Merge pull request #3100 from balanceTWK/master_encoder_9_20

[bsp][stm32][driver] drv_pulse_encoder.c

bsp/stm32/libraries/HAL_Drivers/config/f1/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_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 */

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 */

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;
+    rt_int32_t over_under_flowcount;
     char *name;
 };
 
@@ -77,12 +81,14 @@ 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 = (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;
@@ -94,7 +100,7 @@ rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
     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;
@@ -103,38 +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)
+{
+    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)
 {
-    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 = (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 = (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);
-        break;
-    case PULSE_ENCODER_CMD_CLEAR_COUNT:
-        __HAL_TIM_SET_COUNTER(tim_handler, 0);
+        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;
@@ -144,10 +172,110 @@ 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
+#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,
 };
 
@@ -162,7 +290,7 @@ 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;