Given the quadrature encoder signal below for clockwise $($CW$)$ and

counter$-$clockwise $($CCW$)$ rotation, design an interrupt driven embedded

software

for the Nucleo$-64($STM$32$L$476)$ to keep count of the angular rotation of the

encoder.

Specifications: CHA connected to GPIO labeled D$2$ on the NucleoL$476$RG

CHB connected to GPIO labeled D$4$ on the NucleoL$476$RG

Write a C program to keep track of both CCW and CW rotation of the encoder.

Configure both GPIO inputs to interrupt on both rising and falling edge. With

each edge transition develop a counter to increment one count for each edge as

it rotates CW and decrement by one count for each edge in the CCW direction.

Your program should initialize and configure each GPIO properly.

Write all of the appropriate ISR's

Include all appropriate header files.

Within the main background loop, the program should print the encoder count

approximately every $500ms.$

Your program should be very well commented.

Submit your completed $C$ source file on Canvas.

Remember this is software, there are many ways to tackle this problem, so what

are the odds two would be similar.