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Merge pull request #2995 from balanceTWK/drv_encoder

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[components][drivers] change name: encoder -> pulse_encoder
This commit is contained in:
Bernard Xiong 2019-08-30 16:59:25 +08:00 committed by GitHub
commit ab78203e2a
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GPG Key ID: 4AEE18F83AFDEB23
26 changed files with 839 additions and 247 deletions
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3
bsp/stm32/libraries/HAL_Drivers/SConscript
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@ -85,6 +85,9 @@ if GetDepend(['BSP_USING_SDIO']):
if GetDepend(['BSP_USING_USBD_FS']):
src += ['drv_usbd_fs.c']
if GetDepend(['BSP_USING_PULSE_ENCODER']):
src += ['drv_pulse_encoder.c']
src += ['drv_common.c']
path = [cwd]

64
bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h Normal file
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@ -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 __PULSE_ENCODER_CONFIG_H__
#define __PULSE_ENCODER_CONFIG_H__
#include <rtthread.h>
#ifdef __cplusplus
extern "C" {
#endif
#ifdef BSP_USING_PULSE_ENCODER1
#ifndef PULSE_ENCODER1_CONFIG
#define PULSE_ENCODER1_CONFIG \
{ \
.tim_handler.Instance = TIM1, \
.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" \
}
#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" \
}
#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" \
}
#endif /* PULSE_ENCODER4_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER4 */
#ifdef __cplusplus
}
#endif
#endif /* __PULSE_ENCODER_CONFIG_H__ */

64
bsp/stm32/libraries/HAL_Drivers/config/f4/pulse_encoder_config.h Normal file
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@ -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 __PULSE_ENCODER_CONFIG_H__
#define __PULSE_ENCODER_CONFIG_H__
#include <rtthread.h>
#ifdef __cplusplus
extern "C" {
#endif
#ifdef BSP_USING_PULSE_ENCODER1
#ifndef PULSE_ENCODER1_CONFIG
#define PULSE_ENCODER1_CONFIG \
{ \
.tim_handler.Instance = TIM1, \
.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" \
}
#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" \
}
#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" \
}
#endif /* PULSE_ENCODER4_CONFIG */
#endif /* BSP_USING_PULSE_ENCODER4 */
#ifdef __cplusplus
}
#endif
#endif /* __PULSE_ENCODER_CONFIG_H__ */

2
bsp/stm32/libraries/HAL_Drivers/drv_config.h
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@ -34,6 +34,7 @@ extern "C" {
#include "f1/sdio_config.h"
#include "f1/pwm_config.h"
#include "f1/usbd_fs_config.h"
#include "f1/pulse_encoder_config.h"
#elif defined(SOC_SERIES_STM32F2)
#include "f2/dma_config.h"
#include "f2/uart_config.h"
@ -52,6 +53,7 @@ extern "C" {
#include "f4/tim_config.h"
#include "f4/sdio_config.h"
#include "f4/pwm_config.h"
#include "f4/pulse_encoder_config.h"
#elif defined(SOC_SERIES_STM32F7)
#include "f7/dma_config.h"
#include "f7/uart_config.h"

