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体验新版 GitCode,发现更多精彩内容 >>
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cd72ef6e
编写于
1月 24, 2022
作者:
L
LeeChunHei
提交者:
GitHub
1月 24, 2022
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电子邮件补丁
差异文件
add pulse encoder porting to imxrt1052 (#4372)
上级
0f6e2bbf
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
170 addition
and
0 deletion
+170
-0
bsp/imxrt/libraries/MIMXRT1050/SConscript
bsp/imxrt/libraries/MIMXRT1050/SConscript
+7
-0
bsp/imxrt/libraries/drivers/SConscript
bsp/imxrt/libraries/drivers/SConscript
+3
-0
bsp/imxrt/libraries/drivers/drv_pulse_encoder.c
bsp/imxrt/libraries/drivers/drv_pulse_encoder.c
+160
-0
未找到文件。
bsp/imxrt/libraries/MIMXRT1050/SConscript
浏览文件 @
cd72ef6e
...
...
@@ -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'
)
...
...
bsp/imxrt/libraries/drivers/SConscript
浏览文件 @
cd72ef6e
...
...
@@ -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
)
...
...
bsp/imxrt/libraries/drivers/drv_pulse_encoder.c
0 → 100644
浏览文件 @
cd72ef6e
/*
* 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
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