[feat][qdec] add qdec hal driver and demo

examples/qdec/qdec_dc_motor/CMakeLists.txt

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+set(mains main.c)
+generate_bin()

examples/qdec/qdec_dc_motor/main.c

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+/**
+ * @file main.c
+ * @brief
+ *
+ * Copyright (c) 2021 Bouffalolab team
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ */
+
+#include "hal_pwm.h"
+#include "hal_qdec.h"
+#include "hal_gpio.h"
+
+uint16_t num = 0;
+int qdec_val = 0;
+
+static void qdec_irq_callback(struct device *dev, void *args, uint32_t size, uint32_t state)
+{
+    if (state == QDEC_REPORT_EVENT) {
+        num = device_control(dev, DEVICE_CTRL_GET_SAMPLE_VAL, 0);
+        if (num & (1 << 15)) {
+            qdec_val = -(32768 - (num & 0x7FFF));
+            // MSG("QDEC1 :d=%d,v=-%5d\r\n", device_control(dev, DEVICE_CTRL_GET_SAMPLE_DIR, 0), qdec_val);
+        } else {
+            // MSG("QDEC1 :d=%d,v= %5d\r\n", device_control(dev, DEVICE_CTRL_GET_SAMPLE_DIR, 0), num);
+            qdec_val = num;
+        }
+    }
+}
+
+int main(void)
+{
+    pwm_dutycycle_config_t pwm_cfg[2];
+
+    pwm_cfg[0].threshold_low = 0;
+    pwm_cfg[0].threshold_high = 0;
+
+    pwm_cfg[1].threshold_low = 0;
+    pwm_cfg[1].threshold_high = 0;
+
+    bflb_platform_init(0);
+
+    pwm_register(PWM_CH0_INDEX, "dc_motor_ch0");
+    pwm_register(PWM_CH1_INDEX, "dc_motor_ch1");
+
+    struct device *dc_motor_ch0 = device_find("dc_motor_ch0");
+    struct device *dc_motor_ch1 = device_find("dc_motor_ch1");
+
+    if (dc_motor_ch0) {
+        PWM_DEV(dc_motor_ch0)->period = 32; //frequence = 32K/1/32 = 1Khz
+        PWM_DEV(dc_motor_ch0)->threshold_low = 16;
+        PWM_DEV(dc_motor_ch0)->threshold_high = 32;
+        device_open(dc_motor_ch0, DEVICE_OFLAG_STREAM_TX);
+        pwm_channel_start(dc_motor_ch0);
+    }
+    if (dc_motor_ch1) {
+        PWM_DEV(dc_motor_ch1)->period = 32; //frequence = 32K/1/32 = 1Khz
+        PWM_DEV(dc_motor_ch1)->threshold_low = 16;
+        PWM_DEV(dc_motor_ch1)->threshold_high = 32;
+        device_open(dc_motor_ch1, DEVICE_OFLAG_STREAM_TX);
+        pwm_channel_start(dc_motor_ch1);
+    }
+
+    qdec_register(QDEC1_INDEX, "qdec_it");
+
+    struct device *qdec_it = device_find("qdec_it");
+
+    if (qdec_it) {
+        device_open(qdec_it, DEVICE_OFLAG_INT_RX);
+        device_set_callback(qdec_it, qdec_irq_callback);
+    } else {
+        MSG("device find fail \r\n");
+    }
+
+    device_control(qdec_it, DEVICE_CTRL_SET_INT, (void *)QDEC_REPORT_EVENT);
+    device_control(qdec_it, DEVICE_CTRL_RESUME, 0);
+
+    while (1) {
+        if (qdec_val > 0 && qdec_val <= 300) {
+            pwm_cfg[1].threshold_low = 0;
+            pwm_cfg[1].threshold_high = 0;
+            device_control(dc_motor_ch1, DEVICE_CTRL_PWM_DUTYCYCLE_CONFIG, &pwm_cfg[1]);
+
+            pwm_cfg[0].threshold_high = (qdec_val * 0.1);
+            device_control(dc_motor_ch0, DEVICE_CTRL_PWM_DUTYCYCLE_CONFIG, &pwm_cfg[0]);
+        } else if (qdec_val < 0 && qdec_val >= -300) {
+            pwm_cfg[0].threshold_low = 0;
+            pwm_cfg[0].threshold_high = 0;
+            device_control(dc_motor_ch0, DEVICE_CTRL_PWM_DUTYCYCLE_CONFIG, &pwm_cfg[0]);
+
+            pwm_cfg[1].threshold_high = -(qdec_val * 0.1);
+            device_control(dc_motor_ch1, DEVICE_CTRL_PWM_DUTYCYCLE_CONFIG, &pwm_cfg[1]);
+        }
+        // MSG("qdec_val:%d\r\n", qdec_val);
+        bflb_platform_delay_ms(100);
+    }
+}

