GC19038/HARDWARE/Encode.c

/*
 * @Author: mikey.zhaopeng
 * @Date: 2018-12-20 19:51:02
 * @Last Modified by:   mikey.zhaopeng
 * @Last Modified time: 2018-12-20 19:51:02
 */
#include "global.h"
#include "Encode.h"

#define ENCODEPERIOD  65536

//高速输入接口X30X31
#define HIGH_SPEED_PORT      D
#define HIGH_SPEED_PIN1      13
#define HIGH_SPEED_PIN2      12


static unsigned char TimerX30,TimerX31,OldTimerX30,OldTimerX31,EXTimerFilter[2];
float BMGearRatio = 1,BM_SEVORGearRatio=1;

//机器硬件资源配置
unsigned char  USE_ENCODE;
unsigned char  USE_X30_EXTI;
unsigned char  USE_X31_EXTI;
unsigned char  USE_X20_EXTI;
unsigned char  USE_TIMER_X30_EXTI;
unsigned char  USE_TIMER_X31_EXTI;
unsigned char  USE_EXTEND_INOUTPUT;
unsigned char  USE_EXTEND_ALARM;
unsigned long  EXTI_TIMER_FREQ;
unsigned char  FILTER_P;
unsigned char  FILTER_N;
//0配置高速接口上升沿中断，1为下降沿，3为上下沿中断
unsigned char  X30EXTI_DIR;
unsigned char  X31EXTI_DIR;
unsigned char  X20EXTI_DIR;

long  axis_position_encode=0;//编码器方式计数 

/*

void hw_power_off_init(void) {
	RCC->AHBENR |= 1 << (((uint32_t)(POWER_OFF_PORT)-GPIOA_BASE) / 0x400);
	GPIO_Set(POWER_OFF_PORT, 1 << POWER_OFF_PIN,
			 GPIO_MODE_IPU,
			 GPIO_SPEED_2M,
			 GPIO_PUPD_NONE); //PB0,PB1设置
}


int hw_power_is_off(void) {
	return POWER_IS_OFF();
}


int hw_power_is_on(void) {
	return POWER_IS_ON();
}



*/


cEncodeAxis_t cEncodeAxis;

void EncoderInit(void)
{
    if (USE_ENCODE)
    {
        RCC->APB2ENR |= 0x20 ;
        GPIO_Set(GPIOD, PIN12, GPIO_MODE_IN_FLOATING, GPIO_SPEED_50M, GPIO_PUPD_NONE);
        GPIO_Set(GPIOD, PIN13, GPIO_MODE_IN_FLOATING, GPIO_SPEED_50M, GPIO_PUPD_NONE); //
        AFIO->MAPR |=1<<12;
        RCC->APB1ENR |= 0x04; 
        //GPIO_AF_Set(GPIOD, 12, 2);
       // GPIO_AF_Set(GPIOD, 13, 2);

        Sys_NVIC_Init(1, 1, TIM4_IRQn, 1);

        TIM4->CR1 = 0;
        TIM4->CR1 |= (0 << 8) | (0 << 7) | (0 << 5) | (0 << 4) | (0 << 3) | (1 << 2) | (0 << 1); // 禁止自动重载

        TIM4->CR2 = 0;

        TIM4->PSC = 0; //72
        TIM4->ARR = ENCODEPERIOD - 1;

        TIM4->CCER = 0;
        TIM4->CCMR1 = 0;
        TIM4->SMCR = 0;
        TIM4->DIER = 0;

        TIM4->DIER |= 1; // 允许更新中断

        TIM4->CNT = 0;

        TIM4->SMCR |=(3 << 0); // 编码器模弿1
        TIM4->CCMR1 |= (3 << 12) | (0 << 10) | (1 << 8);
        TIM4->CCMR1 |= (3 << 4) | (0 << 2) | (1 << 0); //CH1 CH2 输入配置 ，一分频，滤波设罿
        TIM4->CCER |= (0 << 5) | (0 << 1);             //CH1 CH2 输入捕获  上升沿有敿

        TIM4->CCER |= (1 << 4) | (1 << 0); // 弿启输入捕莿
        TIM4->CR1 |= 1 << 0;
        TIM4->SR = 0;   
    }
    else 
    {
        if (USE_X30_EXTI)
        {
      
            RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;                     // enable clock for Alternate Function
            AFIO->EXTICR[3] &= 0xFF0F;                              // clear used pin
            AFIO->EXTICR[3] |= (0x00F0 & 0x0030);                   // set pin to use PD13

