旋转计数器，b0口有一个坏口，测了半天才发现

2026-08-13 23:35:37 +08:00
parent 72d07a8077
commit ce876f0ff0
4 changed files with 88 additions and 4 deletions
--- a/BSP/Encoder.c
+++ b/BSP/Encoder.c
@@ -0,0 +1,66 @@
+#include "stm32f10x.h"
+
+int16_t Encoder_Counter = 0;
+
+void Encoder_Init(void) {
+    // 初始化Gpio口
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
+    GPIO_InitTypeDef GPIO_InitStructure;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
+    GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+    // 初始化exit
+    GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource0);
+    GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource1);
+    EXTI_InitTypeDef EXTI_InitStructure;
+    EXTI_InitStructure.EXTI_Line = EXTI_Line0 | EXTI_Line1;
+    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
+    EXTI_Init(&EXTI_InitStructure);
+
+    // 初始化nvic
+    NVIC_InitTypeDef NVIC_InitStructure;
+
+    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
+
+    NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
+    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
+    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
+    NVIC_Init(&NVIC_InitStructure);
+
+    NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
+    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
+    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
+    NVIC_Init(&NVIC_InitStructure);
+}
+
+int16_t GetEncoder_Counter(void) {
+    int16_t temp = 0;
+    temp = Encoder_Counter;
+    Encoder_Counter = 0;
+    return temp;
+}
+
+void EXTI0_IRQHandler(void) {
+    if (EXTI_GetITStatus(EXTI_Line0) == SET) {
+        if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1) == 0) {
+            Encoder_Counter--;
+        }
+        EXTI_ClearITPendingBit(EXTI_Line0);
+    }
+}
+
+void EXTI1_IRQHandler(void) {
+    if (EXTI_GetITStatus(EXTI_Line1) == SET) {
+        if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_0) == 0) {
+            Encoder_Counter++;
+        }
+        EXTI_ClearITPendingBit(EXTI_Line1);
+    }
+}