libs/rt-thread
libs
/
rt-thread
4
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

[bsp][stm32] add drv_encoder.c

This commit is contained in:
tangweikang 2019-08-23 14:08:02 +08:00
parent 200f3d4480
commit 1d4139ab53
4 changed files with 247 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

64
bsp/stm32/libraries/HAL_Drivers/config/f4/encoder_config.h Normal file
View File

@ -0,0 +1,64 @@
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-08-23 balanceTWK first version
*/
#ifndef __ENCODER_CONFIG_H__
#define __ENCODER_CONFIG_H__
#include <rtthread.h>
#ifdef __cplusplus
extern "C" {
#endif
#ifdef BSP_USING_ENCODER1
#ifndef ENCODER1_CONFIG
#define ENCODER1_CONFIG \
{ \
.tim_handler.Instance = TIM1, \
.name = "encoder1" \
}
#endif /* ENCODER1_CONFIG */
#endif /* BSP_USING_ENCODER1 */
#ifdef BSP_USING_ENCODER2
#ifndef ENCODER2_CONFIG
#define ENCODER2_CONFIG \
{ \
.tim_handler.Instance = TIM2, \
.name = "encoder2" \
}
#endif /* ENCODER2_CONFIG */
#endif /* BSP_USING_ENCODER2 */
#ifdef BSP_USING_ENCODER3
#ifndef ENCODER3_CONFIG
#define ENCODER3_CONFIG \
{ \
.tim_handler.Instance = TIM3, \
.name = "encoder3" \
}
#endif /* ENCODER3_CONFIG */
#endif /* BSP_USING_ENCODER3 */
#ifdef BSP_USING_ENCODER4
#ifndef ENCODER4_CONFIG
#define ENCODER4_CONFIG \
{ \
.tim_handler.Instance = TIM4, \
.name = "encoder4" \
}
#endif /* ENCODER4_CONFIG */
#endif /* BSP_USING_ENCODER4 */
#ifdef __cplusplus
}
#endif
#endif /* __ENCODER_CONFIG_H__ */

1
bsp/stm32/libraries/HAL_Drivers/drv_config.h
View File

@ -52,6 +52,7 @@ extern "C" {
#include "f4/tim_config.h"
#include "f4/sdio_config.h"
#include "f4/pwm_config.h"
#include "f4/encoder_config.h"
#elif defined(SOC_SERIES_STM32F7)
#include "f7/dma_config.h"
#include "f7/uart_config.h"

181
bsp/stm32/libraries/HAL_Drivers/drv_encoder.c Normal file
View File

@ -0,0 +1,181 @@
/*
* @Description: In User Settings Edit
* @Author: your name
* @Date: 2019-08-09 15:25:34
* @LastEditTime: 2019-08-09 17:29:27
* @LastEditors: Please set LastEditors
*/
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-08-23 balanceTWK first version
*/
#include "board.h"
#include "drv_config.h"
#ifdef RT_USING_ENCODER
//#define DRV_DEBUG
#define LOG_TAG "drv.encoder"
#include <drv_log.h>
#if !defined(BSP_USING_ENCODER1) && !defined(BSP_USING_ENCODER2) && !defined(BSP_USING_ENCODER3) \
&& !defined(BSP_USING_ENCODER4) && !defined(BSP_USING_ENCODER5) && !defined(BSP_USING_ENCODER6) && !defined(BSP_USING_LPENCODER1)
#error "Please define at least one BSP_USING_ENCODERx"
/* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
#endif
enum
{
#ifdef BSP_USING_ENCODER1
ENCODER1_INDEX,
#endif
#ifdef BSP_USING_ENCODER2
ENCODER2_INDEX,
#endif
#ifdef BSP_USING_ENCODER3
ENCODER3_INDEX,
#endif
#ifdef BSP_USING_ENCODER4
ENCODER4_INDEX,
#endif
#ifdef BSP_USING_ENCODER5
ENCODER5_INDEX,
#endif
#ifdef BSP_USING_ENCODER6
ENCODER6_INDEX,
#endif
};
struct stm32_encoder_device
{
struct rt_encoder_device encoder;
TIM_HandleTypeDef tim_handler;
char *name;
};
static struct stm32_encoder_device stm32_encoder_obj[] =
{
#ifdef BSP_USING_ENCODER1
ENCODER1_CONFIG,
#endif
#ifdef BSP_USING_ENCODER2
ENCODER2_CONFIG,
#endif
#ifdef BSP_USING_ENCODER3
ENCODER3_CONFIG,
#endif
#ifdef BSP_USING_ENCODER4
ENCODER4_CONFIG,
#endif
#ifdef BSP_USING_ENCODER5
ENCODER5_CONFIG,
#endif
#ifdef BSP_USING_ENCODER6
ENCODER6_CONFIG,
#endif
};
rt_err_t encoder_init(struct rt_encoder_device *encoder)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
tim_handler->Init.Prescaler = 0;
tim_handler->Init.CounterMode = TIM_COUNTERMODE_UP;
tim_handler->Init.Period = 0xffff;
tim_handler->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 3;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
if (HAL_TIM_Encoder_Init(tim_handler, &sConfig) != HAL_OK)
{
return -RT_ERROR;
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(tim_handler, &sMasterConfig))
{
return -RT_ERROR;
}
return RT_EOK;
}
rt_int32_t encoder_get_count(struct rt_encoder_device *encoder)
{
TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
return (rt_int16_t)__HAL_TIM_GET_COUNTER(tim_handler);
}
rt_err_t encoder_control(struct rt_encoder_device *encoder, rt_uint32_t cmd, void *args)
{
rt_err_t result;
TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
result = RT_EOK;
switch (cmd)
{
case ENCODER_CMD_ENABLE:
HAL_TIM_Encoder_Start(tim_handler, TIM_CHANNEL_ALL);
break;
case ENCODER_CMD_DISABLE:
HAL_TIM_Encoder_Stop(tim_handler, TIM_CHANNEL_ALL);
break;
case ENCODER_CMD_CLEAR_COUNT:
__HAL_TIM_SET_COUNTER(tim_handler, 0);
break;
default:
result = -RT_ENOSYS;
break;
}
return result;
}
static const struct rt_encoder_ops _ops =
{
.init = encoder_init,
.get_count = encoder_get_count,
.control = encoder_control,
};
int hw_encoder_init(void)
{
int i;
int result;
result = RT_EOK;
for (i = 0; i < sizeof(stm32_encoder_obj) / sizeof(stm32_encoder_obj[0]); i++)
{
stm32_encoder_obj[i].encoder.type = AB_PHASE_ENCODER;
stm32_encoder_obj[i].encoder.ops = &_ops;
if (rt_device_encoder_register(&stm32_encoder_obj[i].encoder, stm32_encoder_obj[i].name, &stm32_encoder_obj[i].tim_handler) != RT_EOK)
{
LOG_E("%s register failed", stm32_encoder_obj[i].name);
result = -RT_ERROR;
}
}
return result;
}
INIT_BOARD_EXPORT(hw_encoder_init);
#endif

2
bsp/stm32/libraries/STM32F4xx_HAL/SConscript
View File

@ -46,7 +46,7 @@ if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
if GetDepend(['RT_USING_CAN']):
src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c']
if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']):
if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']) or GetDepend(['RT_USING_ENCODER']):
src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c']
src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c']
src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_lptim.c']