STM32 Rotary Encoder

{metadesc|How to handle rotary encoders using STM32 HAL}}

Rotary Encoders are devices which will generate pulses when they are turned.

Typically they will have two outputs with the pulses out of phase. By checking which pulse "comes first" the direction of the turn can be determined. It is not overly complicated to handle this manually, for example by hooking the signals up to an external GPIO Interrupt.