void ExtIntInit(void)
{
// enable clock for Alternate Function
RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;

//BUT - PE0
GPIOE->CRL &= ~GPIO_CRL_MODE0; //Configure as input
GPIOE->CRL &= ~GPIO_CRL_CNF0;
GPIOE->CRL |= GPIO_CRL_CNF0_1; //input with pull-up/pull-down resistor
GPIOE->BSRR |= GPIO_BSRR_BS0; //set pull-up
//ENC1 - PE1
GPIOE->CRL &= ~GPIO_CRL_MODE1; //Configure as input
GPIOE->CRL &= ~GPIO_CRL_CNF1;
GPIOE->CRL |= GPIO_CRL_CNF1_1; //input with pull-up/pull-down resistor
GPIOE->BSRR |= GPIO_BSRR_BS1; //set pull-up
//ENC2 - PE2
GPIOE->CRL &= ~GPIO_CRL_MODE2; //Configure as input
GPIOE->CRL &= ~GPIO_CRL_CNF2;
GPIOE->CRL |= GPIO_CRL_CNF2_1; //input with pull-up/pull-down resistor
GPIOE->BSRR |= GPIO_BSRR_BS2; //set pull-up

//interrupt source PE
AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI0_PE; //PE0 - BUT
AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI1_PE; //PE1 - ENC1
AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI2_PE; //PE2 - ENC2
AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI3_PE; //PE3 - ENC3

//interrupt edge
EXTI->RTSR |= 0; //EXTI_RTSR_TR0; //rising
EXTI->FTSR |= EXTI_FTSR_TR0; //falling
EXTI->FTSR |= EXTI_FTSR_TR1; //falling
EXTI->FTSR |= EXTI_FTSR_TR2; //falling
EXTI->FTSR |= EXTI_FTSR_TR3; //falling

//enable ext interrupt
EXTI->IMR |= EXTI_IMR_MR0;
EXTI->IMR |= EXTI_IMR_MR1;
EXTI->IMR |= EXTI_IMR_MR2;
EXTI->IMR |= EXTI_IMR_MR3;

NVIC_EnableIRQ(EXTI0_IRQn);
NVIC_EnableIRQ(EXTI1_IRQn);
NVIC_EnableIRQ(EXTI2_IRQn);
NVIC_EnableIRQ(EXTI3_IRQn);
}

void EXTI0_IRQHandler(void) //button pressed
{
EXTI->PR = EXTI_PR_PR0; //clear flag???
TIM4->CNT = 0;
TIM4->CR1 |= TIM_CR1_CEN;
//but_int = true;
//NVIC_EnableIRQ(TIM7_IRQn);

}
void EXTI1_IRQHandler(void) //encoder1
{
EXTI->PR = EXTI_PR_PR1; //clear flag???
enc1_int = 1;
if(DIR1)
{ mot1_position++; }
else
{
if(mot1_position > 0)
{ mot1_position--; }
}
}

void EXTI2_IRQHandler(void) //encoder2
{
EXTI->PR = EXTI_PR_PR2; //clear flag???
if(DIR2)
{ mot2_position++; }
else
{
if(mot2_position > 0)
{ mot2_position--; }
}
}

void EXTI3_IRQHandler(void) //encoder3
{

EXTI->PR = EXTI_PR_PR3; //clear flag???
if(DIR3)
{ mot3_position++; }
else
{
if(mot3_position > 0)
{ mot3_position--; }
}
}