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rt-thread-official/bsp/hc32f4a0/drivers/drv_pulse_encoder.c

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/*
* Copyright (C) 2020, Huada Semiconductor Co., Ltd.
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2020-10-30 CDT first version
*/
#include <rtdevice.h>
#include <rtdbg.h>
#ifdef RT_USING_PULSE_ENCODER
#if !defined(BSP_USING_PULSE_ENCODER1) && !defined(BSP_USING_PULSE_ENCODER2) && !defined(BSP_USING_PULSE_ENCODER3) && \
!defined(BSP_USING_PULSE_ENCODER4) && !defined(BSP_USING_PULSE_ENCODER5) && !defined(BSP_USING_PULSE_ENCODER6) && \
!defined(BSP_USING_PULSE_ENCODER7) && !defined(BSP_USING_PULSE_ENCODER8) && !defined(BSP_USING_PULSE_ENCODER9) && \
!defined(BSP_USING_PULSE_ENCODER10) && !defined(BSP_USING_PULSE_ENCODER11) && !defined(BSP_USING_PULSE_ENCODER12)
#error "Please define at least one BSP_USING_PULSE_ENCODERx"
/* this driver can be disabled at menuconfig -> Hardware Drivers Config -> On-chip Peripheral Drivers -> Enable Pulse Encoder */
#endif
#include "drv_pulse_encoder.h"
#include "drv_irq.h"
#define TIMER_AUTO_RELOAD_VALUE (0xFFFFU)
enum
{
#ifdef BSP_USING_PULSE_ENCODER1
PULSE_ENCODER1_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER2
PULSE_ENCODER2_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER3
PULSE_ENCODER3_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER4
PULSE_ENCODER4_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER5
PULSE_ENCODER5_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER6
PULSE_ENCODER6_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER7
PULSE_ENCODER7_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER8
PULSE_ENCODER8_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER9
PULSE_ENCODER9_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER10
PULSE_ENCODER10_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER11
PULSE_ENCODER11_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER12
PULSE_ENCODER12_INDEX,
#endif
};
#ifdef BSP_USING_PULSE_ENCODER1
static void pulse_encoder1_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER2
static void pulse_encoder2_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER3
static void pulse_encoder3_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER4
static void pulse_encoder4_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER5
static void pulse_encoder5_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER6
static void pulse_encoder6_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER7
static void pulse_encoder7_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER8
static void pulse_encoder8_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER9
static void pulse_encoder9_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER10
static void pulse_encoder10_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER11
static void pulse_encoder11_irq_handler(void);
#endif
#ifdef BSP_USING_PULSE_ENCODER12
static void pulse_encoder12_irq_handler(void);
#endif
struct hc32_pulse_encoder_config
{
struct rt_pulse_encoder_device pulse_encoder;
M4_TMRA_TypeDef *timer_periph;
struct hc32_irq_config ovf_irq_config;
struct hc32_irq_config udf_irq_config;
func_ptr_t irq_callback;
rt_int32_t ovf_udf_count;
char *name;
};
#ifndef HC32_PULSE_ENCODER_CONFIG
#define HC32_PULSE_ENCODER_CONFIG(periph, irq, label, ovf_src, udf_src, \
ovf_irq_info, udf_irq_info) \
{ \
.timer_periph = periph, \
.irq_callback = irq, \
.name = label, \
.ovf_irq_config = ovf_irq_info, \
.udf_irq_config = udf_irq_info, \
.ovf_irq_config.int_src = ovf_src, \
.udf_irq_config.int_src = udf_src, \
}
#endif /* HC32_PULSE_ENCODER_CONFIG */
static struct hc32_pulse_encoder_config pulse_encoder_obj[] =
{
#ifdef BSP_USING_PULSE_ENCODER1
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_1, pulse_encoder1_irq_handler, "pulse1", INT_TMRA_1_OVF, INT_TMRA_1_UDF,
PULSE_ENCODER1_OVF_IRQ_CONFIG, PULSE_ENCODER1_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER2
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_2, pulse_encoder2_irq_handler, "pulse2", INT_TMRA_2_OVF, INT_TMRA_2_UDF,
PULSE_ENCODER2_OVF_IRQ_CONFIG, PULSE_ENCODER2_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER3
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_3, pulse_encoder3_irq_handler, "pulse3", INT_TMRA_3_OVF, INT_TMRA_3_UDF,
PULSE_ENCODER3_OVF_IRQ_CONFIG, PULSE_ENCODER3_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER4
