【自学嵌入式：stm32单片机】旋转编码器记次

目录

• 旋转编码器记次
  • 旋转编码器介绍
  • 旋转编码器硬件电路
  • 接线图
  • 对MYOLED.c的修改
  • 代码实现
    • 标准库实现
      • Encoder.h
      • Encoder.c
      • main.c
    • HAL库实现
      • IDE配置
      • 代码实现
        • Encoder.h
        • Encoder.c
        • stm32f1xx_it.c.c
        • main.c
  • 效果展示

旋转编码器记次

利用外部中断实现上述功能，外部中断适合突发的信号，用脉冲过来，stm32立即处理，没有脉冲的适合，stm32就专心做其他事情，红外接收器也用外部中断，但是按键不适合用外部中断，因为外部中断不好处理按键抖动和松手检测的问题

旋转编码器介绍

• 旋转编码器:用来测量位置、速度或旋转方向的装置，当其旋转轴旋转时，其输出端可以输出与旋转速度和方向对应的方波信号，读取方波信号的频率和相位信息即可得知旋转轴的速度和方向
• 类型:机械触点式/霍尔传感器式/光栅式

它利用正交波形判定反向，正向旋转，B输出的是滞后90度的信号，反向旋转，B输出的是提前90度的信号，这种输出正交波形的编码器是可以用来测方向的，还有的编码器一个引脚输出方波信号代表转速，另一个输出高低电平代表方向。

旋转编码器硬件电路

旋转头旋转时，下面的左右两个触电以相位相差90度的方式交替导通，所以设计判定思路就是

接线图

对MYOLED.c的修改

之前的代码在带符号数上显示有问题，现已修正为：

//显示带符号数
void MYOLED_ShowSignedNum(uint8_t x, uint8_t y, int32_t Number, uint8_t Length)
{
	uint8_t i = 0;
	uint32_t Number1; //一会取反用的
	//大于0显示正号，0不显示符号，负数显示负号
	if (Number > 0)
	{
		MYOLED_ShowChar(x, y, '+');
		Number1 = Number;
	}
	else if(Number ==0)
	{
		Number1 = Number;
	}
	else
	{
		MYOLED_ShowChar(x, y, '-');
		Number1 = -Number;
	}
	//给符号位腾出一个空间
	if(Number != 0)
	{
		x++;
	}
	//从最高位开始输出，和LCD1602不同的地方在于
	//这个确定光标位置后，要自己写代码移动光标位置
	//也就是下面x+ Length - i这个参数，Length - i是指Length和当前要显示数字的位数的差
	//比如一共显示3位长度，3位10进制，从右往左，第三位是百位，3-3 = 0，这样就能把高位十进制写在最左边
	//让其按人眼逻辑显示
	for (i = Length; i > 0; i--)							
	{
		MYOLED_ShowChar(x + Length - i, y, Number1 / MYOLED_Pow(10, i - 1) % 10 + '0');
	}
	//如果是0，则最后一位记得变成空，比如从+001变成 000，实际上是0001
	//所以要清零
	MYOLED_ShowChar(x + Length, y ,' ');
}

以后都按此修正，之前代码不做修改了（懒）

代码实现

标准库实现

已开源到：https://gitee.com/qin-ruiqian/jiangkeda-stm32

Encoder.h

#ifndef __ENCODER_H
#define __ENCODER_H

void Encoder_Init(void); //初始化旋转编码器
int16_t Encoder_Get(void); //获取旋钮的转度（正负）

#endif

Encoder.c

#include "stm32f10x.h"                  // Device header

int16_t Encoder_Count; //旋转编码器计数变量

//初始化旋转编码器
void Encoder_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
	GPIO_InitTypeDef GPIO_InitSturcture;
	GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU; //上拉输入，EXTI要求浮空上拉或者下拉
	GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
	GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitSturcture);
	//配置AFIO，选择中断的外部寄存器和引脚
	GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource0);
	GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource1);
	//配置EXTI
	EXTI_InitTypeDef EXTI_InitStructure;
	EXTI_InitStructure.EXTI_Line = EXTI_Line0 | EXTI_Line1; //指定配置的中断线
	EXTI_InitStructure.EXTI_LineCmd = ENABLE; //开启中断
	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; //选择中断模式，而不是事件模式EXTI_Mode_Event
	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; //下降沿触发，移开挡光片的时候触发
	EXTI_Init(&EXTI_InitStructure);
	//配置NVIC
	//配置优先级分组，抢占优先级和响应优先级
	//只有一个中断的话，分的比较平均一些
	//2位抢占，2位响应
	//要确保每个模块分组配置都是同一个，如果不放心可放在主函数中
	//我就放在这里了
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	NVIC_InitTypeDef NVIC_InitStructure;
	NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn; //选择15-10的合并的通道
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //指定中断通道使能
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //分组2，2位抢占，0-3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //这里是响应优先级，都是2位二进制，都设置为1
	NVIC_Init(&NVIC_InitStructure);
	NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn; //选择15-10的合并的通道
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //指定中断通道使能
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //分组2，2位抢占，0-3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //PB1响应优先级低一些
	NVIC_Init(&NVIC_InitStructure);
}