            //EXTI->IMR       |= ((1 << 13) & 0x00002000);            // unmask interrupt
            EXTI->EMR       |= ((1 << 13) & 0x00000000);            // unmask event
            
            switch(X30EXTI_DIR)
            {
                case 0:
                {
                    EXTI->RTSR      |= ((1 << 13) & 0x00002000);           // set rising edge
                    EXTI->FTSR      |= ((1 << 13) & 0x00000000);           // set falling edge            
                }break;
                case 1:
                {
                    EXTI->RTSR      |= ((1 << 13) & 0x00000000);           // set rising edge
                    EXTI->FTSR      |= ((1 << 13) & 0x00002000);           // set falling edge            
                }break;
               default:
               {
                    EXTI->RTSR      |= ((1 << 13) & 0x00002000);           // set rising edge
                    EXTI->FTSR      |= ((1 << 13) & 0x00002000);           // set falling edge               
               }
            }
            if (0x00002000 & (1 << 13)) {                    // interrupt used
              NVIC->ISER[1]  = (1 << (0x28 & 0x1F));// enable interrupt EXTI 10..15
            }
            Sys_NVIC_Init(0, 0, EXTI15_10_IRQn, 1);
        }
      
        if (USE_X31_EXTI)
        {
            RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;                     // enable clock for Alternate Function
            AFIO->EXTICR[3] &= 0xFFF0;                              // clear used pin
            AFIO->EXTICR[3] |= (0x000F & 0x00000003);               // set pin to usePD12

            EXTI->IMR       |= ((1 << 12) & 0x00001000);            // unmask interrupt
            EXTI->EMR       |= ((1 << 12) & 0x00000000);            // unmask event
            
            switch(X31EXTI_DIR)
            {
                case 0:
                {
                    EXTI->RTSR      |= ((1 << 12) & 0x00001000);           // set rising edge
                    EXTI->FTSR      |= ((1 << 12) & 0x00001000);           // set falling edge            
                }break;
                case 1:
                {
                    EXTI->RTSR      |= ((1 << 12) & 0x00001000);           // set rising edge
                    EXTI->FTSR      |= ((1 << 12) & 0x00001000);           // set falling edge            
                }break;
               default:
               {
                    EXTI->RTSR      |= ((1 << 12) & 0x00001000);           // set rising edge
                    EXTI->FTSR      |= ((1 << 12) & 0x00001000);           // set falling edge               
               }
            }
            
            if (0x00001000 & (1 << 12)) {                    // interrupt used
              NVIC->ISER[1]  = (1 << (0x28 & 0x1F));// enable interrupt EXTI 10..15
            }
            Sys_NVIC_Init(0, 0, EXTI15_10_IRQn, 1);
        }
            
        if (USE_TIMER_X30_EXTI || USE_TIMER_X31_EXTI)
        { 
            RCC->APB1ENR |= 0x04; 
            Sys_NVIC_Init(1, 1, TIM4_IRQn, 1);

            TIM4->CR1 = 0;
            TIM4->CR1 |= (0 << 8) | (1 << 7) | (0 << 5) | (1 << 4) | (0 << 3) | (1 << 2) | (0 << 1); // 禁止自动重载

            TIM4->CR2 = 0;

            TIM4->PSC = 0; 
            TIM4->ARR = 72000000 / EXTI_TIMER_FREQ + 1;

            TIM4->CCER = 0;
            TIM4->CCMR1 = 0;
            TIM4->DIER = 0;

            TIM4->DIER |= 1; // 允许更新中断

            TIM4->CNT = 72000000 / EXTI_TIMER_FREQ + 1;;
            
            TIM4->CR1 |= 1 << 0;
            TIM4->SR = 0;        
        } 
    }
    
    if (USE_X20_EXTI)
    {
      RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;                     // enable clock for Alternate Function
      AFIO->EXTICR[0] &= 0xFFF0;                              // clear used pin
      AFIO->EXTICR[0] |= (0x000F & 0x0003);                   // set pin to use PD0

      EXTI->IMR       |= ((1 << 0) & 0x00000001);            // unmask interrupt
      EXTI->EMR       |= ((1 << 0) & 0x00000000);            // unmask event
      