examples/qdec/qdec_dc_motor/readme.md

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+**board/bl706_iot/pinmux_config.h** 中 **CONFIG_GPIO20_FUNC**、**CONFIG_GPIO21_FUNC** 选择 **GPIO_FUN_PWM**
+
+**board/bl706_iot/pinmux_config.h** 中 **CONFIG_GPIO3_FUNC**、**CONFIG_GPIO4_FUNC** 选择 **GPIO_FUN_QDEC**
+
+
+**board/bl706_iot/clock_config.h** 中
+
+- **BSP_PWM_CLOCK_SOURCE** 选择 **ROOT_CLOCK_SOURCE_32K_CLK**,也可选择其他时钟源，用其他时钟源时应注意 case 中的设置要匹配
+- **BSP_PWM_CLOCK_DIV** 设置成 **1**
+
+- **BSP_QDEC_KEYSCAN_CLOCK_SOURCE** 选择 **ROOT_CLOCK_SOURCE_XCLK**，也可选择其他时钟源，用其他时钟源时应注意 case 中的设置要匹配
+- **BSP_QDEC_KEYSCAN_CLOCK_DIV**  设置成  **31**
+
+将两个通道分别接到 H 桥或半桥的两个通道
+
+```bash
+
+$ make APP=qdec_dc_motor BOARD=bl706_iot
+
+```
+
+**正常运行后，可以 QDEC 外设通过读旋转编码器的旋转位置控制 GPIO20 和 GPIO21 引脚分别先后输出 PWM 波，从而电机转速及正反转**

examples/qdec/qdec_it/CMakeLists.txt

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+set(mains main.c)
+generate_bin()
+
+
+

examples/qdec/qdec_it/main.c

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+/**
+ * @file main.c
+ * @brief
+ *
+ * Copyright (c) 2021 Bouffalolab team
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ */
+
+#include "hal_qdec.h"
+#include "hal_gpio.h"
+
+static volatile uint32_t flag = 0;
+
+static void qdec_irq_callback(struct device *dev, void *args, uint32_t size, uint32_t state)
+{
+    if (state == QDEC_REPORT_EVENT) {
+        uint16_t num = 0;
+
+        flag++;
+        num = device_control(dev, DEVICE_CTRL_GET_SAMPLE_VAL, 0);
+        if (num & (1 << 15)) {
+            MSG("QDEC1 :%d,d=%d,v=-%5d\r\n", flag, device_control(dev, DEVICE_CTRL_GET_SAMPLE_DIR, 0), 32768 - (num & 0x7FFF));
+        } else {
+            MSG("QDEC1 :%d,d=%d,v= %5d\r\n", flag, device_control(dev, DEVICE_CTRL_GET_SAMPLE_DIR, 0), num);
+        }
+    }
+}
+
+int main(void)
+{
+    bflb_platform_init(0);
+
+    qdec_register(QDEC1_INDEX, "qdec_it");
+
+    struct device *qdec_it = device_find("qdec_it");
+
+    if (qdec_it) {
+        device_open(qdec_it, DEVICE_OFLAG_INT_RX);
+        device_set_callback(qdec_it, qdec_irq_callback);
+    } else {
+        MSG("device find fail \r\n");
+    }
+
+    device_control(qdec_it, DEVICE_CTRL_SET_INT, (void *)QDEC_REPORT_EVENT);
+    device_control(qdec_it, DEVICE_CTRL_RESUME, 0);
+
+    while (flag < 100) {
+        bflb_platform_delay_ms(100);
+    }
+    device_control(qdec_it, DEVICE_CTRL_CLR_INT, 0);
+    device_control(qdec_it, DEVICE_CTRL_SUSPEND, 0);
+
+    BL_CASE_SUCCESS;
+    while (1) {
+        bflb_platform_delay_ms(100);
+    }
+}