mirror of
https://github.com/RT-Thread/rt-thread.git
synced 2026-08-24 19:28:30 +08:00
Leeto1970
d513da02db
- Add chip macro for driver - Modify 'IDLE_THREAD_STACK_SIZE' to 512 - Modify 'HWTIMER' to 'CLOCK_TIMER' - Use 'clang-format' format driver and BSP code - Fix SPI clock division configuration
231 lines
7.0 KiB
C
231 lines
7.0 KiB
C
/*
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* Copyright (c) 2022-2024, Xiaohua Semiconductor Co., Ltd.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2024-12-30 CDT first version
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* 2026-05-27 CDT Support HC32F4A2
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* 2026-06-09 CDT Support HC32F467
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*/
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/*
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* 程序清单： Pulse encoder 设备使用例程
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*
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* menuconfig:
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* Hardware Drivers Config ---> On-Chip Peripheral Drivers ----> [*] Enable Pulse Encoder ----> [*] Use TIMERA As The Pulse Encoder ---> [*] Use TIMERA_1 As The Pulse Encoder
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* [*] Use TIMER6 As The Pulse Encoder ---> [*] Use TIMER6_1 As The Pulse Encoder
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* 例程导出了 encoder_sample 命令到控制终端, 通过串口可查看当前的count数值
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* 命令调用格式：pulse_encoder_sample devname [option1] [option2]
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* devname: [pulse_a1/pulse_61] 编码器单元名称
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* option1: 正转脉冲数
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* option2: 反转脉冲数
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* eg:encoder_sample pulse_a1 2000 1000
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* 编码器的分辨率是1000
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* 硬件IO查看对应board/board_config.h中相关端口定义，并且需要正确连接到对应模拟脉冲生成的端口
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*/
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#include <rtthread.h>
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#include <rtdevice.h>
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#include <stdlib.h>
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#include "board_config.h"
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#include <board.h>
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#ifdef BSP_USING_PULSE_ENCODER
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#if defined(HC32F4A0) || defined(HC32F4A2) || defined(HC32F4A8) || defined(HC32F467)
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#define TEST_IO_A_PIN GET_PIN(A, 5)
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#define TEST_IO_B_PIN GET_PIN(A, 6)
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#else
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#define TEST_IO_A_PIN GET_PIN(B, 0)
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#define TEST_IO_B_PIN GET_PIN(B, 1)
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#endif
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static rt_device_t pulse_encoder_dev = RT_NULL;
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static void printf_connect(void)
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{
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#if defined(HC32F4A0) || defined(HC32F4A2) || defined(HC32F4A8) || defined(HC32F467)
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#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
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rt_kprintf(" [tmra]*connect PA5-->PA8 PA6-->PA9\n");
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#endif
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#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
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rt_kprintf(" [tmr6]*connect PA5-->PB9 PA6-->PB8\n");
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#endif
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#endif
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#if defined(HC32F460)
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#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
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rt_kprintf(" [tmra]*connect PB0-->PA8 PB1-->PA9\n");
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#endif
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#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
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rt_kprintf(" [tmr6]*connect PB0-->PE9 PB1-->PE8\n");
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#endif
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#endif
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#if defined(HC32F448)
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#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
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rt_kprintf(" [tmra]*connect PB0-->PA8 PB1-->PA9\n");
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#endif
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#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
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rt_kprintf(" [tmr6]*connect PB0-->PB5 PB1-->PB13\n");
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#endif
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#endif
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#if defined(HC32F472)
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#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
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rt_kprintf(" [tmra]*connect PB0-->PA0 PB1-->PA1\n");
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#endif
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#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
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rt_kprintf(" [tmr6]*connect PB0-->PA3 PB1-->PA7\n");
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#endif
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#endif
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#if defined(HC32F334)
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#if defined(BSP_USING_PULSE_ENCODER_TMRA_1)
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rt_kprintf(" [tmra]*connect PB0-->PA0 PB1-->PA1\n");
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#endif
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#if defined(BSP_USING_PULSE_ENCODER_TMR6_1)
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rt_kprintf(" [tmr6]*connect PB0-->PA7 PB1-->PA3\n");
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#endif
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#endif
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}
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static void _pulse_cmd_print_usage(void)
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{
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rt_kprintf("encoder_sample devname [option1] [option2]\n");
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rt_kprintf(" devname: [pulse_a1/pulse_61..] pulse uint\n");
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rt_kprintf(" option1: number of positive pulses\n");
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rt_kprintf(" option2: number of reversal pulses\n");
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rt_kprintf(" e.g. MSH >encoder_sample pulse_a1 2000 1000\n");
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printf_connect();
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}
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static void GenClkUp(const uint16_t cnt)
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{
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uint32_t i, j;
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rt_int32_t count;
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const uint8_t bAin[4U] = { 1U, 1U, 0U, 0U };
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const uint8_t bBin[4U] = { 0U, 1U, 1U, 0U };
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for (j = 0UL; j < cnt; j++)
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{