176
bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c Normal file
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@ -0,0 +1,176 @@
/*
* 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_PULSE_ENCODER
//#define DRV_DEBUG
#define LOG_TAG "drv.pulse_encoder"
#include <drv_log.h>
#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)
#error "Please define at least one BSP_USING_PULSE_ENCODERx"
/* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
#endif
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
};
struct stm32_pulse_encoder_device
{
struct rt_pulse_encoder_device pulse_encoder;
TIM_HandleTypeDef tim_handler;
char *name;
};
static struct stm32_pulse_encoder_device stm32_pulse_encoder_obj[] =
{
#ifdef BSP_USING_PULSE_ENCODER1
PULSE_ENCODER1_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER2
PULSE_ENCODER2_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER3
PULSE_ENCODER3_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER4
PULSE_ENCODER4_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER5
PULSE_ENCODER5_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER6
PULSE_ENCODER6_CONFIG,
#endif
};
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;
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)
{
LOG_E("pulse_encoder init failed");
return -RT_ERROR;
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(tim_handler, &sMasterConfig))
{
LOG_E("TIMx master config failed");
return -RT_ERROR;
}
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);
}
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;
result = RT_EOK;
switch (cmd)
{
case PULSE_ENCODER_CMD_ENABLE:
HAL_TIM_Encoder_Start(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);
break;
default:
result = -RT_ENOSYS;
break;
}
return result;
}
static const struct rt_pulse_encoder_ops _ops =
{
.init = pulse_encoder_init,
.get_count = pulse_encoder_get_count,
.control = pulse_encoder_control,
};
int hw_pulse_encoder_init(void)
{
int i;
int result;
result = RT_EOK;
for (i = 0; i < sizeof(stm32_pulse_encoder_obj) / sizeof(stm32_pulse_encoder_obj[0]); i++)
{
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)
{
LOG_E("%s register failed", stm32_pulse_encoder_obj[i].name);
result = -RT_ERROR;
}
}
return result;
}
INIT_BOARD_EXPORT(hw_pulse_encoder_init);
#endif

2
bsp/stm32/libraries/STM32F1xx_HAL/SConscript
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@ -44,7 +44,7 @@ if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
if GetDepend(['RT_USING_CAN']):
src += ['STM32F1xx_HAL_Driver/Src/stm32f1xx_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_PULSE_ENCODER']):
src += ['STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c']
src += ['STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c']

2
bsp/stm32/libraries/STM32F4xx_HAL/SConscript
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@ -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_PULSE_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']

5
bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/.mxproject
View File

@ -1,7 +1,7 @@
[PreviousGenFiles]
HeaderPath=G:/Wondfo/RT-Thread/Official information/rt-thread-master/bsp/1stm32/stm32f103-atk-warshipV3/board/CubeMX_Config/Inc
HeaderPath=E:/workspace/rt-thread/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc
HeaderFiles=stm32f1xx_it.h;stm32f1xx_hal_conf.h;main.h;
SourcePath=G:/Wondfo/RT-Thread/Official information/rt-thread-master/bsp/1stm32/stm32f103-atk-warshipV3/board/CubeMX_Config/Src
SourcePath=E:/workspace/rt-thread/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src
SourceFiles=stm32f1xx_it.c;stm32f1xx_hal_msp.c;main.c;
[PreviousLibFiles]
@ -10,4 +10,5 @@ LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_
[PreviousUsedKeilFiles]
SourceFiles=..\Src\main.c;..\Src\stm32f1xx_it.c;..\Src\stm32f1xx_hal_msp.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../\Src/system_stm32f1xx.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../\Src/system_stm32f1xx.c;../Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;null;
HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Inc;
CDefines=USE_HAL_DRIVER;STM32F103xE;USE_HAL_DRIVER;STM32F103xE;