      switch(X20EXTI_DIR)
      {
          case 0:
          {
              EXTI->RTSR      |= ((1 << 0) & 0x00000001);           // set rising edge
              EXTI->FTSR      |= ((1 << 0) & 0x00000001);           // set falling edge            
          }break;
          case 1:
          {
              EXTI->RTSR      |= ((1 << 0) & 0x00000001);           // set rising edge
              EXTI->FTSR      |= ((1 << 0) & 0x00000001);           // set falling edge            
          }break;
         default:
         {
              EXTI->RTSR      |= ((1 << 0) & 0x00000001);           // set rising edge
              EXTI->FTSR      |= ((1 << 0) & 0x00000001);           // set falling edge               
         }
      }
      Sys_NVIC_Init(1, 1, EXTI0_IRQn, 1);
    }
}
//定时器检测高速输入接口信号
void TIM4_IRQHandler(void)
{
    if (USE_ENCODE)
    {
        if (TIM4->SR & TIM_SR_UIF)
        {
            if ((TIM4->CR1 & TIM_CR1_DIR))
            {
                cEncodeAxis.cRealPosi--;
            }
            else if ((TIM4->CR1 & TIM_CR1_DIR) == 0)
            {
                cEncodeAxis.cRealPosi++;
            }
            TIM4->SR &= ~TIM_SR_UIF;
        }
    }
    else
    {
        if (TIM4->SR & TIM_SR_UIF)
        {
             if (USE_TIMER_X30_EXTI)
             {
                 OldTimerX30 = TimerX30;
                 if(hw_io_pin_input(14))
                 {
                     if(EXTimerFilter[0] < FILTER_P)
                     {
                         EXTimerFilter[0]++;
                     }
                     else
                         TimerX30 = 1;
                 }
                 else if(EXTimerFilter[0] > FILTER_N)
                 {
                     EXTimerFilter[0]--;
                 }
                 else
                     TimerX30 = 0;
                 
                 switch(X30EXTI_DIR)
                 {
                     case 0:if(TimerX30 && !OldTimerX30)ExtiAcitionX30();break;
                     case 1:if(!TimerX30 && OldTimerX30)ExtiAcitionX30();break;
                     default:if((TimerX30 && !OldTimerX30) || (!TimerX30 && OldTimerX30))ExtiAcitionX30();
                 }
             }
             if (USE_TIMER_X31_EXTI)
             {
                 OldTimerX31 = TimerX31;
                 
                 if(hw_io_pin_input(15))
                 {
                     if(EXTimerFilter[1] < FILTER_P)
                     {
                         EXTimerFilter[1]++;
                     }
                     else
                         TimerX31 = 1;
                 }
                 else if(EXTimerFilter[1] > FILTER_N)
                 {
                     EXTimerFilter[1]--;
                 }
                 else
                     TimerX31 = 0;
                
                 switch(X31EXTI_DIR)
                 {
                     case 0:if(TimerX31 && !OldTimerX31)ExtiAcitionX31();break;
                     case 1:if(!TimerX31 && OldTimerX31)ExtiAcitionX31();break;
                     default:if((TimerX31 && !OldTimerX31) || (!TimerX31 && TimerX31))ExtiAcitionX31();
                 } 
             }
           
            TIM4->SR &= ~TIM_SR_UIF;
        }  
    }
}

long GetEncodePos(void)
{
    float pulse_buff;
    pulse_buff = (int)TIM4->CNT;
    pulse_buff += ENCODEPERIOD * cEncodeAxis.cRealPosi;
    //return pulse_buff;
    return (long)(pulse_buff/BMGearRatio);
}

void SetEncodePos(long pos)
{
    //cEncodeAxis.cRealPosi = pos*BMGearRatio;
    cEncodeAxis.cRealPosi=(long)((pos*BMGearRatio)/ENCODEPERIOD);
    TIM4->CNT=(int)(pos*BMGearRatio)%ENCODEPERIOD;
}

void EXTI15_10_IRQHandler(void)
{
    if(EXTI->PR & (1 << 12))
    {
         EXTI->PR |= (1 << 12); 
         
         if (USE_X31_EXTI)
             ExtiAcitionX31();
    }
    
    if(EXTI->PR & (1 << 13))
    {
         EXTI->PR |= (1 << 13); 
         if (USE_X30_EXTI)
             ExtiAcitionX30();
    }
}

void EXTI0_IRQHandler(void)
{
    if(EXTI->PR & (1 << 0))
    {
         EXTI->PR |= (1 << 0); 
         if (USE_X20_EXTI)
             ExtiAcitionX20();
    }
}

void EXTI30Enable(void)
{
    EXTI->IMR       |= ((1 << 13) & 0x00002000);            // unmask interrupt
}

void EXTI30Disable(void)
{
    EXTI->IMR       &= ~((1 << 13) & 0x00002000);            // unmask interrupt
}

void EXTI20Enable(void)
{
    //EXTI->IMR       |= ((1 << 13) & 0x00002000);            // unmask interrupt
    EXTI->IMR       |= ((1 << 0) & 0x00000001);            // unmask interrupt
}

void EXTI20Disable(void)
{
    //EXTI->IMR       &= ~((1 << 13) & 0x00002000);            // unmask interrupt
    EXTI->IMR       &= ~((1 << 0) & 0x00000001);            // unmask interrupt
}