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Merge pull request #3100 from balanceTWK/master_encoder_9_20 

[bsp][stm32][driver] drv_pulse_encoder.c
This commit is contained in:
Bernard Xiong 2019-09-30 20:17:50 +08:00 committed by GitHub
parent 45e905141c 4d796c8fb3
commit 67bb485dd4
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 184 additions and 48 deletions
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36
bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h
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@ -19,40 +19,44 @@ extern "C" {
#ifdef BSP_USING_PULSE_ENCODER1
#ifndef PULSE_ENCODER1_CONFIG
#define PULSE_ENCODER1_CONFIG \
{ \
.tim_handler.Instance = TIM1, \
.name = "pulse1" \
#define PULSE_ENCODER1_CONFIG \
{ \
.tim_handler.Instance = TIM1, \
.encoder_irqn = TIM1_UP_IRQn, \
.name = "pulse1" \
}
#endif /* PULSE_ENCODER1_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER1 */
#ifdef BSP_USING_PULSE_ENCODER2
#ifndef PULSE_ENCODER2_CONFIG
#define PULSE_ENCODER2_CONFIG \
{ \
.tim_handler.Instance = TIM2, \
.name = "pulse2" \
#define PULSE_ENCODER2_CONFIG \
{ \
.tim_handler.Instance = TIM2, \
.encoder_irqn = TIM2_IRQn, \
.name = "pulse2" \
}
#endif /* PULSE_ENCODER2_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER2 */
#ifdef BSP_USING_PULSE_ENCODER3
#ifndef PULSE_ENCODER3_CONFIG
#define PULSE_ENCODER3_CONFIG \
{ \
.tim_handler.Instance = TIM3, \
.name = "pulse3" \
#define PULSE_ENCODER3_CONFIG \
{ \
.tim_handler.Instance = TIM3, \
.encoder_irqn = TIM3_IRQn, \
.name = "pulse3" \
}
#endif /* PULSE_ENCODER3_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER3 */
#ifdef BSP_USING_PULSE_ENCODER4
#ifndef PULSE_ENCODER4_CONFIG
#define PULSE_ENCODER4_CONFIG \
{ \
.tim_handler.Instance = TIM4, \
.name = "pulse4" \
#define PULSE_ENCODER4_CONFIG \
{ \
.tim_handler.Instance = TIM4, \
.encoder_irqn = TIM4_IRQn, \
.name = "pulse4" \
}
#endif /* PULSE_ENCODER4_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER4 */

36
bsp/stm32/libraries/HAL_Drivers/config/f4/pulse_encoder_config.h
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@ -19,40 +19,44 @@ extern "C" {
#ifdef BSP_USING_PULSE_ENCODER1
#ifndef PULSE_ENCODER1_CONFIG
#define PULSE_ENCODER1_CONFIG \
{ \
.tim_handler.Instance = TIM1, \
.name = "pulse1" \
#define PULSE_ENCODER1_CONFIG \
{ \
.tim_handler.Instance = TIM1, \
.encoder_irqn = TIM1_UP_TIM10_IRQn, \
.name = "pulse1" \
}
#endif /* PULSE_ENCODER1_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER1 */
#ifdef BSP_USING_PULSE_ENCODER2
#ifndef PULSE_ENCODER2_CONFIG
#define PULSE_ENCODER2_CONFIG \
{ \
.tim_handler.Instance = TIM2, \
.name = "pulse2" \
#define PULSE_ENCODER2_CONFIG \
{ \
.tim_handler.Instance = TIM2, \
.encoder_irqn = TIM2_IRQn, \
.name = "pulse2" \
}
#endif /* PULSE_ENCODER2_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER2 */
#ifdef BSP_USING_PULSE_ENCODER3
#ifndef PULSE_ENCODER3_CONFIG
#define PULSE_ENCODER3_CONFIG \
{ \
.tim_handler.Instance = TIM3, \
.name = "pulse3" \
#define PULSE_ENCODER3_CONFIG \
{ \
.tim_handler.Instance = TIM3, \
.encoder_irqn = TIM3_IRQn, \
.name = "pulse3" \
}
#endif /* PULSE_ENCODER3_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER3 */
#ifdef BSP_USING_PULSE_ENCODER4
#ifndef PULSE_ENCODER4_CONFIG
#define PULSE_ENCODER4_CONFIG \
{ \
.tim_handler.Instance = TIM4, \
.name = "pulse4" \
#define PULSE_ENCODER4_CONFIG \
{ \
.tim_handler.Instance = TIM4, \
.encoder_irqn = TIM4_IRQn, \
.name = "pulse4" \
}
