init

HARDWARE/encoder.h

@@ -0,0 +1,24 @@
+#ifndef __ENCODER_H
+#define __ENCODER_H
+#include <sys.h>	 
+#include "system.h"
+
+// No larger than 65535, because the timer of STM32F103 is 16 bit
+//不可大于65535，因为STM32F103的定时器是16位的
+#define ENCODER_TIM_PERIOD (u16)(65535)   
+
+void Encoder_Init_TIM2(void);
+void Encoder_Init_TIM3(void);
+void Encoder_Init_TIM4(void);
+void Encoder_Init_TIM5(void);
+
+
+int Read_Encoder(u8 TIMX);
+
+void TIM2_IRQHandler(void);
+void TIM3_IRQHandler(void);
+void TIM4_IRQHandler(void);
+void TIM5_IRQHandler(void);
+void TIM8_BRK_TIM12_IRQHandler(void);
+
+#endif