29
bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc
View File

@ -5,19 +5,22 @@ Mcu.Family=STM32F1
Mcu.IP0=NVIC
Mcu.IP1=RCC
Mcu.IP2=SYS
Mcu.IP3=USART1
Mcu.IPNb=4
Mcu.IP3=TIM3
Mcu.IP4=USART1
Mcu.IPNb=5
Mcu.Name=STM32F103Z(C-D-E)Tx
Mcu.Package=LQFP144
Mcu.Pin0=PC14-OSC32_IN
Mcu.Pin1=PC15-OSC32_OUT
Mcu.Pin2=OSC_IN
Mcu.Pin3=OSC_OUT
Mcu.Pin4=PA9
Mcu.Pin5=PA10
Mcu.Pin6=VP_SYS_VS_ND
Mcu.Pin7=VP_SYS_VS_Systick
Mcu.PinsNb=8
Mcu.Pin4=PC6
Mcu.Pin5=PC7
Mcu.Pin6=PA9
Mcu.Pin7=PA10
Mcu.Pin8=VP_SYS_VS_ND
Mcu.Pin9=VP_SYS_VS_Systick
Mcu.PinsNb=10
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F103ZETx
@ -45,6 +48,10 @@ PC14-OSC32_IN.Mode=LSE-External-Oscillator
PC14-OSC32_IN.Signal=RCC_OSC32_IN
PC15-OSC32_OUT.Mode=LSE-External-Oscillator
PC15-OSC32_OUT.Signal=RCC_OSC32_OUT
PC6.Locked=true
PC6.Signal=S_TIM3_CH1
PC7.Locked=true
PC7.Signal=S_TIM3_CH2
PCC.Checker=false
PCC.Line=STM32F103
PCC.MCU=STM32F103Z(C-D-E)Tx
@ -54,7 +61,7 @@ PCC.Series=STM32F1
PCC.Temperature=25
PCC.Vdd=3.3
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.AskForMigrate=false
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
@ -80,7 +87,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=MDK-ARM V5
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_TIM8_Init-TIM8-false-HAL-true
RCC.ADCFreqValue=36000000
RCC.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2
@ -107,6 +114,10 @@ RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.TimSysFreq_Value=72000000
RCC.USBFreq_Value=72000000
RCC.VCOOutput2Freq_Value=8000000
SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
SH.S_TIM3_CH1.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
SH.S_TIM3_CH2.ConfNb=1
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
VP_SYS_VS_ND.Mode=No_Debug

2
bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
View File

@ -78,7 +78,7 @@
/*#define HAL_SMARTCARD_MODULE_ENABLED */
/*#define HAL_SPI_MODULE_ENABLED */
/*#define HAL_SRAM_MODULE_ENABLED */
/*#define HAL_TIM_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
/*#define HAL_USART_MODULE_ENABLED */
/*#define HAL_WWDG_MODULE_ENABLED */

53
bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c
View File

@ -42,6 +42,8 @@
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim3;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
@ -52,6 +54,7 @@ UART_HandleTypeDef huart1;
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM3_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@ -90,6 +93,7 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
@ -142,6 +146,55 @@ void SystemClock_Config(void)
}
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 0;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None

65
bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
View File

@ -81,6 +81,71 @@ void HAL_MspInit(void)
/* USER CODE END MspInit 1 */
}
/**
* @brief TIM_Encoder MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim_encoder->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM3 GPIO Configuration
PC6 ------> TIM3_CH1
PC7 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
__HAL_AFIO_REMAP_TIM3_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
}
/**
* @brief TIM_Encoder MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
{
if(htim_encoder->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/**TIM3 GPIO Configuration
PC6 ------> TIM3_CH1
PC7 ------> TIM3_CH2
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example

11
bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
View File

@ -201,6 +201,17 @@ menu "On-chip Peripheral Drivers"
select RT_USING_WDT
default n
menuconfig BSP_USING_PULSE_ENCODER
bool "Enable Pulse Encoder"
default n
select RT_USING_PULSE_ENCODER
if BSP_USING_PULSE_ENCODER
config BSP_USING_PULSE_ENCODER3
bool "Enable Pulse Encoder3"
default n
endif
source "../libraries/HAL_Drivers/Kconfig"
endmenu

5
bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
View File

@ -1,7 +1,7 @@
[PreviousGenFiles]
HeaderPath=E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc
HeaderPath=E:/workspace/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc
HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
SourcePath=E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src
SourcePath=E:/workspace/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src
SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
[PreviousLibFiles]
@ -10,4 +10,5 @@ LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_
[PreviousUsedKeilFiles]
SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;STM32F407xx;

