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/*
* Copyright (c) 2006-2023, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-08-23 balanceTWK first version
*/
#include "board.h"
#include "drv_config.h"
#ifdef RT_USING_PULSE_ENCODER
//#define DRV_DEBUG
#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) && !defined(BSP_USING_PULSE_ENCODER5) && !defined(BSP_USING_PULSE_ENCODER6)
#error "Please define at least one BSP_USING_PULSE_ENCODERx"
/* this driver can be disabled at menuconfig -> RT-Thread Components -> Device Drivers */
#endif
#define AUTO_RELOAD_VALUE 0x7FFF
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
#ifdef BSP_USING_PULSE_ENCODER5
PULSE_ENCODER5_INDEX,
#endif
#ifdef BSP_USING_PULSE_ENCODER6
PULSE_ENCODER6_INDEX,
#endif
};
struct stm32_pulse_encoder_device
{
struct rt_pulse_encoder_device pulse_encoder;
TIM_HandleTypeDef tim_handler;
IRQn_Type encoder_irqn;
rt_int32_t over_under_flowcount;
char *name;
};
static struct stm32_pulse_encoder_device stm32_pulse_encoder_obj[] =
{
#ifdef BSP_USING_PULSE_ENCODER1
PULSE_ENCODER1_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER2
PULSE_ENCODER2_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER3
PULSE_ENCODER3_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER4
PULSE_ENCODER4_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER5
PULSE_ENCODER5_CONFIG,
#endif
#ifdef BSP_USING_PULSE_ENCODER6
PULSE_ENCODER6_CONFIG,
#endif
};
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 = (struct stm32_pulse_encoder_device*)pulse_encoder;
stm32_device->tim_handler.Init.Prescaler = 0;
stm32_device->tim_handler.Init.CounterMode = TIM_COUNTERMODE_UP;
stm32_device->tim_handler.Init.Period = AUTO_RELOAD_VALUE;
stm32_device->tim_handler.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
stm32_device->tim_handler.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 3;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
if (HAL_TIM_Encoder_Init(&stm32_device->tim_handler, &sConfig) != HAL_OK)
{
LOG_E("pulse_encoder init failed");
return -RT_ERROR;
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&stm32_device->tim_handler, &sMasterConfig))
{
LOG_E("TIMx master config failed");
return -RT_ERROR;
}
else
{
HAL_NVIC_SetPriority(stm32_device->encoder_irqn, 3, 0);
/* enable the TIMx global Interrupt */
HAL_NVIC_EnableIRQ(stm32_device->encoder_irqn);
/* clear update flag */
__HAL_TIM_CLEAR_FLAG(&stm32_device->tim_handler, TIM_FLAG_UPDATE);
/* enable update request source */
__HAL_TIM_URS_ENABLE(&stm32_device->tim_handler);
}
return RT_EOK;
}
rt_err_t pulse_encoder_clear_count(struct rt_pulse_encoder_device *pulse_encoder)
{
struct stm32_pulse_encoder_device *stm32_device;
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;
}
rt_int32_t pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder)
{
struct stm32_pulse_encoder_device *stm32_device;
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 = (struct stm32_pulse_encoder_device*)pulse_encoder;
result = RT_EOK;
switch (cmd)
{
case PULSE_ENCODER_CMD_ENABLE:
__HAL_TIM_ENABLE_IT(&stm32_device->tim_handler, TIM_IT_UPDATE);
HAL_TIM_Encoder_Start(&stm32_device->tim_handler, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start_IT(&stm32_device->tim_handler, TIM_CHANNEL_ALL);
break;
case PULSE_ENCODER_CMD_DISABLE:
__HAL_TIM_DISABLE_IT(&stm32_device->tim_handler, TIM_IT_UPDATE);
HAL_TIM_Encoder_Stop(&stm32_device->tim_handler, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Stop_IT(&stm32_device->tim_handler, TIM_CHANNEL_ALL);
break;
default:
result = -RT_ENOSYS;
break;
}
return result;
}
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)
{
__HAL_TIM_CLEAR_IT(&device->tim_handler, TIM_IT_UPDATE);
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&device->tim_handler))
{
device->over_under_flowcount--;
}
else
{
device->over_under_flowcount++;
}
}
/* 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);
}
}
#ifdef BSP_USING_PULSE_ENCODER1
#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();
pulse_encoder_update_isr(&stm32_pulse_encoder_obj[PULSE_ENCODER1_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER2
void TIM2_IRQHandler(void)
{
/* enter interrupt */
rt_interrupt_enter();
pulse_encoder_update_isr(&stm32_pulse_encoder_obj[PULSE_ENCODER2_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER3
void TIM3_IRQHandler(void)
{
/* enter interrupt */
rt_interrupt_enter();
pulse_encoder_update_isr(&stm32_pulse_encoder_obj[PULSE_ENCODER3_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_PULSE_ENCODER4
void TIM4_IRQHandler(void)
{
/* enter interrupt */
rt_interrupt_enter();
pulse_encoder_update_isr(&stm32_pulse_encoder_obj[PULSE_ENCODER4_INDEX]);
/* leave interrupt */
rt_interrupt_leave();
}
#endif
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 hw_pulse_encoder_init(void)
{
int i;
int result;
result = RT_EOK;
for (i = 0; i < sizeof(stm32_pulse_encoder_obj) / sizeof(stm32_pulse_encoder_obj[0]); i++)
{
stm32_pulse_encoder_obj[i].pulse_encoder.type = AB_PHASE_PULSE_ENCODER;
stm32_pulse_encoder_obj[i].pulse_encoder.ops = &_ops;
if (rt_device_pulse_encoder_register(&stm32_pulse_encoder_obj[i].pulse_encoder, stm32_pulse_encoder_obj[i].name, RT_NULL) != RT_EOK)
{
LOG_E("%s register failed", stm32_pulse_encoder_obj[i].name);
result = -RT_ERROR;
}
}
return result;
}
INIT_BOARD_EXPORT(hw_pulse_encoder_init);
#endif
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