void Encoder_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource15);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource3);
EXTI_InitStructure.EXTI_Line =EXTI_Line4 | EXTI_Line15;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_Init(&EXTI_InitStructure);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_Init(&NVIC_InitStructure);
}
void EXTI15_10_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line15) == SET)
{
/*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*/
if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) == 0)
{
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_3) == 0)
{
Encoder_Count --;
}
}
EXTI_ClearITPendingBit(EXTI_Line15);
}
}
void EXTI3_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line3) == SET)
{
/*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*/
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_3) == 0)
{
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_15) == 0)
{
Encoder_Count ++;
}
}
EXTI_ClearITPendingBit(EXTI_Line3);
}
} |