//获取计数器
//清零，因为每次读取的是旋钮的旋转度
int16_t Encoder_Get(void)
{
	int16_t Temp = 0;
	Temp = Encoder_Count;
	Encoder_Count = 0;
	return Temp;
}

//PB0中断
void EXTI0_IRQHandler(void)
{
	
	if(EXTI_GetFlagStatus(EXTI_Line0) == SET)
	{
		//判断另一个引脚的电平
		//PB0（A）下降沿（因为中断是下降沿触发），PB1（B）低电平
		//说明是反转
		if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1) == 0)
		{
			Encoder_Count--;
		}
		EXTI_ClearITPendingBit(EXTI_Line0);
	}
}

//PB1中断
void EXTI1_IRQHandler(void)
{
	if(EXTI_GetFlagStatus(EXTI_Line1) == SET)
	{
		//PB0（A）低电平，PB1（B）下降沿
		//说明是正转
		if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_0) == 0)
		{
			Encoder_Count++;
		}
		EXTI_ClearITPendingBit(EXTI_Line1);
	}
}

main.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "MYOLED.h"
#include "Encoder.h"

int16_t Num; //计数器

int main(void)
{
	MYOLED_Init();
	Encoder_Init();
	MYOLED_ShowString(0,0, "Num:");
	while(1)
	{
		//Get函数返回的是调用这个函数间隔里
		//旋转编码器产生的脉冲数
		Num += Encoder_Get();
		MYOLED_ShowSignedNum(4, 0 , Num, 5);
		//如果既在主程序里调用OLED
		//又在中断里调用OLED
		//OLED就会显示错误
		//主程序里OLED刚显示一半就中断了
		//终端里还是OLED显示，OLED就会挪到其他地方显示
		//回来的时候，继续显示的内容就会跟着跑到其他地方
		//所以要设置变量和标志位
		//当中断返回时，再对这个变量进行显示和操作
		//这样既能保证中断函数的简短快速，又能保证不产生冲突的硬件操作
	}
}

HAL库实现

已开源到：https://gitee.com/qin-ruiqian/jiangkeda-stm32-hal

IDE配置

配置PB8 PB9（OLED屏幕)是输出，PB0 PB1（旋转编码器）是外部中断

设置NVIC 外部中断1和0抢占式优先级都是1，响应优先级分别是1，2

设置外部中断1和0都是下降沿触发，设置PB8 PB9是默认高电平的开漏输出（I2C通信需要）
然后新建Hardware文件夹，把之前写的驱动的代码都拷贝过去，设置Hardware目录……不再赘述，详细看本系列之前的文章
然后设置编译后生成16进制文件……不再赘述，详细看本系列之前的文章

代码实现

Encoder.h

/*
 * Encoder.h
 *
 *  Created on: Aug 11, 2025
 *      Author: Administrator
 */

#ifndef HARDWARE_ENCODER_H_
#define HARDWARE_ENCODER_H_

int16_t Encoder_Get(void); //获取计数器
void Encoder_PositiveRotation(void); //旋转编码器正转
void Encoder_Rollback(void); //旋转编码器反转

#endif /* HARDWARE_ENCODER_H_ */

Encoder.c

/*
 * Encoder.c
 *
 *  Created on: Aug 11, 2025
 *      Author: Administrator
 */

#include "stm32f1xx_hal.h"

int16_t Encoder_Count; //旋转编码器计数变量

//获取计数器
//清零，因为每次读取的是旋钮的旋转度
int16_t Encoder_Get(void)
{
	int16_t Temp = 0;
	Temp = Encoder_Count;
	Encoder_Count = 0;
	return Temp;
}

//旋转编码器正转
void Encoder_PositiveRotation(void)
{
	Encoder_Count++;
}

//旋转编码器反转
void Encoder_Rollback(void)
{
	Encoder_Count--;
}

stm32f1xx_it.c.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f1xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Encoder.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */

/* USER CODE END TD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/

/* USER CODE BEGIN EV */

/* USER CODE END EV */

/******************************************************************************/
/*           Cortex-M3 Processor Interruption and Exception Handlers          */
/******************************************************************************/
/**
  * @brief This function handles Non maskable interrupt.
  */
void NMI_Handler(void)
{
  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */

  /* USER CODE END NonMaskableInt_IRQn 0 */
  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
   while (1)
  {
  }
  /* USER CODE END NonMaskableInt_IRQn 1 */
}