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for (i = 0UL; i < 4UL; i++)
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{
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if (0U == bAin[i])
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{
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rt_pin_write(TEST_IO_A_PIN, PIN_LOW);
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}
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else
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{
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rt_pin_write(TEST_IO_A_PIN, PIN_HIGH);
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}
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if (0U == bBin[i])
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{
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rt_pin_write(TEST_IO_B_PIN, PIN_LOW);
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}
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else
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{
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rt_pin_write(TEST_IO_B_PIN, PIN_HIGH);
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}
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rt_thread_mdelay(1UL);
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}
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rt_device_read(pulse_encoder_dev, 0, &count, 1);
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rt_kprintf("%d\r\n", count);
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}
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}
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static void GenClkDown(const uint16_t cnt)
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{
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uint32_t i, j;
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rt_int32_t count;
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const uint8_t bAin[4U] = { 0U, 1U, 1U, 0U };
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const uint8_t bBin[4U] = { 1U, 1U, 0U, 0U };
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for (j = 0UL; j < cnt; j++)
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{
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for (i = 0UL; i < 4UL; i++)
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{
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if (0U == bAin[i])
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{
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rt_pin_write(TEST_IO_A_PIN, PIN_LOW);
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}
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else
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{
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rt_pin_write(TEST_IO_A_PIN, PIN_HIGH);
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}
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if (0U == bBin[i])
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{
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rt_pin_write(TEST_IO_B_PIN, PIN_LOW);
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}
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else
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{
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rt_pin_write(TEST_IO_B_PIN, PIN_HIGH);
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}
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rt_thread_mdelay(1UL);
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}
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rt_device_read(pulse_encoder_dev, 0, &count, 1);
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rt_kprintf("%d\r\n", count);
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}
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}
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static int encoder_sample(int argc, char **argv)
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{
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rt_int32_t count;
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if ((argc != 4))
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{
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_pulse_cmd_print_usage();
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return -RT_ERROR;
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}
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rt_pin_mode(TEST_IO_A_PIN, PIN_MODE_OUTPUT);
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rt_pin_mode(TEST_IO_B_PIN, PIN_MODE_OUTPUT);
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pulse_encoder_dev = rt_device_find(argv[1]);
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if (pulse_encoder_dev == RT_NULL)
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{
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rt_kprintf("encoder_sample run failed! can't find %s device!\n", argv[1]);
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_pulse_cmd_print_usage();
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return -RT_ERROR;
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}
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rt_device_open(pulse_encoder_dev, RT_DEVICE_OFLAG_RDONLY);
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rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
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rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_ENABLE, RT_NULL);
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/* 自测DISABLE和CLEAR功能 */
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GenClkUp(100);
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rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_DISABLE, RT_NULL);
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/* 测试DISABLE后是否还会计数 */
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GenClkUp(10);
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rt_device_read(pulse_encoder_dev, 0, &count, 1);
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rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_CLEAR_COUNT, RT_NULL);
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if (count != 100)
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{
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rt_kprintf("**************Self-test failed**************\n");
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rt_device_close(pulse_encoder_dev);
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_pulse_cmd_print_usage();
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return -RT_ERROR;
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}
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else
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{
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rt_kprintf("**************Self-test success**************\n");
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rt_device_control(pulse_encoder_dev, PULSE_ENCODER_CMD_ENABLE, RT_NULL);
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GenClkUp(atoi(argv[2]));
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GenClkDown(atoi(argv[3]));
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rt_device_read(pulse_encoder_dev, 0, &count, 1);
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if (count == (atoi(argv[2]) - atoi(argv[3])))
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{
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rt_kprintf("encoder_sample test success\n");
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}
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else
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{
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rt_kprintf("encoder_sample test failed\n");
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}
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rt_device_close(pulse_encoder_dev);
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}
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return RT_EOK;
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}
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/* 导出到 msh 命令列表中 */
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MSH_CMD_EXPORT(encoder_sample, encoder sample devname[option1][option2]);
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#endif
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