#endif /* PULSE_ENCODER4_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER4 */

160
bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c
View File

@ -22,6 +22,8 @@
/* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
#endif
#define AUTO_RELOAD_VALUE 0x7FFF
enum
{
#ifdef BSP_USING_PULSE_ENCODER1
@ -48,6 +50,8 @@ struct stm32_pulse_encoder_device
{
struct rt_pulse_encoder_device pulse_encoder;
TIM_HandleTypeDef tim_handler;
IRQn_Type encoder_irqn;
rt_int32_t over_under_flowcount;
char *name;
};
@ -77,12 +81,14 @@ rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data;
struct stm32_pulse_encoder_device *stm32_device;
stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder;
tim_handler->Init.Prescaler = 0;
tim_handler->Init.CounterMode = TIM_COUNTERMODE_UP;
tim_handler->Init.Period = 0xffff;
tim_handler->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
stm32_device->tim_handler.Init.Prescaler = 0;
stm32_device->tim_handler.Init.CounterMode = TIM_COUNTERMODE_UP;
stm32_device->tim_handler.Init.Period = AUTO_RELOAD_VALUE;
stm32_device->tim_handler.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
stm32_device->tim_handler.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
@ -94,7 +100,7 @@ rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
if (HAL_TIM_Encoder_Init(tim_handler, &sConfig) != HAL_OK)
if (HAL_TIM_Encoder_Init(&stm32_device->tim_handler, &sConfig) != HAL_OK)
{
LOG_E("pulse_encoder init failed");
return -RT_ERROR;
@ -103,38 +109,60 @@ rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(tim_handler, &sMasterConfig))
if (HAL_TIMEx_MasterConfigSynchronization(&stm32_device->tim_handler, &sMasterConfig))
{
LOG_E("TIMx master config failed");
return -RT_ERROR;
}
else
{
HAL_NVIC_SetPriority(stm32_device->encoder_irqn, 3, 0);
/* enable the TIMx global Interrupt */
HAL_NVIC_EnableIRQ(stm32_device->encoder_irqn);
/* clear update flag */
__HAL_TIM_CLEAR_FLAG(&stm32_device->tim_handler, TIM_FLAG_UPDATE);
/* enable update request source */
__HAL_TIM_URS_ENABLE(&stm32_device->tim_handler);
}
return RT_EOK;
}
rt_err_t pulse_encoder_clear_count(struct rt_pulse_encoder_device *pulse_encoder)
{
struct stm32_pulse_encoder_device *stm32_device;
stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder;
stm32_device->over_under_flowcount = 0;
__HAL_TIM_SET_COUNTER(&stm32_device->tim_handler, 0);
return RT_EOK;
}
rt_int32_t pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder)
{
TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data;
return (rt_int16_t)__HAL_TIM_GET_COUNTER(tim_handler);
struct stm32_pulse_encoder_device *stm32_device;
stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder;
return (rt_int32_t)((rt_int16_t)__HAL_TIM_GET_COUNTER(&stm32_device->tim_handler) + stm32_device->over_under_flowcount * AUTO_RELOAD_VALUE);
}
rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args)
{
rt_err_t result;
TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data;
struct stm32_pulse_encoder_device *stm32_device;
stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder;
result = RT_EOK;
switch (cmd)
{
case PULSE_ENCODER_CMD_ENABLE:
HAL_TIM_Encoder_Start(tim_handler, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start(&stm32_device->tim_handler, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start_IT(&stm32_device->tim_handler, TIM_CHANNEL_ALL);
break;
case PULSE_ENCODER_CMD_DISABLE:
HAL_TIM_Encoder_Stop(tim_handler, TIM_CHANNEL_ALL);
break;
case PULSE_ENCODER_CMD_CLEAR_COUNT:
__HAL_TIM_SET_COUNTER(tim_handler, 0);
HAL_TIM_Encoder_Stop(&stm32_device->tim_handler, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Stop_IT(&stm32_device->tim_handler, TIM_CHANNEL_ALL);
break;
default:
result = -RT_ENOSYS;
@ -144,10 +172,110 @@ rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt
return result;
}
void pulse_encoder_update_isr(struct stm32_pulse_encoder_device *device)
{
/* TIM Update event */
if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_UPDATE) != RESET)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_UPDATE);
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&device->tim_handler))
{
device->over_under_flowcount--;
}
else
{
device->over_under_flowcount++;
}
}
/* Capture compare 1 event */
if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC1) != RESET)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_CC1);
}
/* Capture compare 2 event */
if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC2) != RESET)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_CC2);
}
/* Capture compare 3 event */
if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC3) != RESET)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_CC3);
}
/* Capture compare 4 event */
if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC4) != RESET)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_CC4);
}
/* TIM Break input event */
if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_BREAK) != RESET)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_BREAK);
}
/* TIM Trigger detection event */
if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_TRIGGER) != RESET)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_TRIGGER);
}
/* TIM commutation event */
if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_COM) != RESET)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_FLAG_COM);
}
}
#ifdef BSP_USING_PULSE_ENCODER1
#if defined(SOC_SERIES_STM32F4)
void TIM1_UP_TIM10_IRQHandler(void)
#elif defined(SOC_SERIES_STM32F1)
void TIM1_UP_IRQHandler(void)
#else
#error "Please check TIM1's IRQHandler"
#endif
{
/* enter interrupt */
rt_interrupt_enter();
pulse_encoder_update_isr(&stm32_pulse_encoder_obj[PULSE_ENCODER1_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER2
void TIM2_IRQHandler(void)
{
/* enter interrupt */
rt_interrupt_enter();
pulse_encoder_update_isr(&stm32_pulse_encoder_obj[PULSE_ENCODER2_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER3
void TIM3_IRQHandler(void)
{
/* enter interrupt */
rt_interrupt_enter();
pulse_encoder_update_isr(&stm32_pulse_encoder_obj[PULSE_ENCODER3_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER4
void TIM4_IRQHandler(void)
{
/* enter interrupt */
rt_interrupt_enter();
pulse_encoder_update_isr(&stm32_pulse_encoder_obj[PULSE_ENCODER4_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
static const struct rt_pulse_encoder_ops _ops =
{
.init = pulse_encoder_init,
.get_count = pulse_encoder_get_count,
.clear_count = pulse_encoder_clear_count,
.control = pulse_encoder_control,
};
@ -162,7 +290,7 @@ int hw_pulse_encoder_init(void)
stm32_pulse_encoder_obj[i].pulse_encoder.type = AB_PHASE_PULSE_ENCODER;
stm32_pulse_encoder_obj[i].pulse_encoder.ops = &_ops;
if (rt_device_pulse_encoder_register(&stm32_pulse_encoder_obj[i].pulse_encoder, stm32_pulse_encoder_obj[i].name, &stm32_pulse_encoder_obj[i].tim_handler) != RT_EOK)
if (rt_device_pulse_encoder_register(&stm32_pulse_encoder_obj[i].pulse_encoder, stm32_pulse_encoder_obj[i].name, RT_NULL) != RT_EOK)
{
LOG_E("%s register failed", stm32_pulse_encoder_obj[i].name);
result = -RT_ERROR;