基于STM32 F407系列，与BOURNS生产的绝对编码器进行通信，采用硬件SPI方式。 附有BOURNS与STM32文档，可供入门参考。(Based on the STM32 F407 series, it communicates with the absolute encoder produced by BOURNS, and uses the hardware SPI mode. With BOURNS and STM32 documents, it is available fo