void TIM7_IRQHandler(void)
{
   switch (enc_state)
   {
       case 0:
           GPIOF->BSRR = GPIO_Pin_9;   //1
           GPIOF->BRR = GPIO_Pin_10;   //0
       break;
       case 1:
           GPIOF->BSRR = GPIO_Pin_9;   //1
           GPIOF->BSRR = GPIO_Pin_10;  //1
       break;
       case 2:
           GPIOF->BRR = GPIO_Pin_9;   //0
           GPIOF->BSRR = GPIO_Pin_10; //1
       break;
       case 3:
           GPIOF->BRR = GPIO_Pin_9;   //0
           GPIOF->BRR = GPIO_Pin_10; //0
       break;
   }
  
   if(enc_state == 3)
     enc_state = 0;
   else
     enc_state++;
  
   TIM7->SR = 0;
}

void TIM7_IRQHandler(void)
{
   switch (enc_state)
   {
       case 0:
           //ENC_PORT->BSRR |= ENC_PIN_A;  //1
           //ENC_PORT->BRR |= ENC_PIN_B;   //0
           ENC_PORT->ODR = 0x200;
       break;
       case 1:
           //ENC_PORT->BSRR |= ENC_PIN_A;  //1
           //ENC_PORT->BSRR |= ENC_PIN_B;  //1
             ENC_PORT->ODR = 0x600;
       break;
       case 2:
           //ENC_PORT->BRR |= ENC_PIN_A;   //0
           //ENC_PORT->BSRR |= ENC_PIN_B;  //1
           ENC_PORT->ODR = 0x400;
       break;
       case 3:
           //ENC_PORT->BRR |= ENC_PIN_A;   //0
           //ENC_PORT->BRR |= ENC_PIN_B;   //0
         ENC_PORT->ODR = 0x000;
          
       break;
   }
  
   if(enc_state == 3)
     enc_state = 0;
   else
     enc_state++;
  
   TIM7->SR = 0;
}