160 lines
4.4 KiB
C
160 lines
4.4 KiB
C
/*
|
|
* 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
|
|
* 2021-01-19 Leslie Lee port to imxrt series
|
|
*/
|
|
|
|
#include <rtthread.h>
|
|
#include <rtdevice.h>
|
|
#ifdef BSP_USING_PULSE_ENCODER
|
|
|
|
#include "fsl_common.h"
|
|
#include "fsl_enc.h"
|
|
|
|
#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)
|
|
#error "Please define at least one BSP_USING_PULSE_ENCODERx"
|
|
/* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
|
|
#elif (defined(BSP_USING_PULSE_ENCODER2) || defined(BSP_USING_PULSE_ENCODER3) || defined(BSP_USING_PULSE_ENCODER4)) || defined(SOC_IMXRT1015_SERIES)
|
|
#error "IMXRT1015 had only one quadrature decoder module"
|
|
#elif (defined(BSP_USING_PULSE_ENCODER3) || defined(BSP_USING_PULSE_ENCODER4)) || defined(SOC_IMXRT1020_SERIES)
|
|
#error "IMXRT1020 had only two quadrature decoder module"
|
|
#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
|
|
};
|
|
|
|
struct imxrt_pulse_encoder_device
|
|
{
|
|
struct rt_pulse_encoder_device pulse_encoder;
|
|
ENC_Type *base;
|
|
char *name;
|
|
};
|
|
typedef struct imxrt_pulse_encoder_device imxrt_pulse_enccoder_device_t;
|
|
|
|
static imxrt_pulse_enccoder_device_t imxrt_pulse_encoder_obj[] =
|
|
{
|
|
#ifdef BSP_USING_PULSE_ENCODER1
|
|
{
|
|
.base = ENC1,
|
|
.name = "pulse1"
|
|
},
|
|
#endif
|
|
#ifdef BSP_USING_PULSE_ENCODER2
|
|
{
|
|
.base = ENC2,
|
|
.name = "pulse2"
|
|
},
|
|
#endif
|
|
#ifdef BSP_USING_PULSE_ENCODER3
|
|
{
|
|
.base = ENC3,
|
|
.name = "pulse3"
|
|
},
|
|
#endif
|
|
#ifdef BSP_USING_PULSE_ENCODER4
|
|
{
|
|
.base = ENC4,
|
|
.name = "pulse4"
|
|
},
|
|
#endif
|
|
};
|
|
|
|
|
|
|
|
rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
|
|
{
|
|
ENC_Type *base = ((imxrt_pulse_enccoder_device_t *)(pulse_encoder->parent.user_data))->base;
|
|
enc_config_t enc_config;
|
|
ENC_GetDefaultConfig(&enc_config);
|
|
ENC_Init(base, &enc_config);
|
|
ENC_DoSoftwareLoadInitialPositionValue(base); /* Update the position counter with initial value. */
|
|
return RT_EOK;
|
|
}
|
|
|
|
rt_err_t pulse_encoder_clear_count(struct rt_pulse_encoder_device *pulse_encoder)
|
|
{
|
|
ENC_SetInitialPositionValue(((imxrt_pulse_enccoder_device_t *)(pulse_encoder->parent.user_data))->base, 0);
|
|
return RT_EOK;
|
|
}
|
|
|
|
rt_int32_t pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder)
|
|
{
|
|
return (rt_int32_t)ENC_GetPositionValue(((imxrt_pulse_enccoder_device_t *)(pulse_encoder->parent.user_data))->base);
|
|
}
|
|
|
|
rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args)
|
|
{
|
|
rt_err_t result;
|
|
|
|
result = RT_EOK;
|
|
|
|
switch (cmd)
|
|
{
|
|
case PULSE_ENCODER_CMD_ENABLE:
|
|
result = pulse_encoder->ops->init(pulse_encoder);
|
|
break;
|
|
case PULSE_ENCODER_CMD_DISABLE:
|
|
ENC_Deinit(((imxrt_pulse_enccoder_device_t *)(pulse_encoder->parent.user_data))->base);
|
|
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,
|
|
.clear_count = pulse_encoder_clear_count,
|
|
.control = pulse_encoder_control,
|
|
};
|
|
|
|
int rt_hw_pulse_encoder_init(void)
|
|
{
|
|
int i;
|
|
int result;
|
|
|
|
result = RT_EOK;
|
|
for (i = 0; i < sizeof(imxrt_pulse_encoder_obj) / sizeof(imxrt_pulse_encoder_obj[0]); i++)
|
|
{
|
|
imxrt_pulse_encoder_obj[i].pulse_encoder.type = AB_PHASE_PULSE_ENCODER;
|
|
imxrt_pulse_encoder_obj[i].pulse_encoder.ops = &_ops;
|
|
imxrt_pulse_encoder_obj[i].pulse_encoder.parent.user_data = &(imxrt_pulse_encoder_obj[i]);
|
|
|
|
if (rt_device_pulse_encoder_register(&imxrt_pulse_encoder_obj[i].pulse_encoder, imxrt_pulse_encoder_obj[i].name, &imxrt_pulse_encoder_obj[i]) != RT_EOK)
|
|
{
|
|
LOG_E("%s register failed", imxrt_pulse_encoder_obj[i].name);
|
|
result = -RT_ERROR;
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
INIT_BOARD_EXPORT(rt_hw_pulse_encoder_init);
|
|
|
|
#endif |