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-rw-r--r--bsp/imxrt/libraries/MIMXRT1050/SConscript7
-rw-r--r--bsp/imxrt/libraries/drivers/SConscript3
-rw-r--r--bsp/imxrt/libraries/drivers/drv_pulse_encoder.c160
3 files changed, 170 insertions, 0 deletions
diff --git a/bsp/imxrt/libraries/MIMXRT1050/SConscript b/bsp/imxrt/libraries/MIMXRT1050/SConscript
index 75fde95bc1..c774395330 100644
--- a/bsp/imxrt/libraries/MIMXRT1050/SConscript
+++ b/bsp/imxrt/libraries/MIMXRT1050/SConscript
@@ -75,6 +75,13 @@ if GetDepend(['BSP_USING_DMA']):
src += ['MIMXRT1052/drivers/fsl_lpuart_edma.c']
if GetDepend(['BSP_USING_SPI']):
src += ['MIMXRT1052/drivers/fsl_lpspi_edma.c']
+
+if GetDepend(['BSP_USING_PULSE_ENCODER']):
+ src += ['MIMXRT1052/drivers/fsl_enc.c']
+
+#Adding this as XBAR is used in pin mux
+src += ['MIMXRT1052/drivers/fsl_xbara.c']
+src += ['MIMXRT1052/drivers/fsl_xbarb.c']
if rtconfig.CROSS_TOOL == 'gcc':
group = DefineGroup('Libraries', src, depend = [''], CPPPATH = path, ASFLAGS = '$ASFLAGS -D __STARTUP_CLEAR_BSS')
diff --git a/bsp/imxrt/libraries/drivers/SConscript b/bsp/imxrt/libraries/drivers/SConscript
index 3328d2af08..eaefd7c5e1 100644
--- a/bsp/imxrt/libraries/drivers/SConscript
+++ b/bsp/imxrt/libraries/drivers/SConscript
@@ -63,6 +63,9 @@ if GetDepend('BSP_USING_USB_DEVICE'):
src += Glob('usb/phy/*.c')
CPPDEFINES += ['ENDIANNESS']
+if GetDepend('BSP_USING_PULSE_ENCODER'):
+ src += ['drv_pulse_encoder.c']
+
path = [cwd,cwd + '/config']
group = DefineGroup('Drivers', src, depend = [''], CPPPATH = path, CPPDEFINES=CPPDEFINES)
diff --git a/bsp/imxrt/libraries/drivers/drv_pulse_encoder.c b/bsp/imxrt/libraries/drivers/drv_pulse_encoder.c
new file mode 100644
index 0000000000..c0e5ce27f8
--- /dev/null
+++ b/bsp/imxrt/libraries/drivers/drv_pulse_encoder.c
@@ -0,0 +1,160 @@
+/*
+ * 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 \ No newline at end of file
generated by cgit v1.3.1 (git 2.54.0) at 2026-10-30 21:24:13 +0000