructure);/n /n TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;/n TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;/n TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;/n TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;/n TIM_ICInitStructure.TIM_ICFilter = 0x0;/n TIM_ICInit(TIM1, &TIM_ICInitStructure);/n /n TIM_SetCounter(TIM1, 0);/n TIM_Cmd(TIM1, ENABLE);/n}/n/n/n代码中使用了 TIM1 模块，将 PA8 和 PA9 引脚配置为复用功能，对应的复用功能为 TIM1/_CH1 和 TIM1/_CH2。使用 TIM/_EncoderInterfaceConfig 函数配置编码器模式为 TI1 和 TI2，同时设置计数器的方向为正向。最后，使用 TIM/_ICInit 函数初始化 TIM1/_CH1 和 TIM1/_CH2 引脚的输入捕获功能，设置捕获极性为上升沿，并将捕获时钟预分频器设置为 1，过滤器设置为 0。最后，使用 TIM/_SetCounter 函数将计数器清零，使能 TIM1 计数器。