#include "Encode.h"
#include "task.h"
#include "ctrl.h"
 
#define ENCODER_PORT 	GPIOC		//定义IO接口组
#define ENCODER_A		GPIO_Pin_6	//定义IO接口
#define ENCODER_B		GPIO_Pin_7	//定义IO接口
#define ENCODER_Z		GPIO_Pin_8	//定义IO接口
#define ENCODER_EXTI_Z		EXTI_Line8	//定义IO接口
 #define Encode_TIM 	TIM3
 
 
volatile int bEncodeInitOK = DISABLE;
int EncodeInitOK(void)
{
	if(PC8_I==0)
	{
		bEncodeInitOK++;
		Encode_TIM->CNT=0; 
	}
	return bEncodeInitOK;
}

void EncodeReInit(void)
{
	bEncodeInitOK = DISABLE;
}
//接口初始化
void InitEncoder(void)
{  
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;  
	TIM_ICInitTypeDef  TIM_ICInitStruct;
	
	GPIO_InitTypeDef  GPIO_InitStructure; //定义GPIO的初始化枚举结构	    
	EXTI_InitTypeDef EXTI_InitStruct; 
	NVIC_InitTypeDef NVIC_InitStructure;
	
	
	//初始化IO口时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC , ENABLE );  
	//初始化IO口
    GPIO_InitStructure.GPIO_Pin = ENCODER_A | ENCODER_B|ENCODER_Z; //选择端口号                        
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //选择IO接口工作方式 //上拉电阻       
	GPIO_Init(ENCODER_PORT,&GPIO_InitStructure);	  
	//初始化中断	
	EXTI_StructInit(&EXTI_InitStruct);
	EXTI_InitStruct.EXTI_Line = ENCODER_EXTI_Z; 
	EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
	EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;  
	EXTI_InitStruct.EXTI_LineCmd = ENABLE ;    
	EXTI_Init( &EXTI_InitStruct);
	//选择中断信号源
	GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource8); 
	//打开中断管理器
	NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);    
	
	
	//重映射TIM3
	GPIO_PinRemapConfig(GPIO_FullRemap_TIM3,ENABLE);
	//启动TIM3时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE );   
	 
	//Tim3初始化
	TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
	TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 分频不分频
	TIM_TimeBaseStructure.TIM_Period = 0x0FFFF;  //重载初值
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //选择时钟分频：不分频
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数  
	TIM_TimeBaseInit(Encode_TIM, &TIM_TimeBaseStructure); 
	
	/*编码器配置*/ 
	TIM_EncoderInterfaceConfig(Encode_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
	
	 
	TIM_ICStructInit(&TIM_ICInitStruct); //初始化为TI 
	TIM_ICInit(Encode_TIM,&TIM_ICInitStruct);
	
	TIM_ICStructInit(&TIM_ICInitStruct); //把TIM_ICInitStruct 中的每一个参数按缺省值填入
	TIM_ICInitStruct.TIM_Channel = TIM_Channel_2;  
	TIM_ICInit(Encode_TIM, &TIM_ICInitStruct); //根TIM_ICInitStructure参数初始化定时器TIM4编码器模式 
	
	TIM_ClearFlag(Encode_TIM, TIM_FLAG_Update); //清除TIM的更新标志位
	TIM_ITConfig(Encode_TIM, TIM_IT_Update, ENABLE); 
	
	TIM_SetCounter(Encode_TIM,0x7FFF);
	TIM_Cmd(Encode_TIM, ENABLE);  
}

unsigned int GetEncodeCnt(void)
{
	int16_t cnt0 = TIM_GetCapture1(Encode_TIM);
	int16_t cnt1 = TIM_GetCapture2(Encode_TIM);
	int16_t cnt = cnt0+cnt1;
	if(cnt<0) 
		cnt *=-1;
	return cnt;
}

void EXTI9_5_IRQHandler(void)
{ 
	if(EXTI_GetITStatus(EXTI_Line8) != RESET)
	{  
		EXTI_ClearFlag(EXTI_Line8); 
		EXTI_ClearITPendingBit(EXTI_Line8); 
		bEncodeInitOK = ENABLE; 
		Encode_TIM->CNT=0; 
	}
}