#include "encoder.h"


//编码器相关参数
int last_encode_num = 0;
int curr_encode_num = 0;
uint32_t encode_num = 0;
int cnt_update = 152;

void encoder_init(void)
{
	HAL_TIM_Encoder_Stop(&htim1, TIM_CHANNEL_ALL);	  //定时器1编码器关闭
	__HAL_TIM_SetCounter(&htim1, 0x9718);			        //编码器初始值一千万
	HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL);	  //定时器1编码器启动
	
	last_encode_num = 0;
	curr_encode_num = 0;
	encode_num = 0;
	cnt_update = 152;
	
	CoilState[3] &= 0x7F;		//初始化完成后线圈寄存器0x28置零
}

void encoder_run(void)
{
	//编码器
	last_encode_num = curr_encode_num;
	curr_encode_num = __HAL_TIM_GET_COUNTER(&htim1);
	if((curr_encode_num - last_encode_num) < -50000)        //向上溢出检测，o(65535)->o(0)
		cnt_update++;
	else if((curr_encode_num - last_encode_num) > 50000)    //向下溢出检测, o(0)->o(65535)
		cnt_update--;
	encode_num = curr_encode_num + cnt_update * 0xFFFF;			//编码器，返回计数脉冲值
	InputReg[20] = (encode_num >> 16) & 0xffff;             //32位int 拆分成两个 uint16_t，高16位
	InputReg[21] = encode_num & 0xffff;                     //32位int 拆分成两个 uint16_t，低16位
}