[bsp][stm32] add drv_encoder.c to stm32f103-atk-warshipv3

10 files changed, 220 insertions, 21 deletions

diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f1/encoder_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f1/encoder_config.h
new file mode 100644
index 0000000000..80d515955f
--- /dev/null
+++ b/bsp/stm32/libraries/HAL_Drivers/config/f1/encoder_config.h
@@ -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__ */
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_config.h b/bsp/stm32/libraries/HAL_Drivers/drv_config.h
index 7eb4b5d657..9f5194d960 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_config.h
@@ -34,6 +34,7 @@ extern "C" {
 #include "f1/sdio_config.h"
 #include "f1/pwm_config.h"
 #include "f1/usbd_fs_config.h"
+#include "f1/encoder_config.h"
 #elif  defined(SOC_SERIES_STM32F2)
 #include "f2/dma_config.h"
 #include "f2/uart_config.h"
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c b/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c
index d896f23983..ca42c151fa 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c
@@ -1,11 +1,4 @@
 /*
- * @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
diff --git a/bsp/stm32/libraries/STM32F1xx_HAL/SConscript b/bsp/stm32/libraries/STM32F1xx_HAL/SConscript
index 403698f9f8..8d554cac85 100644
--- a/bsp/stm32/libraries/STM32F1xx_HAL/SConscript
+++ b/bsp/stm32/libraries/STM32F1xx_HAL/SConscript
@@ -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_ENCODER']):
     src += ['STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c']
     src += ['STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c']
 
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/.mxproject
index bab08a26bd..3701927b37 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/.mxproject
@@ -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;
 
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc
index 0482a4927a..905e7b4364 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc
@@ -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
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
index 9ab2b09148..a6ed331c5f 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
@@ -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   */
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c
index c183908d36..2e51a42f8e 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c
@@ -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 */
@@ -143,6 +147,55 @@ 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
   * @retval None
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
index bd70146cfe..0422f4b858 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
@@ -82,6 +82,71 @@ void HAL_MspInit(void)
 }
 
 /**
+* @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
 * @param huart: UART handle pointer
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
index 8cbacb4bab..8f34aca198 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
@@ -200,7 +200,18 @@ menu "On-chip Peripheral Drivers"
         bool "Enable Watchdog Timer"
         select RT_USING_WDT
         default n
-	
+
+    menuconfig BSP_USING_ENCODER
+        bool "Enable Encoder"
+        default n
+        select RT_USING_ENCODER
+        if BSP_USING_ENCODER
+            config BSP_USING_ENCODER3
+                bool "Enable Encoder3"
+                default n
+
+        endif
+
  source "../libraries/HAL_Drivers/Kconfig"
     
 endmenu