67
bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
View File

@ -13,11 +13,12 @@ Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=ETH
Mcu.IP10=TIM2
Mcu.IP11=TIM11
Mcu.IP12=TIM13
Mcu.IP13=TIM14
Mcu.IP14=USART1
Mcu.IP15=USART3
Mcu.IP11=TIM4
Mcu.IP12=TIM11
Mcu.IP13=TIM13
Mcu.IP14=TIM14
Mcu.IP15=USART1
Mcu.IP16=USART3
Mcu.IP2=IWDG
Mcu.IP3=NVIC
Mcu.IP4=RCC
@ -26,7 +27,7 @@ Mcu.IP6=SDIO
Mcu.IP7=SPI1
Mcu.IP8=SPI2
Mcu.IP9=SYS
Mcu.IPNb=16
Mcu.IPNb=17
Mcu.Name=STM32F407Z(E-G)Tx
Mcu.Package=LQFP144
Mcu.Pin0=PC14-OSC32_IN
@ -56,37 +57,39 @@ Mcu.Pin3=PH1-OSC_OUT
Mcu.Pin30=PB3
Mcu.Pin31=PB4
Mcu.Pin32=PB5
Mcu.Pin33=VP_IWDG_VS_IWDG
Mcu.Pin34=VP_RTC_VS_RTC_Activate
Mcu.Pin35=VP_SYS_VS_Systick
Mcu.Pin36=VP_TIM2_VS_ClockSourceINT
Mcu.Pin37=VP_TIM11_VS_ClockSourceINT
Mcu.Pin38=VP_TIM13_VS_ClockSourceINT
Mcu.Pin39=VP_TIM14_VS_ClockSourceINT
Mcu.Pin33=PB6
Mcu.Pin34=PB7
Mcu.Pin35=VP_IWDG_VS_IWDG
Mcu.Pin36=VP_RTC_VS_RTC_Activate
Mcu.Pin37=VP_SYS_VS_Systick
Mcu.Pin38=VP_TIM2_VS_ClockSourceINT
Mcu.Pin39=VP_TIM11_VS_ClockSourceINT
Mcu.Pin4=PC1
Mcu.Pin40=VP_TIM13_VS_ClockSourceINT
Mcu.Pin41=VP_TIM14_VS_ClockSourceINT
Mcu.Pin5=PC2
Mcu.Pin6=PC3
Mcu.Pin7=PA1
Mcu.Pin8=PA2
Mcu.Pin9=PA3
Mcu.PinsNb=40
Mcu.PinsNb=42
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407ZGTx
MxCube.Version=5.0.0
MxDb.Version=DB.5.0.0
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
PA1.Mode=RMII
PA1.Signal=ETH_REF_CLK
PA10.Mode=Asynchronous
@ -119,6 +122,10 @@ PB4.Signal=SPI1_MISO
PB5.Locked=true
PB5.Mode=Full_Duplex_Master
PB5.Signal=SPI1_MOSI
PB6.Locked=true
PB6.Signal=S_TIM4_CH1
PB7.Locked=true
PB7.Signal=S_TIM4_CH2
PC1.Mode=RMII
PC1.Signal=ETH_MDC
PC10.Mode=SD_4_bits_Wide_bus
@ -167,7 +174,7 @@ PH0-OSC_IN.Signal=RCC_OSC_IN
PH1-OSC_OUT.Mode=HSE-External-Oscillator
PH1-OSC_OUT.Signal=RCC_OSC_OUT
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.AskForMigrate=false
ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
@ -181,7 +188,7 @@ ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=false
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=0
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
@ -193,7 +200,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=MDK-ARM V5
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_ETH_Init-ETH-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_RTC_Init-RTC-false-HAL-true,9-MX_IWDG_Init-IWDG-false-HAL-true,10-MX_TIM14_Init-TIM14-false-HAL-true,11-MX_TIM13_Init-TIM13-false-HAL-true,12-MX_TIM11_Init-TIM11-false-HAL-true,13-MX_SDIO_SD_Init-SDIO-false-HAL-true,14-MX_TIM2_Init-TIM2-false-HAL-true,15-MX_SPI2_Init-SPI2-false-HAL-true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_ETH_Init-ETH-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_RTC_Init-RTC-false-HAL-true,9-MX_IWDG_Init-IWDG-false-HAL-true,10-MX_TIM14_Init-TIM14-false-HAL-true,11-MX_TIM13_Init-TIM13-false-HAL-true,12-MX_TIM11_Init-TIM11-false-HAL-true,13-MX_SDIO_SD_Init-SDIO-false-HAL-true,14-MX_TIM2_Init-TIM2-false-HAL-true,15-MX_SPI2_Init-SPI2-false-HAL-true,16-MX_TIM4_Init-TIM4-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -233,6 +240,10 @@ SH.ADCx_IN5.0=ADC1_IN5,IN5
SH.ADCx_IN5.ConfNb=1
SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
SH.S_TIM2_CH4.ConfNb=1
SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
SH.S_TIM4_CH1.ConfNb=1
SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
SH.S_TIM4_CH2.ConfNb=1
SPI1.CalculateBaudRate=42.0 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate

2
bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
View File

@ -5,7 +5,7 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
* <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:

51
bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
View File

@ -76,6 +76,7 @@ SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim11;
TIM_HandleTypeDef htim13;
TIM_HandleTypeDef htim14;
@ -104,6 +105,7 @@ static void MX_TIM11_Init(void);
static void MX_SDIO_SD_Init(void);
static void MX_TIM2_Init(void);
static void MX_SPI2_Init(void);
static void MX_TIM4_Init(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
@ -155,6 +157,7 @@ int main(void)
MX_SDIO_SD_Init();
MX_TIM2_Init();
MX_SPI2_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
@ -551,6 +554,54 @@ static void MX_TIM2_Init(void)
}
/**
* @brief TIM4 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 0;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
}
/**
* @brief TIM11 Initialization Function
* @param None

68
bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
View File

@ -585,6 +585,43 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
}
/**
* @brief TIM_Encoder MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim_encoder->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM4 GPIO Configuration
PB6 ------> TIM4_CH1
PB7 ------> TIM4_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
@ -669,6 +706,37 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
}
/**
* @brief TIM_Encoder MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
{
if(htim_encoder->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE();
/**TIM4 GPIO Configuration
PB6 ------> TIM4_CH1
PB7 ------> TIM4_CH2
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
/* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example

12
bsp/stm32/stm32f407-atk-explorer/board/Kconfig
View File

@ -293,6 +293,18 @@ menu "On-chip Peripheral Drivers"
select RT_USING_SDIO
select RT_USING_DFS
default n
menuconfig BSP_USING_PULSE_ENCODER
bool "Enable Pulse Encoder"
default n
select RT_USING_PULSE_ENCODER
if BSP_USING_PULSE_ENCODER
config BSP_USING_PULSE_ENCODER4
bool "Enable Pulse Encoder4"
default n
endif
source "../libraries/HAL_Drivers/Kconfig"
endmenu

4
components/drivers/Kconfig
View File

@ -434,8 +434,8 @@ menuconfig RT_USING_HWCRYPTO
endif
endif
config RT_USING_ENCODER
bool "Using ENCODER device drivers"
config RT_USING_PULSE_ENCODER
bool "Using PULSE ENCODER device drivers"
default n
config RT_USING_INPUT_CAPTURE

58
components/drivers/include/drivers/encoder.h
View File

@ -1,58 +0,0 @@
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-08-08 balanceTWK the first version
*/
#ifndef __ENCODER_H__
#define __ENCODER_H__
#include <rtthread.h>
#include <rtdevice.h>
#ifdef __cplusplus
extern "C" {
#endif
/* encoder control command */
#define ENCODER_CMD_GET_TYPE (128 + 0) /* get a encoder type information */
#define ENCODER_CMD_ENABLE (128 + 1) /* enable encoder */
#define ENCODER_CMD_DISABLE (128 + 2) /* disable encoder */
#define ENCODER_CMD_CLEAR_COUNT (128 + 3) /* clear encoder count */
/* encoder type */
enum rt_encoder_type
{
UNKNOWN_ENCODER_TYPE = 0x00, /* Unknown encoder type */
SINGLE_PHASE_ENCODER, /* single phase encoder */
AB_PHASE_ENCODER /* two phase encoder */
};
struct rt_encoder_device;
struct rt_encoder_ops
{
rt_err_t (*init)(struct rt_encoder_device *encoder);
rt_int32_t (*get_count)(struct rt_encoder_device *encoder);
rt_err_t (*clear_count)(struct rt_encoder_device *encoder);
rt_err_t (*control)(struct rt_encoder_device *encoder, rt_uint32_t cmd, void *args);
};
struct rt_encoder_device
{
struct rt_device parent;
const struct rt_encoder_ops *ops;
enum rt_encoder_type type;
};
rt_err_t rt_device_encoder_register(struct rt_encoder_device *encoder, const char *name, void *user_data);
#ifdef __cplusplus
}
#endif
#endif /* __ENCODER_H__ */

58
components/drivers/include/drivers/pulse_encoder.h Normal file
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@ -0,0 +1,58 @@
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-08-08 balanceTWK the first version
*/
#ifndef __PULSE_ENCODER_H__
#define __PULSE_ENCODER_H__
#include <rtthread.h>
#include <rtdevice.h>
#ifdef __cplusplus
extern "C" {
#endif
/* pulse_encoder control command */
#define PULSE_ENCODER_CMD_GET_TYPE (128 + 0) /* get a pulse_encoder type information */
#define PULSE_ENCODER_CMD_ENABLE (128 + 1) /* enable pulse_encoder */
#define PULSE_ENCODER_CMD_DISABLE (128 + 2) /* disable pulse_encoder */
#define PULSE_ENCODER_CMD_CLEAR_COUNT (128 + 3) /* clear pulse_encoder count */
/* pulse_encoder type */
enum rt_pulse_encoder_type
{
UNKNOWN_PULSE_ENCODER_TYPE = 0x00, /* Unknown pulse_encoder type */
SINGLE_PHASE_PULSE_ENCODER, /* single phase pulse_encoder */
AB_PHASE_PULSE_ENCODER /* two phase pulse_encoder */
};
struct rt_pulse_encoder_device;
struct rt_pulse_encoder_ops
{
rt_err_t (*init)(struct rt_pulse_encoder_device *pulse_encoder);
rt_int32_t (*get_count)(struct rt_pulse_encoder_device *pulse_encoder);
rt_err_t (*clear_count)(struct rt_pulse_encoder_device *pulse_encoder);
rt_err_t (*control)(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args);
};
struct rt_pulse_encoder_device
{
struct rt_device parent;
const struct rt_pulse_encoder_ops *ops;
enum rt_pulse_encoder_type type;
};
rt_err_t rt_device_pulse_encoder_register(struct rt_pulse_encoder_device *pulse_encoder, const char *name, void *user_data);
#ifdef __cplusplus
}
#endif
#endif /* __PULSE_ENCODER_H__ */

4
components/drivers/include/rtdevice.h
View File

@ -126,8 +126,8 @@ extern "C" {
#include "drivers/crypto.h"
#endif
#ifdef RT_USING_ENCODER
#include "drivers/encoder.h"
#ifdef RT_USING_PULSE_ENCODER
#include "drivers/pulse_encoder.h"
#endif
#ifdef RT_USING_INPUT_CAPTURE

4
components/drivers/misc/SConscript
View File

@ -14,8 +14,8 @@ if GetDepend(['RT_USING_ADC']):
if GetDepend(['RT_USING_PWM']):
src = src + ['rt_drv_pwm.c']
if GetDepend(['RT_USING_ENCODER']):
src = src + ['encoder.c']
if GetDepend(['RT_USING_PULSE_ENCODER']):
src = src + ['pulse_encoder.c']
if GetDepend(['RT_USING_INPUT_CAPTURE']):
src = src + ['rt_inputcapture.c']

137
components/drivers/misc/encoder.c
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@ -1,137 +0,0 @@
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-08-08 balanceTWK the first version
*/
#include <rtthread.h>
#include <rtdevice.h>
static rt_err_t rt_encoder_init(struct rt_device *dev)
{
rt_err_t ret;
struct rt_encoder_device *encoder;
ret = RT_EOK;
encoder = (struct rt_encoder_device *)dev;
if (encoder->ops->init)
{
ret = encoder->ops->init(encoder);
}
return ret;
}
static rt_err_t rt_encoder_open(struct rt_device *dev, rt_uint16_t oflag)
{
rt_err_t ret;
struct rt_encoder_device *encoder;
ret = RT_EOK;
encoder = (struct rt_encoder_device *)dev;
if (encoder->ops->control)
{
ret = encoder->ops->control(encoder, ENCODER_CMD_ENABLE, RT_NULL);
}
return ret;
}
static rt_err_t rt_encoder_close(struct rt_device *dev)
{
rt_err_t ret;
struct rt_encoder_device *encoder;
ret = RT_EOK;
encoder = (struct rt_encoder_device *)dev;
if (encoder->ops->control)
{
ret = encoder->ops->control(encoder, ENCODER_CMD_DISABLE, RT_NULL);
}
return ret;
}
static rt_size_t rt_encoder_read(struct rt_device *dev, rt_off_t pos, void *buffer, rt_size_t size)
{
struct rt_encoder_device *encoder;
encoder = (struct rt_encoder_device *)dev;
if (encoder->ops->get_count)
{
*(rt_int32_t *)buffer = encoder->ops->get_count(encoder);
}
return 1;
}
static rt_err_t rt_encoder_control(struct rt_device *dev, int cmd, void *args)
{
rt_err_t result;
struct rt_encoder_device *encoder;
result = RT_EOK;
encoder = (struct rt_encoder_device *)dev;
switch (cmd)
{
case ENCODER_CMD_CLEAR_COUNT:
result = encoder->ops->clear_count(encoder);
break;
case ENCODER_CMD_GET_TYPE:
*(enum rt_encoder_type *)args = encoder->type;
break;
case ENCODER_CMD_ENABLE:
case ENCODER_CMD_DISABLE:
result = encoder->ops->control(encoder, cmd, args);
break;
default:
result = -RT_ENOSYS;
break;
}
return result;
}
#ifdef RT_USING_DEVICE_OPS
const static struct rt_device_ops encoder_ops =
{
rt_encoder_init,
rt_encoder_open,
rt_encoder_close,
rt_encoder_read,
RT_NULL,
rt_encoder_control
};
#endif
rt_err_t rt_device_encoder_register(struct rt_encoder_device *encoder, const char *name, void *user_data)
{
struct rt_device *device;
RT_ASSERT(encoder != RT_NULL);
RT_ASSERT(encoder->ops != RT_NULL);
RT_ASSERT(encoder->ops->get_count != RT_NULL);
device = &(encoder->parent);
device->type = RT_Device_Class_Miscellaneous;
device->rx_indicate = RT_NULL;
device->tx_complete = RT_NULL;
#ifdef RT_USING_DEVICE_OPS
device->ops = &encoder_ops;
#else
device->init = rt_encoder_init;
device->open = rt_encoder_open;
device->close = rt_encoder_close;
device->read = rt_encoder_read;
device->write = RT_NULL;
device->control = rt_encoder_control;
#endif
device->user_data = user_data;
return rt_device_register(device, name, RT_DEVICE_FLAG_RDONLY | RT_DEVICE_FLAG_STANDALONE);
}

