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# 旋转编码器
- 初始化外部晶振，配置SYSCLK与Timer Clock均为72MHz
- 将PA8、PA9分别配置为TIM1_CH1、TIM1_CH2
- 配置TIM1
- 将Combined Channels配置为Encoder Mode
- 可以配置Input Filter，启用集成滤波器，减少抖动，范围0~15
- 配置USART2为Asynchronous
- 启动编码器：HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL)