这篇文章分享了一个用 STM32 单片机，实现的EC11旋转编码器消抖的例子。

例子已经上传 Gitee：EC11_DEMO: EC11 旋转编码器软件完美消抖例子。基于 STM3 平台。 (gitee.com)

EC11

EC11

EC11

该项目的所有代码都在 main.c 和 stm32f4xx_it.c 这两个文件中。

main.c 文件

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/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2022 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
int32_t test_num = 0;
uint8_t dir_flag = 2; /* 方向标志 0: 顺时针 1: 逆时针 2: 未动状态 */
uint8_t key_click_flag = 0;
uint8_t key_count = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{
    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_USART2_UART_Init();
    /* USER CODE BEGIN 2 */
    HAL_UART_Transmit(&huart2, (uint8_t *)"hello,world!", sizeof("hello,world!"), 0xff);
    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
        if (dir_flag != 2)
        {
            dir_flag = 2;
            printf("num: %d\n", test_num);
        }

        /* 按键消抖 */
        GPIO_PinState key_value = HAL_GPIO_ReadPin(EC11_KEY_GPIO_Port, EC11_KEY_Pin);
        if (key_count > 15 && key_value == RESET)
        {
            HAL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
            test_num = 0;
            key_count = 0;
            key_click_flag = 0;
        }
    }
    /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Configure the main internal regulator output voltage
     */
    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /** Initializes the RCC Oscillators according to the specified parameters
     * in the RCC_OscInitTypeDef structure.
     */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLM = 4;
    RCC_OscInitStruct.PLL.PLLN = 100;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ = 4;
    RCC_OscInitStruct.PLL.PLLR = 2;
    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_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
    {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */
/* 外部中断回调函数 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    /* Prevent unused argument(s) compilation warning */
    UNUSED(GPIO_Pin);
    static uint8_t count = 0;   /* 中断触发计数变量 */
    static uint8_t b_flag;      /* B相标志变量*/
    GPIO_PinState a_value = HAL_GPIO_ReadPin(EC11_A_GPIO_Port, EC11_A_Pin);
    GPIO_PinState b_value = HAL_GPIO_ReadPin(EC11_B_GPIO_Port, EC11_B_Pin);

    if (GPIO_Pin == EC11_A_Pin) /* A 相触发了中断：上升沿或下降沿*/
    {
        if (a_value == RESET && count == 0) /* 判断A相是下降沿并且 count=0 */
        {
            b_flag = 0; /* 给B相标志位赋值0 */
            if (b_value) /* 这里要判断B相的状态，如果是高电平则把B相标志位赋值1 */
                b_flag = 1;
            count = 1; /* 中断计数变量赋值1 */
        }

        if (a_value == SET && count == 1) /* 判断A相是上升沿并且 count=1  0 to 1 */
        {
            if (b_value == RESET && b_flag == 1) /* 判断旋转方向：B相波形为：1 to 0 */
            {
                test_num--;
                dir_flag = 1;
            }
            if (b_value && b_flag == 0) /* 判断旋转方向：B相波形为：0 to 1 */
            {
                test_num++;
                dir_flag = 0;
            }
            count = 0;
        }
    }

    /* 按键中断 */
    if (GPIO_Pin == EC11_KEY_Pin)
    {
        key_click_flag = 1;
    }
}

/* LED 闪烁程序，放�? SysTick_Handler() 中使�? */
void led_blink(uint16_t ms)
{
    static __IO int led_count = 0;
    const uint16_t count_flag = ms / 2;
    if (led_count != 0)
    {
        if (led_count <= count_flag)
        {
            HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_SET);
        }
        else
        {
            HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
        }
        led_count--;
    }
    else
    {
        led_count = ms;
    }
}

// 添加这个函数
int fputc(int ch, FILE *f)
{
    uint8_t temp[1] = {ch};
    HAL_UART_Transmit(&huart2, temp, 1, 2);
}
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

stm32f4xx_it.c

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/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */

/* USER CODE END TD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
extern uint8_t key_click_flag;
extern uint8_t key_count;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/

/* USER CODE BEGIN EV */

/* USER CODE END EV */

/******************************************************************************/
/*           Cortex-M4 Processor Interruption and Exception Handlers          */
/******************************************************************************/
/**
  * @brief This function handles Non maskable interrupt.
  */
void NMI_Handler(void)
{
  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */

  /* USER CODE END NonMaskableInt_IRQn 0 */
  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
  while (1)
  {
  }
  /* USER CODE END NonMaskableInt_IRQn 1 */
}

/**
  * @brief This function handles Hard fault interrupt.
  */
void HardFault_Handler(void)
{
  /* USER CODE BEGIN HardFault_IRQn 0 */

  /* USER CODE END HardFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
    /* USER CODE END W1_HardFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Memory management fault.
  */
void MemManage_Handler(void)
{
  /* USER CODE BEGIN MemoryManagement_IRQn 0 */

  /* USER CODE END MemoryManagement_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
    /* USER CODE END W1_MemoryManagement_IRQn 0 */
  }
}

/**
  * @brief This function handles Pre-fetch fault, memory access fault.
  */
void BusFault_Handler(void)
{
  /* USER CODE BEGIN BusFault_IRQn 0 */

  /* USER CODE END BusFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
    /* USER CODE END W1_BusFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Undefined instruction or illegal state.
  */
void UsageFault_Handler(void)
{
  /* USER CODE BEGIN UsageFault_IRQn 0 */

  /* USER CODE END UsageFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
    /* USER CODE END W1_UsageFault_IRQn 0 */
  }
}

/**
  * @brief This function handles System service call via SWI instruction.
  */
void SVC_Handler(void)
{
  /* USER CODE BEGIN SVCall_IRQn 0 */

  /* USER CODE END SVCall_IRQn 0 */
  /* USER CODE BEGIN SVCall_IRQn 1 */

  /* USER CODE END SVCall_IRQn 1 */
}

/**
  * @brief This function handles Debug monitor.
  */
void DebugMon_Handler(void)
{
  /* USER CODE BEGIN DebugMonitor_IRQn 0 */

  /* USER CODE END DebugMonitor_IRQn 0 */
  /* USER CODE BEGIN DebugMonitor_IRQn 1 */

  /* USER CODE END DebugMonitor_IRQn 1 */
}

/**
  * @brief This function handles Pendable request for system service.
  */
void PendSV_Handler(void)
{
  /* USER CODE BEGIN PendSV_IRQn 0 */

  /* USER CODE END PendSV_IRQn 0 */
  /* USER CODE BEGIN PendSV_IRQn 1 */

  /* USER CODE END PendSV_IRQn 1 */
}

/**
  * @brief This function handles System tick timer.
  */
void SysTick_Handler(void)
{
  /* USER CODE BEGIN SysTick_IRQn 0 */

  /* USER CODE END SysTick_IRQn 0 */
  HAL_IncTick();
  /* USER CODE BEGIN SysTick_IRQn 1 */
//	led_blink(100);
	if(key_click_flag) {
		key_count++;
	}
  /* USER CODE END SysTick_IRQn 1 */
}

/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers                                    */
/* Add here the Interrupt Handlers for the used peripherals.                  */
/* For the available peripheral interrupt handler names,                      */
/* please refer to the startup file (startup_stm32f4xx.s).                    */
/******************************************************************************/

/**
  * @brief This function handles EXTI line[9:5] interrupts.
  */
void EXTI9_5_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI9_5_IRQn 0 */

  /* USER CODE END EXTI9_5_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(EC11_A_Pin);
  HAL_GPIO_EXTI_IRQHandler(EC11_KEY_Pin);
  /* USER CODE BEGIN EXTI9_5_IRQn 1 */

  /* USER CODE END EXTI9_5_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */