From f1fe6479b1dcfe18d048fd3e57c543646d55e431 Mon Sep 17 00:00:00 2001 From: tangweikang Date: Tue, 24 Sep 2019 11:54:05 +0800 Subject: [PATCH] [bsp][stm32][driver][drv_pulse_encoder.c] remove pulse_encoder->parent.user_data --- .../config/f4/pulse_encoder_config.h | 36 +++-- .../libraries/HAL_Drivers/drv_pulse_encoder.c | 151 ++++++++++++++++-- 2 files changed, 154 insertions(+), 33 deletions(-) diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f4/pulse_encoder_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f4/pulse_encoder_config.h index 4621240c98..53320efda1 100644 --- a/bsp/stm32/libraries/HAL_Drivers/config/f4/pulse_encoder_config.h +++ b/bsp/stm32/libraries/HAL_Drivers/config/f4/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_TIM10_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 ac49133aea..ff8b10b750 100644 --- a/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c +++ b/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c @@ -22,6 +22,8 @@ /* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */ #endif +#define AUTO_RELOAD_VALUE 0x7FFF + enum { #ifdef BSP_USING_PULSE_ENCODER1 @@ -48,6 +50,8 @@ 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; char *name; }; @@ -77,24 +81,26 @@ rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder) { TIM_Encoder_InitTypeDef sConfig; TIM_MasterConfigTypeDef sMasterConfig; - TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data; + struct stm32_pulse_encoder_device *stm32_device; + stm32_device = rt_container_of(pulse_encoder, struct stm32_pulse_encoder_device, pulse_encoder); - tim_handler->Init.Prescaler = 0; - tim_handler->Init.CounterMode = TIM_COUNTERMODE_UP; - tim_handler->Init.Period = 0xffff; - tim_handler->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + 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_DIV4; + sConfig.IC1Prescaler = TIM_ICPSC_DIV1; sConfig.IC1Filter = 3; sConfig.IC2Polarity = TIM_ICPOLARITY_RISING; sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI; - sConfig.IC2Prescaler = TIM_ICPSC_DIV4; + sConfig.IC2Prescaler = TIM_ICPSC_DIV1; sConfig.IC2Filter = 3; - if (HAL_TIM_Encoder_Init(tim_handler, &sConfig) != HAL_OK) + if (HAL_TIM_Encoder_Init(&stm32_device->tim_handler, &sConfig) != HAL_OK) { LOG_E("pulse_encoder init failed"); return -RT_ERROR; @@ -103,42 +109,60 @@ rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder) sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(tim_handler, &sMasterConfig)) + 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) { - TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data; - __HAL_TIM_SET_COUNTER(tim_handler, 0); + struct stm32_pulse_encoder_device *stm32_device; + stm32_device = rt_container_of(pulse_encoder, 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) { - TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data; - return (rt_int16_t)__HAL_TIM_GET_COUNTER(tim_handler); + 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); } rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args) { rt_err_t result; - TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data; + struct stm32_pulse_encoder_device *stm32_device; + stm32_device = rt_container_of(pulse_encoder, struct stm32_pulse_encoder_device, pulse_encoder); result = RT_EOK; switch (cmd) { case PULSE_ENCODER_CMD_ENABLE: - HAL_TIM_Encoder_Start(tim_handler, TIM_CHANNEL_ALL); + 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_Encoder_Stop(tim_handler, TIM_CHANNEL_ALL); + 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; @@ -148,6 +172,99 @@ rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt 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 +void TIM1_UP_TIM10_IRQHandler(void) +{ + /* 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, @@ -167,7 +284,7 @@ int hw_pulse_encoder_init(void) 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, &stm32_pulse_encoder_obj[i].tim_handler) != RT_EOK) + 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; -- GitLab