From 283e86de05d131402db9065fc35a0eb10ad097f8 Mon Sep 17 00:00:00 2001
From: tianjialong <tianjialong@163.com>
Date: Wed, 1 Mar 2023 14:48:32 +0800
Subject: [PATCH] update

---
 usersrc/encoder.c | 6 +++++-
 usersrc/encoder.h | 7 +++++++
 usersrc/zboard.h  | 6 ++++++
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/usersrc/encoder.c b/usersrc/encoder.c
index d747876..0b6fef8 100644
--- a/usersrc/encoder.c
+++ b/usersrc/encoder.c
@@ -7,9 +7,13 @@ static int CaptureNumber;
 
 void encoder_start(void)
 {
-    /* 不开启会导致程序无法启动，原因位置 */
+    /* 不开启会导致程序无法启动，原因未知 */
     HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
 }
+void encoder_stop(void)
+{
+    HAL_TIM_Encoder_Stop(&htim4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
+}
 
 void encoder_read_printf(void)
 {
diff --git a/usersrc/encoder.h b/usersrc/encoder.h
index 6069dde..831f9b7 100644
--- a/usersrc/encoder.h
+++ b/usersrc/encoder.h
@@ -1,5 +1,12 @@
 #pragma once
 #include "main.h"
 
+typedef struct
+{
+    TIM_HandleTypeDef *tim_handler;
+    uint32_t tim_channel;
+} encoder_t;
+
 void encoder_start(void);
+void encoder_stop(void);
 void encoder_read_printf(void);
diff --git a/usersrc/zboard.h b/usersrc/zboard.h
index 703dd96..8e3dd5c 100644
--- a/usersrc/zboard.h
+++ b/usersrc/zboard.h
@@ -9,3 +9,9 @@
 #define DEBUG_UART huart1  //直接使用指令串口作为调试串口
 #define DEBUG_LIGHT_PORT GPIOF
 #define DEBUG_LIGHT_PIN GPIO_PIN_10
+
+/***********************************************************************************************************************
+ * ******************************************************编码器******************************************************* *
+ ***********************************************************************************************************************/
+#define camera_encoder htim4
+#define driven_encoder_gear htim8
\ No newline at end of file