GC24001/Hardware/hw_encoder.c

#include "board.h"

typedef struct
{
    TIM_TypeDef *base; //对象实体
    uint16_t irqn;       //中断源
	uint16_t period;   //一圈的总脉冲数
} hw_tim_encoder_t;

typedef struct
{
    GPIO_TypeDef *aport; //端口
    unsigned short apin;  //引脚
    GPIO_TypeDef *bport; //方向功能端口
    unsigned short bpin;  //方向功能引脚
	unsigned short af;   //复用功能位置
} hw_encode_pin_t;

static hw_encode_pin_t pin_maps[HW_ENCODER_NUMBER] = {
    { GPIOA, 0, GPIOA,  1, 2 }
};

static hw_tim_encoder_t encoders[HW_ENCODER_NUMBER] = {
	TIM5, TIM5_IRQn,10000
};

#define HW_TIM5_TO_ENCODER	0

static int encoder_cycles[HW_ENCODER_NUMBER] = {
	0
};

void TIM5_IRQHandler(void) {

	int count = TIM5->CNT;
	if (TIM5->SR & (1 << 0)) {
		//if (count + 1 == encoders[HW_TIM5_TO_ENCODER].period) { //正转加一圈
			if (TIM5->CR1 & (1 << 4)) {
				encoder_cycles[HW_TIM5_TO_ENCODER]--;
			}
		//}
		//else if (count == 0) {	//反转减一圈
			else if ((TIM5->CR1 & (1 << 4)) == 0) {
				encoder_cycles[HW_TIM5_TO_ENCODER]++;
			}
		//}

        TIM5->SR &= ~(1 << 0);
    }
}

/**
 * 读取编码器当前值
 * 
 * @author LXZ (042020)
 * 
 * @param index 
 * 
 * @return int 
 */
int hw_encoder_get(int index)
{
    int cycle = 0;
    int value = 0;
    do
    {
        cycle = encoder_cycles[index];
        value = encoders[index].base->CNT;
    } while(cycle != encoder_cycles[index]);
	return cycle * encoders[index].period + value;
}

/**
 * 设置编码器当前值
 * 
 * @author LXZ (042020)
 * 
 * @param index 
 * @param count 
 */
void hw_encoder_set(int index, int count)
{
	encoder_cycles[index] = count / encoders[index].period;
	encoders->base->CNT = count % encoders[index].period;
}



/**
 * 编码器接口初始化
 * 
 * @author LXZ (010420)
 * 
 * @param void 
 */
void hw_encoder_init(void) {
	 int index = 0;
    while (index < HW_ENCODER_NUMBER) {
        hw_encode_pin_t *ecoder_pin = &pin_maps[index];
		uint32_t port = (uint32_t)ecoder_pin->aport;
		uint16_t pin = ecoder_pin->apin;
		uint16_t af = ecoder_pin->af;

        if (port >= GPIOA_BASE &&
            port <= GPIOJ_BASE) {
            RCC->AHB1ENR |= 1 << ((port - GPIOA_BASE) / 0x400);
            GPIO_Set((GPIO_TypeDef *)port, 1 << pin,
                     GPIO_MODE_AF,
                     GPIO_OTYPE_PP,
                     GPIO_SPEED_100M,
                     GPIO_PUPD_PU);
            GPIO_AF_Set((GPIO_TypeDef *)port, pin, af);

        }

		port = (uint32_t)ecoder_pin->bport;
		pin = ecoder_pin->bpin;

        if (port >= GPIOA_BASE &&
            port <= GPIOJ_BASE) {
           RCC->AHB1ENR |= 1 << ((port - GPIOA_BASE) / 0x400);
            GPIO_Set((GPIO_TypeDef *)port, 1 << pin,
                     GPIO_MODE_AF,
                     GPIO_OTYPE_PP,
                     GPIO_SPEED_100M,
                     GPIO_PUPD_PU);
            GPIO_AF_Set((GPIO_TypeDef *)port, pin, af);
        }

        
        index++;
    }
   index = 0;
    while (index < HW_ENCODER_NUMBER) {
        hw_tim_encoder_t *coder = &encoders[index];
        uint32_t tim_base = (uint32_t)coder->base;
        TIM_TypeDef *timx = coder->base;

        if (tim_base >= TIM2_BASE && tim_base <= TIM14_BASE) {
            uint32_t en_mask = 1 << ((tim_base - TIM2_BASE) / 0x400);
            do {
                RCC->APB1ENR |= en_mask;

            } while (RCC->APB1ENR & en_mask == 0);

        }
        else if (tim_base >= TIM1_BASE && tim_base <= TIM11_BASE) {
            uint32_t en_mask = 1 << ((tim_base - TIM1_BASE) / 0x400);
            do {
                RCC->APB2ENR |= en_mask;

            } while (RCC->APB2ENR & en_mask == 0);

        }
        else {
            do {
                //无效的定时器

            } while (1);
        }
        //初始化定时器
        timx->PSC = 0;      
        timx->ARR = coder->period;     //编码器一圈脉冲数
        timx->SMCR = 0;
        timx->DIER |= 1 << 0; //使能更新中断
        timx->CR1 &= ~(3 << 8); //不分频
        timx->CR1 &= ~(3 << 5); //边沿计数模式
        timx->CR1 &= ~(1 << 4); //向上计数
        timx->CR1 |= (1 << 2); //限制只有上溢中断



        //timx->CR1 |= (1 << 7); //ARR寄存器不缓冲

        timx->CR2 = 0;
        timx->CCER =0;     //使能PWM通道
        timx->CCMR1 = 0;
        timx->CCMR2 = 0;
        timx->SMCR = 0;
        timx->CNT = 0;

        timx->SMCR = 3 << 0;    //使能双边编码器接口
        timx->CCMR1 = (1 << 0) | (3 << 4) | (1 << 8) | (3 << 12); //使能T1、T2映射
        timx->CCER |= (1 << 0) | (1 << 4); //使能捕获通道1、2

        timx->SR = 0;
        timx->CR1 |= 1 << 0;    //开启定时器

        MY_NVIC_Init(1, 3, coder->irqn, 2);
        index++;
        index++;
    }

}