#include <stm32f10x_tim.h> //IRQ TIM

#include<stm32f10x_gpio.h>

#define DIAMETER_WHEEL_MM 20 //äèàìåòð êîëåñà

#define TICK_FOR_WHEEL 10 //ùåë÷êîâ íà îäèí îáîðîò

#define TIM_OVERRUN 255 //ðàçìåðíîñòü ñ÷åò÷èêà ýíêîäåðà

#define TIMER_WAIT_MS 1000 // ðàç âî ñêîëüêî âåìåíè îòñ÷èòûâàåì ýíêîäåðû.

NVIC_InitTypeDef NVIC_Int;

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

GPIO_InitTypeDef GPIO_InitStructure1;

int16_t QE1 = 0, QE2 = 0;

int16_t PreviousQE1 = 0, PreviousQE2 = 0;

uint16_t Enc1_Interrupted = 0;

uint32_t Enc1_TotalCount = 0;

void mcu_tim2_init(void)

{

RCC->APB1ENR = RCC_APB1ENR_TIM2EN; //òàêòèðîâàíèå

TIM2->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0; //Íàñòðàèâàåì âòîðîé ìóëüòèïëåêñîð (äëÿ ïåðâîãî è âòîðîãî âõîäà):

TIM2->CCER = TIM_CCER_CC1P | TIM_CCER_CC2P; //Ñ äåòåêòîðà ôðîíòîâ âîçüìåì íå èíâåðñíûé, ò.å. àêòèâíûé óðîâåíü âûñîêèé (äëÿ ïåðâîãî è âòîðîãî âõîäà):

TIM2->SMCR = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1; //Âñ¸, ìîæíî ðàçðåøàòü ðàáîòó ñ÷åò÷èêà:

TIM2->ARR = TIM_OVERRUN;

TIM2->CR1 = TIM_CR1_CEN;

}

void TIM4_Config(void)

{

RCC->APB1ENR += RCC_APB1ENR_TIM4EN; //àêêóðàòíî!!

TIM4->PSC = 24000-1;

TIM4->ARR = TIMER_WAIT_MS;

TIM4->DIER = TIM_DIER_UIE;

TIM4->CR1 = TIM_CR1_CEN;

//NVIC_EnableIRQ(TIM4_IRQn);

NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

}

void mcu_tim3_init(void)

{

RCC->APB1ENR = RCC_APB1ENR_TIM3EN; //òàêòèðîâàíèå

TIM3->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0; //Íàñòðàèâàåì âòîðîé ìóëüòèïëåêñîð (äëÿ ïåðâîãî è âòîðîãî âõîäà):

TIM3->CCER = TIM_CCER_CC1P | TIM_CCER_CC2P; //Ñ äåòåêòîðà ôðîíòîâ âîçüìåì íå èíâåðñíûé, ò.å. àêòèâíûé óðîâåíü âûñîêèé (äëÿ ïåðâîãî è âòîðîãî âõîäà):

TIM3->SMCR = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1; //Âñ¸, ìîæíî ðàçðåøàòü ðàáîòó ñ÷åò÷èêà:

TIM3->ARR = TIM_OVERRUN;

TIM3->CR1 = TIM_CR1_CEN;

}

uint32_t Enc1_GetCount(void)

{

uint32_t count = 0;

uint32_t tmpTotalCount = 0;

uint32_t tmpEncCount = 0;

// do {

Enc1_Interrupted = 1;

tmpTotalCount = Enc1_TotalCount;

tmpEncCount = TIM2->CNT;

//} while ( Enc1_Interrupted == 0 );

count = tmpTotalCount + tmpEncCount;

return count;

}

void TIM2_IRQHandler(void)

{

uint16_t cnt = TIM2->CNT;

GPIOC->ODR^=GPIO_Pin_8;

//send_to_uart('T');

/* if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)

{

TIM_ClearITPendingBit(TIM2, TIM_IT_Update);

}*/

TIM_ClearITPendingBit(TIM2, TIM_IT_Update);

if ( cnt < 0x7FFF ) {

Enc1_TotalCount += (uint32_t)0x10000;

} else {

Enc1_TotalCount -= (uint32_t)0x10000;

}

Enc1_Interrupted = 0;

//send_to_uart('S');

//USART1->DR = (cnt & (uint16_t)0x01FF);

//USART_SendData(USART1, 0x01);

USART_DMACmd(USART1, USART_DMAReq_Tx, ENABLE);

DMA_Cmd(DMA1_Channel4, ENABLE);

}

void TIM3_IRQHandler(void)

{

uint16_t cnt = TIM3->CNT;

TIM_ClearITPendingBit(TIM3, TIM_IT_Update);

}

void TIM4_IRQHandler(void)

{

//vUtils_Debug("FF");

//uint16_t cnt = TIM4->CNT;

QE1+=TIM2->CNT;

QE2+=TIM3->CNT;

/*TIM2->CR1 =(TIM2->CR1) & ~(TIM_CR1_CEN);

TIM3->CR1 =(TIM3->CR1) & ~ (TIM_CR1_CEN);

TIM2->CR1 =TIM_CR1_CEN;

TIM3->CR1 = TIM_CR1_CEN;

*/

//send_to_uart('S');

//send_to_uart('G');

/*TIM2->ARR = 0;

TIM2->ARR= 1000;

TIM3->ARR = 0;

TIM3->ARR= 1000;*/

TIM_ClearITPendingBit(TIM4, TIM_IT_Update);

//mcu_tim2_init();

//mcu_tim3_init();

}

void VirtualEncoderInc()

{

GPIO_WriteBit(GPIOC,GPIO_Pin_9,Bit_RESET);

GPIO_WriteBit(GPIOC,GPIO_Pin_8,Bit_RESET);

Delay(800000);

GPIO_WriteBit(GPIOC,GPIO_Pin_9,Bit_SET);

Delay(800000);

GPIO_WriteBit(GPIOC,GPIO_Pin_8,Bit_SET);

Delay(800000);

GPIO_WriteBit(GPIOC,GPIO_Pin_9, Bit_RESET);

Delay(800000);

GPIO_WriteBit(GPIOC, GPIO_Pin_8, Bit_RESET);

Delay(800000);

}

void TIM2_Config(void)

{

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 ; // two LED (guess on what pin!!)

GPIO_Init(GPIOA, &GPIO_InitStructure);

NVIC_Int.NVIC_IRQChannelPreemptionPriority = 2;

NVIC_Int.NVIC_IRQChannelSubPriority = 2;

NVIC_Int.NVIC_IRQChannelCmd = ENABLE;

NVIC_Int.NVIC_IRQChannel = TIM2_IRQn;

NVIC_Init(&NVIC_Int);

TIM_TimeBaseStructure.TIM_Period = 200;

TIM_TimeBaseStructure.TIM_Prescaler = 0;

TIM_TimeBaseStructure.TIM_ClockDivision = 0;

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

TIM_Cmd(TIM2, ENABLE);

TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);

}

void TIM3_Config(void)

{

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 ; // two LED (guess on what pin!!)

GPIO_Init(GPIOA, &GPIO_InitStructure);

NVIC_Int.NVIC_IRQChannelPreemptionPriority = 2;

NVIC_Int.NVIC_IRQChannelSubPriority = 2;

NVIC_Int.NVIC_IRQChannelCmd = ENABLE;

NVIC_Int.NVIC_IRQChannel = TIM3_IRQn;

NVIC_Init(&NVIC_Int);

TIM_TimeBaseStructure.TIM_Period = 200;

TIM_TimeBaseStructure.TIM_Prescaler = 0;

TIM_TimeBaseStructure.TIM_ClockDivision = 0;

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

TIM_EncoderInterfaceConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

TIM_Cmd(TIM3, ENABLE);

TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);

}

void EINT_Config(void)

{

GPIO_StructInit(&GPIO_InitStructure1);

GPIO_InitStructure1.GPIO_Pin = GPIO_Pin_0;

GPIO_InitStructure1.GPIO_Mode = GPIO_Mode_IPU;

GPIO_InitStructure1.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOG, &GPIO_InitStructure1);

//SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource0);

EXTI_InitTypeDef EXTI_InitStructure;

EXTI_StructInit(&EXTI_InitStructure);

EXTI_InitStructure.EXTI_Line = EXTI_Line0;

EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;

EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;

EXTI_InitStructure.EXTI_LineCmd = ENABLE;

EXTI_Init(&EXTI_InitStructure);

NVIC_InitTypeDef NVIC_InitStructure1;

NVIC_InitStructure1.NVIC_IRQChannel = EXTI0_IRQn;

NVIC_InitStructure1.NVIC_IRQChannelPreemptionPriority = 0x01;

NVIC_InitStructure1.NVIC_IRQChannelSubPriority = 0x01;

NVIC_InitStructure1.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure1);

}

void EXTI0_IRQHandler(void)

{

if(EXTI_GetITStatus(EXTI_Line0) != RESET)

{

//Handle the interrupt

GPIOC->ODR^=GPIO_Pin_8;

EXTI_ClearITPendingBit(EXTI_Line0);

}

}