[bsp][stm32] add drv_encoder.c

bsp/stm32/libraries/HAL_Drivers/config/f4/encoder_config.h

@@ -0,0 +1,64 @@
+/*
+ * 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
+ */
+
+#ifndef __ENCODER_CONFIG_H__
+#define __ENCODER_CONFIG_H__
+
+#include <rtthread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef BSP_USING_ENCODER1
+#ifndef ENCODER1_CONFIG
+#define ENCODER1_CONFIG                         \
+    {                                           \
+       .tim_handler.Instance     = TIM1,        \
+       .name                    = "encoder1"    \
+    }
+#endif /* ENCODER1_CONFIG */
+#endif /* BSP_USING_ENCODER1 */
+
+#ifdef BSP_USING_ENCODER2
+#ifndef ENCODER2_CONFIG
+#define ENCODER2_CONFIG                         \
+    {                                           \
+       .tim_handler.Instance     = TIM2,        \
+       .name                    = "encoder2"    \
+    }
+#endif /* ENCODER2_CONFIG */
+#endif /* BSP_USING_ENCODER2 */
+
+#ifdef BSP_USING_ENCODER3
+#ifndef ENCODER3_CONFIG
+#define ENCODER3_CONFIG                         \
+    {                                           \
+       .tim_handler.Instance     = TIM3,        \
+       .name                    = "encoder3"    \
+    }
+#endif /* ENCODER3_CONFIG */
+#endif /* BSP_USING_ENCODER3 */
+
+#ifdef BSP_USING_ENCODER4
+#ifndef ENCODER4_CONFIG
+#define ENCODER4_CONFIG                         \
+    {                                           \
+       .tim_handler.Instance     = TIM4,        \
+       .name                    = "encoder4"    \
+    }
+#endif /* ENCODER4_CONFIG */
+#endif /* BSP_USING_ENCODER4 */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ENCODER_CONFIG_H__ */

bsp/stm32/libraries/HAL_Drivers/drv_config.h

@@ -52,6 +52,7 @@ extern "C" {
 #include "f4/tim_config.h"
 #include "f4/sdio_config.h"
 #include "f4/pwm_config.h"
+#include "f4/encoder_config.h"
 #elif  defined(SOC_SERIES_STM32F7)
 #include "f7/dma_config.h"
 #include "f7/uart_config.h"