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_4, pulse_encoder4_irq_handler, "pulse4", INT_TMRA_4_OVF, INT_TMRA_4_UDF,
PULSE_ENCODER4_OVF_IRQ_CONFIG, PULSE_ENCODER4_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER5
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_5, pulse_encoder5_irq_handler, "pulse5", INT_TMRA_5_OVF, INT_TMRA_5_UDF,
PULSE_ENCODER5_OVF_IRQ_CONFIG, PULSE_ENCODER5_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER6
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_6, pulse_encoder6_irq_handler, "pulse6", INT_TMRA_6_OVF, INT_TMRA_6_UDF,
PULSE_ENCODER6_OVF_IRQ_CONFIG, PULSE_ENCODER6_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER7
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_7, pulse_encoder7_irq_handler, "pulse7", INT_TMRA_7_OVF, INT_TMRA_7_UDF,
PULSE_ENCODER7_OVF_IRQ_CONFIG, PULSE_ENCODER7_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER8
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_8, pulse_encoder8_irq_handler, "pulse8", INT_TMRA_8_OVF, INT_TMRA_8_UDF,
PULSE_ENCODER8_OVF_IRQ_CONFIG, PULSE_ENCODER8_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER9
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_9, pulse_encoder9_irq_handler, "pulse9", INT_TMRA_9_OVF, INT_TMRA_9_UDF,
PULSE_ENCODER9_OVF_IRQ_CONFIG, PULSE_ENCODER9_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER10
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_10, pulse_encoder10_irq_handler, "pulse10", INT_TMRA_10_OVF, INT_TMRA_10_UDF,
PULSE_ENCODER10_OVF_IRQ_CONFIG, PULSE_ENCODER10_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER11
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_11, pulse_encoder11_irq_handler, "pulse11", INT_TMRA_11_OVF, INT_TMRA_11_UDF,
PULSE_ENCODER11_OVF_IRQ_CONFIG, PULSE_ENCODER11_UDF_IRQ_CONFIG),
#endif
#ifdef BSP_USING_PULSE_ENCODER12
HC32_PULSE_ENCODER_CONFIG(M4_TMRA_12, pulse_encoder12_irq_handler, "pulse12", INT_TMRA_12_OVF, INT_TMRA_12_UDF,
PULSE_ENCODER12_OVF_IRQ_CONFIG, PULSE_ENCODER12_UDF_IRQ_CONFIG),
#endif
};
static void hc32_pulse_encoder_irq_handler(struct hc32_pulse_encoder_config *pulse_encoder_config)
{
if (Set == TMRA_GetStatus(pulse_encoder_config->timer_periph, TMRA_FLAG_OVF))
{
pulse_encoder_config->ovf_udf_count++;
TMRA_ClrStatus(pulse_encoder_config->timer_periph, TMRA_FLAG_OVF);
}
if (Set == TMRA_GetStatus(pulse_encoder_config->timer_periph, TMRA_FLAG_UNF))
{
pulse_encoder_config->ovf_udf_count--;
TMRA_ClrStatus(pulse_encoder_config->timer_periph, TMRA_FLAG_UNF);
}
}
#ifdef BSP_USING_PULSE_ENCODER1
static void pulse_encoder1_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER1_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER2
static void pulse_encoder2_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER2_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER3
static void pulse_encoder3_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER3_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER4
static void pulse_encoder4_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER4_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER5
static void pulse_encoder5_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER5_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER6
static void pulse_encoder6_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER6_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER7
static void pulse_encoder7_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER7_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER8
static void pulse_encoder8_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER8_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER9
static void pulse_encoder9_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER9_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER10
static void pulse_encoder10_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER10_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER11
static void pulse_encoder11_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER11_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER12
static void pulse_encoder12_irq_handler(void)
{
/* enter interrupt */
rt_interrupt_enter();
hc32_pulse_encoder_irq_handler(&pulse_encoder_obj[PULSE_ENCODER12_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
static rt_uint16_t hc32_timer_get_unit_number(M4_TMRA_TypeDef *TMRAx)