136
components/drivers/misc/pulse_encoder.c Normal file
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@ -0,0 +1,136 @@
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-08-08 balanceTWK the first version
*/
#include <rtthread.h>
#include <rtdevice.h>
static rt_err_t rt_pulse_encoder_init(struct rt_device *dev)
{
struct rt_pulse_encoder_device *pulse_encoder;
pulse_encoder = (struct rt_pulse_encoder_device *)dev;
if (pulse_encoder->ops->init)
{
return pulse_encoder->ops->init(pulse_encoder);
}
else
{
return -RT_ENOSYS;
}
}
static rt_err_t rt_pulse_encoder_open(struct rt_device *dev, rt_uint16_t oflag)
{
struct rt_pulse_encoder_device *pulse_encoder;
pulse_encoder = (struct rt_pulse_encoder_device *)dev;
if (pulse_encoder->ops->control)
{
return pulse_encoder->ops->control(pulse_encoder, PULSE_ENCODER_CMD_ENABLE, RT_NULL);
}
else
{
return -RT_ENOSYS;
}
}
static rt_err_t rt_pulse_encoder_close(struct rt_device *dev)
{
struct rt_pulse_encoder_device *pulse_encoder;
pulse_encoder = (struct rt_pulse_encoder_device *)dev;
if (pulse_encoder->ops->control)
{
return pulse_encoder->ops->control(pulse_encoder, PULSE_ENCODER_CMD_DISABLE, RT_NULL);
}
else
{
return -RT_ENOSYS;
}
}
static rt_size_t rt_pulse_encoder_read(struct rt_device *dev, rt_off_t pos, void *buffer, rt_size_t size)
{
struct rt_pulse_encoder_device *pulse_encoder;
pulse_encoder = (struct rt_pulse_encoder_device *)dev;
if (pulse_encoder->ops->get_count)
{
*(rt_int32_t *)buffer = pulse_encoder->ops->get_count(pulse_encoder);
}
return 1;
}
static rt_err_t rt_pulse_encoder_control(struct rt_device *dev, int cmd, void *args)
{
rt_err_t result;
struct rt_pulse_encoder_device *pulse_encoder;
result = RT_EOK;
pulse_encoder = (struct rt_pulse_encoder_device *)dev;
switch (cmd)
{
case PULSE_ENCODER_CMD_CLEAR_COUNT:
result = pulse_encoder->ops->clear_count(pulse_encoder);
break;
case PULSE_ENCODER_CMD_GET_TYPE:
*(enum rt_pulse_encoder_type *)args = pulse_encoder->type;
break;
case PULSE_ENCODER_CMD_ENABLE:
case PULSE_ENCODER_CMD_DISABLE:
result = pulse_encoder->ops->control(pulse_encoder, cmd, args);
break;
default:
result = -RT_ENOSYS;
break;
}
return result;
}
#ifdef RT_USING_DEVICE_OPS
const static struct rt_device_ops pulse_encoder_ops =
{
rt_pulse_encoder_init,
rt_pulse_encoder_open,
rt_pulse_encoder_close,
rt_pulse_encoder_read,
RT_NULL,
rt_pulse_encoder_control
};
#endif
rt_err_t rt_device_pulse_encoder_register(struct rt_pulse_encoder_device *pulse_encoder, const char *name, void *user_data)
{
struct rt_device *device;
RT_ASSERT(pulse_encoder != RT_NULL);
RT_ASSERT(pulse_encoder->ops != RT_NULL);
device = &(pulse_encoder->parent);
device->type = RT_Device_Class_Miscellaneous;
device->rx_indicate = RT_NULL;
device->tx_complete = RT_NULL;
#ifdef RT_USING_DEVICE_OPS
device->ops = &pulse_encoder_ops;
#else
device->init = rt_pulse_encoder_init;
device->open = rt_pulse_encoder_open;
device->close = rt_pulse_encoder_close;
device->read = rt_pulse_encoder_read;
device->write = RT_NULL;
device->control = rt_pulse_encoder_control;
#endif
device->user_data = user_data;
return rt_device_register(device, name, RT_DEVICE_FLAG_RDONLY | RT_DEVICE_FLAG_STANDALONE);
}