81 lines
2.2 KiB
C
81 lines
2.2 KiB
C
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#include "stm32f10x.h" // Device header
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int16_t Encoder_Count;
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void Encoder_Init(void)
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{
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource4);
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GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource5);
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EXTI_InitTypeDef EXTI_InitStructure;
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EXTI_InitStructure.EXTI_Line = EXTI_Line4 | EXTI_Line5;
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EXTI_InitStructure.EXTI_LineCmd = ENABLE;
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EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
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EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
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EXTI_Init(&EXTI_InitStructure);
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_Init(&NVIC_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
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NVIC_Init(&NVIC_InitStructure);
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}
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int16_t Encoder_Get(void)
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{
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int16_t Temp;
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Temp = Encoder_Count;
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Encoder_Count = 0;
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return Temp;
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}
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void EXTI4_IRQHandler(void)
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{
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if (EXTI_GetITStatus(EXTI_Line4) == SET)
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{
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/*如果出现数据乱跳的现象，可再次判断引脚电平，以避免抖动*/
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if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4) == 0)
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{
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if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_5) == 0)
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{
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Encoder_Count --;
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}
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}
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EXTI_ClearITPendingBit(EXTI_Line4);
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}
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}
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void EXTI9_5_IRQHandler(void)
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{
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if (EXTI_GetITStatus(EXTI_Line5) == SET)
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{
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/*如果出现数据乱跳的现象，可再次判断引脚电平，以避免抖动*/
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if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_5) == 0)
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{
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if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4) == 0)
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{
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Encoder_Count ++;
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}
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}
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EXTI_ClearITPendingBit(EXTI_Line5);
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}
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}
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