{
rt_uint16_t unit_num;
const rt_uint32_t unit_step = 0x400U;
if (((rt_uint32_t)TMRAx) >= ((rt_uint32_t)M4_TMRA_1))
{
unit_num = (((rt_uint32_t)TMRAx) - ((rt_uint32_t)M4_TMRA_1)) / unit_step;
}
else
{
unit_num = (((rt_uint32_t)TMRAx) - ((rt_uint32_t)M4_TMRA_5)) / unit_step + 4;
}
return unit_num;
}
static void hc32_timer_clock_config(M4_TMRA_TypeDef *TMRAx, en_functional_state_t enNewState)
{
rt_uint32_t timer_periph;
rt_uint16_t unit_num;
unit_num = hc32_timer_get_unit_number(TMRAx);
timer_periph = PWC_FCG2_TMRA_1 << unit_num;
PWC_Fcg2PeriphClockCmd(timer_periph, enNewState);
}
extern rt_err_t rt_hw_board_pulse_encoder_init(M4_TMRA_TypeDef *TMRAx);
rt_err_t hc32_pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
{
struct hc32_pulse_encoder_config *pulse_encoder_device;
stc_tmra_init_t stcTmraInit;
rt_err_t result;
RT_ASSERT(pulse_encoder != RT_NULL);
pulse_encoder_device = (struct hc32_pulse_encoder_config*)pulse_encoder;
/* Enable Timer peripheral clock. */
hc32_timer_clock_config(pulse_encoder_device->timer_periph, Enable);
/* pwm pin configuration */
result = rt_hw_board_pulse_encoder_init(pulse_encoder_device->timer_periph);
if (RT_EOK == result)
{
TMRA_DeInit(pulse_encoder_device->timer_periph);
TMRA_StructInit(&stcTmraInit);
stcTmraInit.u32PeriodVal = TIMER_AUTO_RELOAD_VALUE;
stcTmraInit.u32ClkSrc = TMRA_CLK_HW_UP_CLKBH_CLKAR | TMRA_CLK_HW_DOWN_CLKBL_CLKAR;
TMRA_Init(pulse_encoder_device->timer_periph, &stcTmraInit);
LOG_D("%s init success", pulse_encoder_device->name);
hc32_install_irq_handler(&pulse_encoder_device->ovf_irq_config, pulse_encoder_device->irq_callback, RT_FALSE);
NVIC_EnableIRQ(pulse_encoder_device->ovf_irq_config.irq);
hc32_install_irq_handler(&pulse_encoder_device->udf_irq_config, pulse_encoder_device->irq_callback, RT_FALSE);
NVIC_EnableIRQ(pulse_encoder_device->udf_irq_config.irq);
/* clear update flag */
TMRA_ClrStatus(pulse_encoder_device->timer_periph, (TMRA_FLAG_OVF | TMRA_FLAG_UNF));
}
return result;
}
rt_err_t hc32_pulse_encoder_clear_count(struct rt_pulse_encoder_device *pulse_encoder)
{
struct hc32_pulse_encoder_config *pulse_encoder_device;
pulse_encoder_device = (struct hc32_pulse_encoder_config*)pulse_encoder;
pulse_encoder_device->ovf_udf_count = 0;
TMRA_Stop(pulse_encoder_device->timer_periph);
TMRA_SetCntVal(pulse_encoder_device->timer_periph, 0);
TMRA_ClrStatus(pulse_encoder_device->timer_periph, (TMRA_FLAG_OVF | TMRA_FLAG_UNF));
TMRA_Start(pulse_encoder_device->timer_periph);
return RT_EOK;
}
rt_int32_t hc32_pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder)
{
struct hc32_pulse_encoder_config *pulse_encoder_device;
rt_int32_t period_val;
rt_int32_t count_val;
pulse_encoder_device = (struct hc32_pulse_encoder_config*)pulse_encoder;
period_val = TMRA_GetCntVal(pulse_encoder_device->timer_periph);
count_val = period_val + pulse_encoder_device->ovf_udf_count * TIMER_AUTO_RELOAD_VALUE;
return count_val;
}
rt_err_t hc32_pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args)
{
rt_err_t result = RT_EOK;
struct hc32_pulse_encoder_config *pulse_encoder_device;
pulse_encoder_device = (struct hc32_pulse_encoder_config*)pulse_encoder;
switch (cmd)
{
case PULSE_ENCODER_CMD_ENABLE:
TMRA_IntCmd(pulse_encoder_device->timer_periph, (TMRA_INT_OVF | TMRA_INT_UNF), Enable);
TMRA_Start(pulse_encoder_device->timer_periph);
break;
case PULSE_ENCODER_CMD_DISABLE:
TMRA_Stop(pulse_encoder_device->timer_periph);
TMRA_IntCmd(pulse_encoder_device->timer_periph, (TMRA_INT_OVF | TMRA_INT_UNF), Disable);
break;
default:
result = -RT_ENOSYS;
break;
}
return result;
}
static const struct rt_pulse_encoder_ops pulse_encoder_ops =
{
.init = hc32_pulse_encoder_init,
.get_count = hc32_pulse_encoder_get_count,
.clear_count = hc32_pulse_encoder_clear_count,
.control = hc32_pulse_encoder_control,
};
int hw_pulse_encoder_init(void)
{
int i;
int result;
result = RT_EOK;
for (i = 0; i < sizeof(pulse_encoder_obj) / sizeof(pulse_encoder_obj[0]); i++)
{
pulse_encoder_obj[i].pulse_encoder.type = AB_PHASE_PULSE_ENCODER;
pulse_encoder_obj[i].pulse_encoder.ops = &pulse_encoder_ops;
if (rt_device_pulse_encoder_register(&pulse_encoder_obj[i].pulse_encoder, pulse_encoder_obj[i].name, pulse_encoder_obj[i].timer_periph) != RT_EOK)
{
LOG_E("%s register failed", pulse_encoder_obj[i].name);
result = -RT_ERROR;
}
}
return result;
}
INIT_BOARD_EXPORT(hw_pulse_encoder_init);
#endif
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