/**
  * @brief This function handles Hard fault interrupt.
  */
void HardFault_Handler(void)
{
  /* USER CODE BEGIN HardFault_IRQn 0 */

  /* USER CODE END HardFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
    /* USER CODE END W1_HardFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Memory management fault.
  */
void MemManage_Handler(void)
{
  /* USER CODE BEGIN MemoryManagement_IRQn 0 */

  /* USER CODE END MemoryManagement_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
    /* USER CODE END W1_MemoryManagement_IRQn 0 */
  }
}

/**
  * @brief This function handles Prefetch fault, memory access fault.
  */
void BusFault_Handler(void)
{
  /* USER CODE BEGIN BusFault_IRQn 0 */

  /* USER CODE END BusFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
    /* USER CODE END W1_BusFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Undefined instruction or illegal state.
  */
void UsageFault_Handler(void)
{
  /* USER CODE BEGIN UsageFault_IRQn 0 */

  /* USER CODE END UsageFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
    /* USER CODE END W1_UsageFault_IRQn 0 */
  }
}

/**
  * @brief This function handles System service call via SWI instruction.
  */
void SVC_Handler(void)
{
  /* USER CODE BEGIN SVCall_IRQn 0 */

  /* USER CODE END SVCall_IRQn 0 */
  /* USER CODE BEGIN SVCall_IRQn 1 */

  /* USER CODE END SVCall_IRQn 1 */
}

/**
  * @brief This function handles Debug monitor.
  */
void DebugMon_Handler(void)
{
  /* USER CODE BEGIN DebugMonitor_IRQn 0 */

  /* USER CODE END DebugMonitor_IRQn 0 */
  /* USER CODE BEGIN DebugMonitor_IRQn 1 */

  /* USER CODE END DebugMonitor_IRQn 1 */
}

/**
  * @brief This function handles Pendable request for system service.
  */
void PendSV_Handler(void)
{
  /* USER CODE BEGIN PendSV_IRQn 0 */

  /* USER CODE END PendSV_IRQn 0 */
  /* USER CODE BEGIN PendSV_IRQn 1 */

  /* USER CODE END PendSV_IRQn 1 */
}

/**
  * @brief This function handles System tick timer.
  */
void SysTick_Handler(void)
{
  /* USER CODE BEGIN SysTick_IRQn 0 */

  /* USER CODE END SysTick_IRQn 0 */
  HAL_IncTick();
  /* USER CODE BEGIN SysTick_IRQn 1 */

  /* USER CODE END SysTick_IRQn 1 */
}

/******************************************************************************/
/* STM32F1xx Peripheral Interrupt Handlers                                    */
/* Add here the Interrupt Handlers for the used peripherals.                  */
/* For the available peripheral interrupt handler names,                      */
/* please refer to the startup file (startup_stm32f1xx.s).                    */
/******************************************************************************/

/**
  * @brief This function handles EXTI line0 interrupt.
  */
void EXTI0_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI0_IRQn 0 */
	if(__HAL_GPIO_EXTI_GET_FLAG(GPIO_PIN_0))
	{
		//判断另一个引脚的电平
		//PB0（A）下降沿（因为中断是下降沿触发），PB1（B）低电平
		//说明是反转
		if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1) == GPIO_PIN_RESET)
		{
			Encoder_Rollback();
		}
  /* USER CODE END EXTI0_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
  /* USER CODE BEGIN EXTI0_IRQn 1 */
	}
  /* USER CODE END EXTI0_IRQn 1 */
}

/**
  * @brief This function handles EXTI line1 interrupt.
  */
void EXTI1_IRQHandler(void)
{
  /* USER CODE BEGIN EXTI1_IRQn 0 */
	if(__HAL_GPIO_EXTI_GET_FLAG(GPIO_PIN_1))
	{
		//PB0（A）低电平，PB1（B）下降沿
		//说明是正转
		if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_0) == GPIO_PIN_RESET)
		{
			Encoder_PositiveRotation();
		}
  /* USER CODE END EXTI1_IRQn 0 */
  HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_1);
  /* USER CODE BEGIN EXTI1_IRQn 1 */
	}
  /* USER CODE END EXTI1_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "MYOLED.h"
#include "CountSensor.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */
  MYOLED_Init();
  MYOLED_ShowString(0, 0, "Count:");
  //MYOLED_ShowString(0, 0, "CountA:");
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	  MYOLED_ShowNum(6, 0, CountSensor_Get(), 5);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_SET);

  /*Configure GPIO pin : PB14 */
  GPIO_InitStruct.Pin = GPIO_PIN_14;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PB8 PB9 */
  GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 1, 1);
  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

效果展示

正方向：

反方向：