GC23005/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  4

#define USE_X02_EXTI 1
#define X02EXTI_DIR 0 //1->上升沿，0->下降沿 (对应外部输入)
extern void ExtiAcitionX02(void);

//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;
/*

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();
}



*/
typedef struct
{
    long cRealPosi;
} cEncodeAxis_t;

static cEncodeAxis_t cEncodeAxis;

void EncoderInit(void)
{
/* 
    if USE_ENCODE
    {
#if 0 
        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;
#endif
    }
    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
            }

        #endif

        #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) & 0x00000000);           // set falling edge
                }break;
                case 1:
                {
                    EXTI->RTSR      |= ((1 << 12) & 0x00000000);           // 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
            }

        #endif

        #if (USE_TIMER_X30_EXTI | USE_TIMER_X31_EXTI)
#if 0
            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;
#endif            
        #endif
    }
*/
    #if USE_X02_EXTI //PG2

    RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;                     // enable clock for Alternate Function
    AFIO->EXTICR[0] &= 0xF0FF;                              // clear used pin
    AFIO->EXTICR[0] |= (0x0F00 & 0x0600);                   // set pin to use PD0

    EXTI->IMR       |= ((1 << 2) & 0x00000004);            // unmask interrupt
    EXTI->EMR       &= ~((1 << 2) & 0x00000004);            // unmask event

    switch(X02EXTI_DIR)
    {
        case 0:
        {
            EXTI->RTSR      |= ((1 << 2) & 0x00000004);           // set rising edge
            EXTI->FTSR      &= ~((1 << 2) & 0x00000004);           // set falling edge
        }break;
        case 1:
        {
            EXTI->RTSR      &= ~((1 << 2) & 0x00000004);           // set rising edge
            EXTI->FTSR      |= ((1 << 2) & 0x00000004);           // set falling edge
        }break;
       default:
       {
            EXTI->RTSR      |= ((1 << 2) & 0x00000004);           // set rising edge
            EXTI->FTSR      &= ~((1 << 2) & 0x00000004);           // set falling edge
       }
    }
    Sys_NVIC_Init(1, 1, EXTI2_IRQn, 1);
    #endif    
}





//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(X_USE_OLD_DRIVE)
            {
                if ((TIM4->CR1 & TIM_CR1_DIR))
                {
                    if(JIN_SHU_DIN_CUN_CONFIG | MXC_NILONG_CONFIG);
                    else
                        cEncodeAxis.cRealPosi--;
                }
                else if ((TIM4->CR1 & TIM_CR1_DIR)==0)
                {
                    cEncodeAxis.cRealPosi++;
                }
            }
            else
            {
    //           pwm_handle_maps[HW_PWM_1](pwm_hanlde_parames[HW_PWM_1]);
            }
            TIM4->SR &= ~TIM_SR_UIF;

        }
    }
    else
    {
        if (TIM4->SR & TIM_SR_UIF)
        {
             #if USE_TIMER_X30_EXTI
                 OldTimerX30 = TimerX30;
                 if(hw_io_pin_input(12))
                 {
                     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();
                 }
             #endif
             #if USE_TIMER_X31_EXTI
                 OldTimerX31 = TimerX31;

                 if(hw_io_pin_input(13))
                 {
                     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();
                 }
              #endif

            TIM4->SR &= ~TIM_SR_UIF;
        }
    }
}*/
/*
long GetEncodePos(void)
{
    float pulse_buff;
    pulse_buff = cEncodeAxis.cRealPosi;
    return (long)(pulse_buff/BMGearRatio);
}

void SetEncodePos(long pos)
{
    cEncodeAxis.cRealPosi = pos*BMGearRatio;
}

void EXTI15_10_IRQHandler(void)
{
    if(EXTI->PR & (1 << 12))
    {
         EXTI->PR |= (1 << 12);

         #if USE_X31_EXTI
             ExtiAcitionX31();
         #endif
    }

    if(EXTI->PR & (1 << 13))
    {
         EXTI->PR |= (1 << 13);
         #if USE_X30_EXTI
             ExtiAcitionX30();
         #endif
    }
}

void EXTI0_IRQHandler(void)
{
    if(EXTI->PR & (1 << 0))
    {
         EXTI->PR |= (1 << 0);
         #if USE_X20_EXTI
             ExtiAcitionX20();
         #endif
    }
}
*/
void EXTI2_IRQHandler(void)
{
    if(EXTI->PR & (1 << 2))
    {
         EXTI->PR |= (1 << 2);
         #if USE_X02_EXTI
             ExtiAcitionX02();
    //         YXExtiAcitionX02();
         #endif
    }
}