66 lines
2.1 KiB
C
66 lines
2.1 KiB
C
#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);
|
|
}
|
|
} |