bsp/stm32/libraries/HAL_Drivers/drv_encoder.c

@@ -0,0 +1,181 @@
+/*
+ * @Description: In User Settings Edit
+ * @Author: your name
+ * @Date: 2019-08-09 15:25:34
+ * @LastEditTime: 2019-08-09 17:29:27
+ * @LastEditors: Please set LastEditors
+ */
+/*
+ * 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
+ */
+
+#include "board.h"
+#include "drv_config.h"
+#ifdef RT_USING_ENCODER
+
+//#define DRV_DEBUG
+#define LOG_TAG             "drv.encoder"
+#include <drv_log.h>
+
+#if !defined(BSP_USING_ENCODER1) && !defined(BSP_USING_ENCODER2) && !defined(BSP_USING_ENCODER3) \
+    && !defined(BSP_USING_ENCODER4) && !defined(BSP_USING_ENCODER5) && !defined(BSP_USING_ENCODER6) && !defined(BSP_USING_LPENCODER1)
+    #error "Please define at least one BSP_USING_ENCODERx"
+    /* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
+#endif
+
+enum
+{
+#ifdef BSP_USING_ENCODER1
+    ENCODER1_INDEX,
+#endif
+#ifdef BSP_USING_ENCODER2
+    ENCODER2_INDEX,
+#endif
+#ifdef BSP_USING_ENCODER3
+    ENCODER3_INDEX,
+#endif
+#ifdef BSP_USING_ENCODER4
+    ENCODER4_INDEX,
+#endif
+#ifdef BSP_USING_ENCODER5
+    ENCODER5_INDEX,
+#endif
+#ifdef BSP_USING_ENCODER6
+    ENCODER6_INDEX,
+#endif
+};
+
+struct stm32_encoder_device
+{
+    struct rt_encoder_device encoder;
+    TIM_HandleTypeDef tim_handler;
+    char *name;
+};
+
+static struct stm32_encoder_device stm32_encoder_obj[] =
+{
+#ifdef BSP_USING_ENCODER1
+    ENCODER1_CONFIG,
+#endif
+#ifdef BSP_USING_ENCODER2
+    ENCODER2_CONFIG,
+#endif
+#ifdef BSP_USING_ENCODER3
+    ENCODER3_CONFIG,
+#endif
+#ifdef BSP_USING_ENCODER4
+    ENCODER4_CONFIG,
+#endif
+#ifdef BSP_USING_ENCODER5
+    ENCODER5_CONFIG,
+#endif
+#ifdef BSP_USING_ENCODER6
+    ENCODER6_CONFIG,
+#endif
+};
+
+rt_err_t encoder_init(struct rt_encoder_device *encoder)
+{
+    TIM_Encoder_InitTypeDef sConfig;
+    TIM_MasterConfigTypeDef sMasterConfig;
+    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
+
+    tim_handler->Init.Prescaler = 0;
+    tim_handler->Init.CounterMode = TIM_COUNTERMODE_UP;
+    tim_handler->Init.Period = 0xffff;
+    tim_handler->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+
+    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(tim_handler, &sConfig) != HAL_OK)
+    {
+        return -RT_ERROR;
+    }
+
+    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+
+    if (HAL_TIMEx_MasterConfigSynchronization(tim_handler, &sMasterConfig))
+    {
+        return -RT_ERROR;
+    }
+
+    return RT_EOK;
+}
+
+rt_int32_t encoder_get_count(struct rt_encoder_device *encoder)
+{
+    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
+    return (rt_int16_t)__HAL_TIM_GET_COUNTER(tim_handler);
+}
+
+rt_err_t encoder_control(struct rt_encoder_device *encoder, rt_uint32_t cmd, void *args)
+{
+    rt_err_t result;
+    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
+
+    result = RT_EOK;
+
+    switch (cmd)
+    {
+    case ENCODER_CMD_ENABLE:
+        HAL_TIM_Encoder_Start(tim_handler, TIM_CHANNEL_ALL);
+        break;
+    case ENCODER_CMD_DISABLE:
+        HAL_TIM_Encoder_Stop(tim_handler, TIM_CHANNEL_ALL);
+        break;
+    case ENCODER_CMD_CLEAR_COUNT:
+        __HAL_TIM_SET_COUNTER(tim_handler, 0);
+        break;
+    default:
+        result = -RT_ENOSYS;
+        break;
+    }
+
+    return result;
+}
+
+static const struct rt_encoder_ops _ops =
+{
+    .init = encoder_init,
+    .get_count = encoder_get_count,
+    .control = encoder_control,
+};
+
+int hw_encoder_init(void)
+{
+    int i;
+    int result;
+
+    result = RT_EOK;
+    for (i = 0; i < sizeof(stm32_encoder_obj) / sizeof(stm32_encoder_obj[0]); i++)
+    {
+        stm32_encoder_obj[i].encoder.type = AB_PHASE_ENCODER;
+        stm32_encoder_obj[i].encoder.ops = &_ops;
+
+        if (rt_device_encoder_register(&stm32_encoder_obj[i].encoder, stm32_encoder_obj[i].name, &stm32_encoder_obj[i].tim_handler) != RT_EOK)
+        {
+            LOG_E("%s register failed", stm32_encoder_obj[i].name);
+            result = -RT_ERROR;
+        }
+    }
+
+    return result;
+}
+INIT_BOARD_EXPORT(hw_encoder_init);
+
+#endif

bsp/stm32/libraries/STM32F4xx_HAL/SConscript

@@ -46,7 +46,7 @@ if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
 if GetDepend(['RT_USING_CAN']):
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c']
 
-if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']):
+if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']) or GetDepend(['RT_USING_ENCODER']):
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c']
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c']
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_lptim.c']