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"
//机器硬件资源配置
unsigned char  USE_X20_EXTI,X20EXTI_DIR;
unsigned char  FILTER_P;
unsigned char  FILTER_N;
#define ENCODEPERIOD  65536
     
typedef struct
{
    unsigned short encode1_use;
    unsigned short encode2_use;
    float BMGearRatio_ch1;
    float BMGearRatio_ch2;
    long cRealPosi_ch1;
    long cRealPosi_ch2;
} cEncodeAxis_t;

static cEncodeAxis_t cEncodeAxis;

void EncoderInit(void)
{
    if (cEncodeAxis.encode1_use)//编码器1
    {
        RCC->APB2ENR |= 0x10 ;
        GPIO_Set(GPIOA, PIN15, GPIO_MODE_IN_FLOATING, GPIO_SPEED_50M, GPIO_PUPD_NONE);
        GPIO_Set(GPIOB, PIN13, GPIO_MODE_IN_FLOATING, GPIO_SPEED_50M, GPIO_PUPD_NONE); //
        AFIO->MAPR |=3<<8;//用TIME2 完全映射
        RCC->APB1ENR |=1<<0;//开启TIME3定时器时钟

        Sys_NVIC_Init(1, 1, TIM2_IRQn, 1);
        TIM2->CR1 = 0;
        TIM2->CR1 |= (0 << 8) | (0 << 7) | (0 << 5) | (0 << 4) | (0 << 3) | (1 << 2) | (0 << 1); // 禁止自动重载

        TIM2->CR2 = 0;

        TIM2->PSC = 0; //72
        TIM2->ARR = ENCODEPERIOD - 1;

        TIM2->CCER = 0;
        TIM2->CCMR1 = 0;
        TIM2->SMCR = 0;
        TIM2->DIER = 0;

        TIM2->DIER |= 1; // 允许更新中断

        TIM2->CNT = 0;

        TIM2->SMCR |=(3 << 0); // 编码器模弿1
        TIM2->CCMR1 |= (3 << 12) | (0 << 10) | (1 << 8);
        TIM2->CCMR1 |= (3 << 4) | (0 << 2) | (1 << 0); //CH1 CH2 输入配置 ，一分频，滤波设罿
        TIM2->CCER |= (0 << 5) | (0 << 1);             //CH1 CH2 输入捕获  上升沿有敿

        TIM2->CCER |= (1 << 4) | (1 << 0); // 弿启输入捕莿
        TIM2->CR1 |= 1 << 0;
        TIM2->SR = 0;
    }
    if (cEncodeAxis.encode2_use)//编码器2
    {

        RCC->APB2ENR |= 0x10 ;
        GPIO_Set(GPIOC, PIN6, GPIO_MODE_IN_FLOATING, GPIO_SPEED_50M, GPIO_PUPD_NONE);
        GPIO_Set(GPIOC, PIN7, GPIO_MODE_IN_FLOATING, GPIO_SPEED_50M, GPIO_PUPD_NONE); //
        AFIO->MAPR |=3<<10;//用TIME3 完全映射
        RCC->APB1ENR |=1<<1;//开启TIME3定时器时钟

        Sys_NVIC_Init(1, 1, TIM3_IRQn, 1);
        TIM3->CR1 = 0;
        TIM3->CR1 |= (0 << 8) | (0 << 7) | (0 << 5) | (0 << 4) | (0 << 3) | (1 << 2) | (0 << 1); // 禁止自动重载

        TIM3->CR2 = 0;

        TIM3->PSC = 0; //72
        TIM3->ARR = ENCODEPERIOD - 1;

        TIM3->CCER = 0;
        TIM3->CCMR1 = 0;
        TIM3->SMCR = 0;
        TIM3->DIER = 0;

        TIM3->DIER |= 1; // 允许更新中断

        TIM3->CNT = 0;

        TIM3->SMCR |=(3 << 0); // 编码器模弿1
        TIM3->CCMR1 |= (3 << 12) | (0 << 10) | (1 << 8);
        TIM3->CCMR1 |= (3 << 4) | (0 << 2) | (1 << 0); //CH1 CH2 输入配置 ，一分频，滤波设罿
        TIM3->CCER |= (0 << 5) | (0 << 1);             //CH1 CH2 输入捕获  上升沿有敿

        TIM3->CCER |= (1 << 4) | (1 << 0); // 弿启输入捕莿
        TIM3->CR1 |= 1 << 0;
        TIM3->SR = 0;
    }
    if(USE_X20_EXTI)
    {
        RCC->APB1ENR |= RCC_APB1ENR_TIM2EN ;                    // enable clock for Alternate Function
        AFIO->EXTICR[3] &= 0x0FFF;                              // clear used pin
        AFIO->EXTICR[3] |= (0xF000 & 0x0000);                   // set pin to use PA15
        
        EXTI->IMR       |= ((1 << 15) & 0x00008000);            // unmask interrupt
        EXTI->EMR       |= ((1 << 15) & 0x00000000);            // unmask event
        
        switch(X20EXTI_DIR)
        {
        case 0:
            {
                EXTI->RTSR      |= ((1 << 15) & 0x00008000);           // set rising edge
                EXTI->FTSR      |= ((1 << 15) & 0x00000000);           // set falling edge            
            }break;
        case 1:
            {
                EXTI->RTSR      |= ((1 << 15) & 0x00000000);           // set rising edge
                EXTI->FTSR      |= ((1 << 15) & 0x00008000);           // set falling edge            
            }break;
        default:
            {
                EXTI->RTSR      |= ((1 << 15) & 0x00008000);           // set rising edge
                EXTI->FTSR      |= ((1 << 15) & 0x00008000);           // set falling edge               
            }
        }
//        if (0x00008000 & (1 << 15)) {                    // interrupt used
//              NVIC->ISER[1]  = (1 << (0x28 & 0x1F));// enable interrupt EXTI 10..15
//            }
        Sys_NVIC_Init(0, 0, EXTI15_10_IRQn, 1);
    }
}
//外部中断
#if JIN_HONG_MACHINE == 1
void EXTI15_10_IRQHandler(void)
{
    if(EXTI->PR & (1 << 15))
    {
         EXTI->PR |= (1 << 15); 
         if (USE_X20_EXTI)
         {
             //MXC_ExtiAcitionX20();
         }
    }
}
//外部信号，用轴脉冲滤波方式进行定位
void EXIO_AXIS_DW_Filter(unsigned short axis)
{
  switch(axis)
  {
    case X_AXIS:
      MXC_SBCHECK_PROC();//免修的色标定位滤波
      break;
    case Y_AXIS:
      break;
    case Z_AXIS:
      break;
  }
}
#endif

//定时器检测高速输入接口信号
void TIM2_IRQHandler(void)
{
    if (cEncodeAxis.encode1_use)
    {
        if (TIM2->SR & TIM_SR_UIF)
        {            
            if ((TIM2->CR1 & TIM_CR1_DIR))
            {            
                cEncodeAxis.cRealPosi_ch1--;
            }
            else if ((TIM2->CR1 & TIM_CR1_DIR)==0)
            {
                cEncodeAxis.cRealPosi_ch1++;
            }
            TIM2->SR &= ~TIM_SR_UIF;
        }
    }
//    else if(USE_X20_EXTI)
//    {
//        if (TIM2->SR & TIM_SR_UIF)
//        {            
//            MXC_ExtiAcitionX20();
//        }
//        TIM2->SR &= ~TIM_SR_UIF;
//    }
}
//定时器检测高速输入接口信号
void TIM3_IRQHandler(void)
{
    if (TIM3->SR & TIM_SR_UIF)
    {            
        if ((TIM3->CR1 & TIM_CR1_DIR))
        {            
            cEncodeAxis.cRealPosi_ch2--;
        }
        else if ((TIM3->CR1 & TIM_CR1_DIR)==0)
        {
            cEncodeAxis.cRealPosi_ch2++;
        }
        TIM3->SR &= ~TIM_SR_UIF;
    }
}


long GetEncodeNum(int ch)
{
  long encode_num;
  switch(ch)
  {
  case ENCODE_X20X21:
    encode_num = (int)TIM2->CNT;
    encode_num += ENCODEPERIOD * cEncodeAxis.cRealPosi_ch1;
    return encode_num;
    break;
  case ENCODE_X22X23:
    encode_num = (int)TIM3->CNT;
    encode_num += ENCODEPERIOD * cEncodeAxis.cRealPosi_ch2;
    return encode_num;
    break;
  }
  return 0;
}
long GetEncodePos(int ch)
{
    float pulse_buff;
    switch(ch)
    {
    case ENCODE_X20X21:
      if(cEncodeAxis.BMGearRatio_ch1==0)cEncodeAxis.BMGearRatio_ch1=1;
      pulse_buff=(float)GetEncodeNum(ENCODE_X20X21);
      return (long)(pulse_buff/cEncodeAxis.BMGearRatio_ch1);
      break;
    case ENCODE_X22X23:
      if(cEncodeAxis.BMGearRatio_ch2==0)cEncodeAxis.BMGearRatio_ch2=1;
      pulse_buff=(float)GetEncodeNum(ENCODE_X22X23);
      return (long)(pulse_buff/cEncodeAxis.BMGearRatio_ch2);
      break;
    }
    return (0);
}
void SetEncodePos(int ch,long pos)
{
   switch(ch)
  {
  case ENCODE_X20X21:
    cEncodeAxis.cRealPosi_ch1=(long)((pos*cEncodeAxis.BMGearRatio_ch1)/ENCODEPERIOD);
    TIM2->CNT=(int)(pos*cEncodeAxis.BMGearRatio_ch1)%ENCODEPERIOD;
    break;
  case ENCODE_X22X23:
    cEncodeAxis.cRealPosi_ch2=(long)((pos*cEncodeAxis.BMGearRatio_ch2)/ENCODEPERIOD);
    TIM3->CNT=(int)(pos*cEncodeAxis.BMGearRatio_ch2)%ENCODEPERIOD;
    break;
  }
}
//设置编码器的比例
void SetEncodeGearRatio(int ch,float gearRatio)
{
  switch(ch)
  {
  case ENCODE_X20X21:
    if(gearRatio==0)gearRatio=1;
    cEncodeAxis.BMGearRatio_ch1=gearRatio;
    break;
  case ENCODE_X22X23:
    if(gearRatio==0)gearRatio=1;
    cEncodeAxis.BMGearRatio_ch2=gearRatio;
    break;
  } 
}
//编码器应用设置
void SetEncode_enable(int ch)
{
   switch(ch)
  {
  case ENCODE_X20X21:
    cEncodeAxis.encode1_use=1;
    break;
  case ENCODE_X22X23:
    cEncodeAxis.encode2_use=1;
    break;
  }
}