STM32CubeMX EC11旋转编码器驱动

/* USER CODE BEGIN Includes */
 
#include "stdio.h"
#define EC11_DATA_A HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_3) 
#define EC11_DATA_B   HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_4)
#define EC11_DATA_key  HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_5)
int fputc(int ch,FILE *f)
{
    HAL_UART_Transmit(&huart1,(uint8_t*)&ch,1,0xFFFF);
    return ch;
}
/* USER CODE END Includes */

/* USER CODE BEGIN 0 */
int16_t Encoder_EC11_Scan(int16_t key,int16_t EC11_A,int16_t EC11_B) 
{
  static int8_t sta=0,sta_key=0;
  int16_t ScanResult = 0;   
  if(sta_key==0 && key==1){sta_key=1;}
  else if(sta_key==1){
    if(key==0){sta_key=2;}
  }
  else if(sta_key==2){
    if(key==1){
      sta_key=0;
      ScanResult=3;
    }
  }
  if(EC11_A==0 && sta==0){
    sta=1;
  } 
  else if(sta==1){
    if(EC11_A==1){
      if(EC11_B==1){
        if(key==0){ScanResult=2;sta_key=0;}
        else {ScanResult=1;}
      }      
      else if(EC11_B==0){
        if(key==0){ScanResult=-2;sta_key=0;}
        else {ScanResult=-1;}
      }
      sta=0;
    }
  }
  if(ScanResult!=0)printf("%d\r\n",ScanResult); //输出查看，不需要可删除
  return ScanResult;      //返回值的取值：   0：无动作；  1：正转； -1：反转；  2：按下正转； -2：按下反转； 3：只按下并松开
}
 
/* USER CODE END 0 */

 while (1)
  { Encoder_EC11_Scan(EC11_DATA_key,EC11_DATA_A,EC11_DATA_B);
      /* USER CODE END WHILE */
 
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}