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-rw-r--r--bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h36
-rw-r--r--bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c98
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();
generated by cgit v1.3.1 (git 2.54.0) at 2026-10-30 10:19:50 +0000