#include "encoder.h"

#include <stdio.h>

static int Direction;
static int CaptureNumber;

void encoder_start(void)
{
    /* 不开启会导致程序无法启动，原因位置 */
    HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
}

void encoder_read_printf(void)
{
    Direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim4);   // 读取电机转动方向
    CaptureNumber = (short)__HAL_TIM_GET_COUNTER(&htim4); // 读取编码器数据
    __HAL_TIM_GET_COUNTER(&htim4) = 0;                    // 计数器值重新置位
    if (CaptureNumber != 0)
    {
        printf("Direction is %d,CaptureNumber is %d\r\n", Direction, CaptureNumber);
    }
}