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/*
* Copyright (c) 2022-2024, Xiaohua Semiconductor Co., Ltd.
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2024-12-30 CDT first version
* 2026-05-27 CDT Support HC32F4A2
* 2026-06-09 CDT Support HC32F467
*/
/*
* 程序清单： Pulse encoder 设备使用例程
*
* menuconfig:
* Hardware Drivers Config ---> On-Chip Peripheral Drivers ----> [*] Enable Pulse Encoder ----> [*] Use TIMERA As The Pulse Encoder ---> [*] Use TIMERA_1 As The Pulse Encoder
* [*] Use TIMER6 As The Pulse Encoder ---> [*] Use TIMER6_1 As The Pulse Encoder
* 例程导出了 encoder_sample 命令到控制终端, 通过串口可查看当前的count数值
* 命令调用格式：pulse_encoder_sample devname [option1] [option2]
* devname: [pulse_a1/pulse_61] 编码器单元名称
* option1: 正转脉冲数
* option2: 反转脉冲数
* eg:encoder_sample pulse_a1 2000 1000
* 编码器的分辨率是1000
* 硬件IO查看对应board/board_config.h中相关端口定义，并且需要正确连接到对应模拟脉冲生成的端口
*/
#include <rtthread.h>
#include <rtdevice.h>
#include <stdlib.h>
#include "board_config.h"
#include <board.h>
#ifdef BSP_USING_PULSE_ENCODER
#if defined(HC32F4A0) || defined(HC32F4A2) || defined(HC32F4A8) || defined(HC32F467)
#define TEST_IO_A_PIN GET_PIN(A, 5)
#define TEST_IO_B_PIN GET_PIN(A, 6)
#else
#define TEST_IO_A_PIN GET_PIN(B, 0)
#define TEST_IO_B_PIN GET_PIN(B, 1)
#endif
static rt_device_t pulse_encoder_dev = RT_NULL;
static void printf_connect(void)
{
#if defined(HC32F4A0) || defined(HC32F4A2) || defined(HC32F4A8) || defined(HC32F467)
#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
rt_kprintf(" [tmra]*connect PA5-->PA8 PA6-->PA9\n");
#endif
#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
rt_kprintf(" [tmr6]*connect PA5-->PB9 PA6-->PB8\n");
#endif
#endif
#if defined(HC32F460)
#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
rt_kprintf(" [tmra]*connect PB0-->PA8 PB1-->PA9\n");
#endif
#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
rt_kprintf(" [tmr6]*connect PB0-->PE9 PB1-->PE8\n");
#endif
#endif
#if defined(HC32F448)
#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
rt_kprintf(" [tmra]*connect PB0-->PA8 PB1-->PA9\n");
#endif
#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
rt_kprintf(" [tmr6]*connect PB0-->PB5 PB1-->PB13\n");
#endif
#endif
#if defined(HC32F472)
#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
rt_kprintf(" [tmra]*connect PB0-->PA0 PB1-->PA1\n");
#endif
#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
rt_kprintf(" [tmr6]*connect PB0-->PA3 PB1-->PA7\n");
#endif
#endif
#if defined(HC32F334)
#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
rt_kprintf(" [tmra]*connect PB0-->PA0 PB1-->PA1\n");
#endif
#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
rt_kprintf(" [tmr6]*connect PB0-->PA7 PB1-->PA3\n");
#endif
#endif
}
static void _pulse_cmd_print_usage(void)
{
rt_kprintf("encoder_sample devname [option1] [option2]\n");
rt_kprintf(" devname: [pulse_a1/pulse_61..] pulse uint\n");
rt_kprintf(" option1: number of positive pulses\n");
rt_kprintf(" option2: number of reversal pulses\n");
rt_kprintf(" e.g. MSH >encoder_sample pulse_a1 2000 1000\n");
printf_connect();
}
static void GenClkUp(const uint16_t cnt)
{
uint32_t i, j;
rt_int32_t count;
const uint8_t bAin[4U] = { 1U, 1U, 0U, 0U };
const uint8_t bBin[4U] = { 0U, 1U, 1U, 0U };
for (j = 0UL; j < cnt; j++)
{
for (i = 0UL; i < 4UL; i++)
{
if (0U == bAin[i])
{
rt_pin_write(TEST_IO_A_PIN, PIN_LOW);
}
else
{
rt_pin_write(TEST_IO_A_PIN, PIN_HIGH);
}
if (0U == bBin[i])
{
rt_pin_write(TEST_IO_B_PIN, PIN_LOW);
}
else
{
rt_pin_write(TEST_IO_B_PIN, PIN_HIGH);
}
rt_thread_mdelay(1UL);
}
rt_device_read(pulse_encoder_dev, 0, &count, 1);
rt_kprintf("%d\r\n", count);
}
}
static void GenClkDown(const uint16_t cnt)
{
uint32_t i, j;
rt_int32_t count;
const uint8_t bAin[4U] = { 0U, 1U, 1U, 0U };
const uint8_t bBin[4U] = { 1U, 1U, 0U, 0U };
for (j = 0UL; j < cnt; j++)
{
for (i = 0UL; i < 4UL; i++)
{
if (0U == bAin[i])
{
rt_pin_write(TEST_IO_A_PIN, PIN_LOW);
}
else
{
rt_pin_write(TEST_IO_A_PIN, PIN_HIGH);
}
if (0U == bBin[i])
{
rt_pin_write(TEST_IO_B_PIN, PIN_LOW);
}
else
{
rt_pin_write(TEST_IO_B_PIN, PIN_HIGH);
}
rt_thread_mdelay(1UL);
}
rt_device_read(pulse_encoder_dev, 0, &count, 1);
rt_kprintf("%d\r\n", count);
}
}
static int encoder_sample(int argc, char **argv)
{
rt_int32_t count;
if ((argc != 4))
{
_pulse_cmd_print_usage();
return -RT_ERROR;
}
rt_pin_mode(TEST_IO_A_PIN, PIN_MODE_OUTPUT);
rt_pin_mode(TEST_IO_B_PIN, PIN_MODE_OUTPUT);
pulse_encoder_dev = rt_device_find(argv[1]);
if (pulse_encoder_dev == RT_NULL)
{
rt_kprintf("encoder_sample run failed! can't find %s device!\n", argv[1]);
_pulse_cmd_print_usage();
return -RT_ERROR;
}
rt_device_open(pulse_encoder_dev, RT_DEVICE_OFLAG_RDONLY);
rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_ENABLE, RT_NULL);
/* 自测DISABLE和CLEAR功能 */
GenClkUp(100);
rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_DISABLE, RT_NULL);
/* 测试DISABLE后是否还会计数 */
GenClkUp(10);
rt_device_read(pulse_encoder_dev, 0, &count, 1);
rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
if (count != 100)
{
rt_kprintf("**************Self-test failed**************\n");
rt_device_close(pulse_encoder_dev);
_pulse_cmd_print_usage();
return -RT_ERROR;
}
else
{
rt_kprintf("**************Self-test success**************\n");
rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_ENABLE, RT_NULL);
GenClkUp(atoi(argv[2]));
GenClkDown(atoi(argv[3]));
rt_device_read(pulse_encoder_dev, 0, &count, 1);
if (count == (atoi(argv[2]) - atoi(argv[3])))
{
rt_kprintf("encoder_sample test success\n");
}
else
{
rt_kprintf("encoder_sample test failed\n");
}
rt_device_close(pulse_encoder_dev);
}
return RT_EOK;
}
/* 导出到 msh 命令列表中 */
MSH_CMD_EXPORT(encoder_sample, encoder sample devname[option1][option2]);
#endif
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