From c11686751ee7b7885141dfa4e6dd4cf99fb25ed5 Mon Sep 17 00:00:00 2001 From: tangweikang Date: Tue, 24 Sep 2019 13:36:09 +0800 Subject: [PATCH] [bsp][stm32][driver][drv_pulse_encoder.c] code style --- .../config/f1/pulse_encoder_config.h | 36 ++++--- .../libraries/HAL_Drivers/drv_pulse_encoder.c | 98 ++++++++++--------- 2 files changed, 72 insertions(+), 62 deletions(-) diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h index 4621240c98..94dd8fcd70 100644 --- a/bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h +++ b/bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h @@ -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 */ diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c b/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c index ff8b10b750..44fe3ab68f 100644 --- a/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c +++ b/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c @@ -51,7 +51,7 @@ struct stm32_pulse_encoder_device struct rt_pulse_encoder_device pulse_encoder; TIM_HandleTypeDef tim_handler; IRQn_Type encoder_irqn; - volatile rt_int32_t over_under_flowcount; + rt_int32_t over_under_flowcount; char *name; }; @@ -82,7 +82,7 @@ rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder) TIM_Encoder_InitTypeDef sConfig; TIM_MasterConfigTypeDef sMasterConfig; struct stm32_pulse_encoder_device *stm32_device; - stm32_device = rt_container_of(pulse_encoder, struct stm32_pulse_encoder_device, pulse_encoder); + stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder; stm32_device->tim_handler.Init.Prescaler = 0; stm32_device->tim_handler.Init.CounterMode = TIM_COUNTERMODE_UP; @@ -133,7 +133,7 @@ rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder) rt_err_t pulse_encoder_clear_count(struct rt_pulse_encoder_device *pulse_encoder) { struct stm32_pulse_encoder_device *stm32_device; - stm32_device = rt_container_of(pulse_encoder, struct stm32_pulse_encoder_device, pulse_encoder); + 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; @@ -142,15 +142,15 @@ rt_err_t pulse_encoder_clear_count(struct rt_pulse_encoder_device *pulse_encoder rt_int32_t pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder) { struct stm32_pulse_encoder_device *stm32_device; - stm32_device = rt_container_of(pulse_encoder, 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); + 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; struct stm32_pulse_encoder_device *stm32_device; - stm32_device = rt_container_of(pulse_encoder, struct stm32_pulse_encoder_device, pulse_encoder); + stm32_device = (struct stm32_pulse_encoder_device*)pulse_encoder; result = RT_EOK; @@ -174,11 +174,11 @@ rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt 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) - { + /* 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)) + if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&device->tim_handler)) { device->over_under_flowcount--; } @@ -186,46 +186,52 @@ void pulse_encoder_update_isr(struct stm32_pulse_encoder_device *device) { device->over_under_flowcount++; } - } - /* Capture compare 1 event */ - if (__HAL_TIM_GET_FLAG(&device->tim_handler, TIM_FLAG_CC1) != RESET) - { + } + /* 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); - } + } + /* 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 -void TIM1_UP_TIM10_IRQHandler(void) +#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();