基于stm32f407，利用定时器5的四个输入捕获通道，来捕捉两个数字编码器输出的波形，每个编码器输出两路信号，有相位差，从而区分正反转。-Based on the stm32f407, using the four timer 5 input capture channel to capture the two digital encoder output waveform, each encoder output two signals, there is a phase differenc