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

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jzlv 2021-07-26 10:50:57 +08:00
parent 691db880e0
commit 75fe79b184
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76
drivers/bl702_driver/hal_drv/inc/hal_qdec.h Normal file
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/**
* @file hal_qdec.h
* @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.
*
*/
#ifndef __HAL_QDEC__H__
#define __HAL_QDEC__H__
#include "drv_device.h"
#include "bl702_config.h"
#define DEVICE_CTRL_GET_SAMPLE_VAL (0x10)
#define DEVICE_CTRL_GET_SAMPLE_DIR (0x11)
#define DEVICE_CTRL_GET_ERROR_CNT (0x12)
enum qdec_index_type {
#ifdef BSP_USING_QDEC0
QDEC0_INDEX,
#endif
#ifdef BSP_USING_QDEC1
QDEC1_INDEX,
#endif
#ifdef BSP_USING_QDEC2
QDEC2_INDEX,
#endif
QDEC_MAX_INDEX,
};
enum {
QDEC_REPORT_EVENT, /*!< report interrupt */
QDEC_SAMPLE_EVENT, /*!< sample interrupt */
QDEC_ERROR_EVENT, /*!< error interrupt */
QDEC_OVERFLOW_EVENT, /*!< ACC1 and ACC2 overflow interrupt */
QDEC_ALL_EVENT, /*!< interrupt max num */
};
typedef struct qdec_device {
struct device parent;
uint8_t id;
uint8_t acc_mode;
uint8_t sample_mode;
uint8_t sample_period;
uint8_t report_mode;
uint32_t report_period;
uint8_t led_en;
uint8_t led_swap;
uint16_t led_period;
uint8_t deglitch_en;
uint8_t deglitch_strength;
} qdec_device_t;
#define QDEC_DEV(dev) ((qdec_device_t *)dev)
int qdec_register(enum qdec_index_type index, const char *name);
#endif // __HAL_QDEC_H__

291
drivers/bl702_driver/hal_drv/src/hal_qdec.c Normal file
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/**
* @file hal_qdec.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 "qdec_reg.h"
#include "bl702_qdec.h"
#include "bl702_gpio.h"
#include "bl702_glb.h"
static qdec_device_t qdecx_device[QDEC_MAX_INDEX] = {
#ifdef BSP_USING_QDEC0
QDEC0_CONFIG,
#endif
#ifdef BSP_USING_QDEC1
QDEC1_CONFIG,
#endif
#ifdef BSP_USING_QDEC2
QDEC2_CONFIG,
#endif
};
#ifdef BSP_USING_QDEC0
static void QDEC0_IRQ(void);
#endif
#ifdef BSP_USING_QDEC1
static void QDEC1_IRQ(void);
#endif
#ifdef BSP_USING_QDEC2
static void QDEC2_IRQ(void);
#endif
int qdec_open(struct device *dev, uint16_t oflag)
{
qdec_device_t *qdec_device = (qdec_device_t *)dev;
QDEC_CFG_Type qdec_cfg = { 0 };
QDEC_DeInit(qdec_device->id);
qdec_cfg.sampleCfg.sampleMod = qdec_device->sample_mode;
qdec_cfg.sampleCfg.samplePeriod = qdec_device->sample_period;
qdec_cfg.reportCfg.reportMod = qdec_device->report_mode;
qdec_cfg.reportCfg.reportPeriod = qdec_device->report_period;
qdec_cfg.ledCfg.ledEn = qdec_device->led_en;
qdec_cfg.ledCfg.ledSwap = qdec_device->led_swap;
qdec_cfg.ledCfg.ledPeriod = qdec_device->led_period;
qdec_cfg.deglitchCfg.deglitchEn = qdec_device->deglitch_en;
qdec_cfg.deglitchCfg.deglitchStrength = qdec_device->deglitch_strength;
qdec_cfg.accMod = qdec_device->acc_mode;
QDEC_Init(qdec_device->id, &qdec_cfg);
if (oflag & DEVICE_OFLAG_INT_RX) {
#ifdef BSP_USING_QDEC0
if (qdec_device->id == QDEC0_ID) {
Interrupt_Handler_Register(QDEC0_IRQn, QDEC0_IRQ);
}
#endif
#ifdef BSP_USING_QDEC1
if (qdec_device->id == QDEC1_ID) {
Interrupt_Handler_Register(QDEC1_IRQn, QDEC1_IRQ);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_REPORT, UNMASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_SAMPLE, MASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_ERROR, MASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_OVERFLOW, MASK);
// NVIC_EnableIRQ(QDEC1_IRQn);
}
#endif
#ifdef BSP_USING_QDEC2
if (qdec_device->id == QDEC2_ID) {
Interrupt_Handler_Register(QDEC2_IRQn, QDEC2_IRQ);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_REPORT, UNMASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_SAMPLE, MASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_ERROR, MASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_OVERFLOW, MASK);
// NVIC_EnableIRQ(QDEC2_IRQn);
}
#endif
}
return 0;
}
int qdec_close(struct device *dev)
{
qdec_device_t *qdec_device = (qdec_device_t *)dev;
QDEC_Disable(qdec_device->id);
return 0;
}
int qdec_control(struct device *dev, int cmd, void *args)
{
qdec_device_t *qdec_device = (qdec_device_t *)dev;
switch (cmd) {
case DEVICE_CTRL_SET_INT: {
if ((uint32_t)args == QDEC_REPORT_EVENT) {
QDEC_SetIntMask(qdec_device->id, QDEC_INT_REPORT, UNMASK);
} else if ((uint32_t)args == QDEC_SAMPLE_EVENT) {
QDEC_SetIntMask(qdec_device->id, QDEC_INT_SAMPLE, UNMASK);
} else if ((uint32_t)args == QDEC_ERROR_EVENT) {
QDEC_SetIntMask(qdec_device->id, QDEC_INT_ERROR, UNMASK);
} else if ((uint32_t)args == QDEC_OVERFLOW_EVENT) {
QDEC_SetIntMask(qdec_device->id, QDEC_INT_OVERFLOW, UNMASK);
} else {
QDEC_SetIntMask(qdec_device->id, QDEC_INT_REPORT, UNMASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_SAMPLE, UNMASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_ERROR, UNMASK);
QDEC_SetIntMask(qdec_device->id, QDEC_INT_OVERFLOW, UNMASK);
}
if (qdec_device->id == QDEC0_ID) {
NVIC_EnableIRQ(QDEC0_IRQn);
} else if (qdec_device->id == QDEC1_ID) {
NVIC_EnableIRQ(QDEC1_IRQn);
} else if (qdec_device->id == QDEC2_ID) {
NVIC_EnableIRQ(QDEC2_IRQn);
}
break;
}
case DEVICE_CTRL_CLR_INT: {
if (qdec_device->id == QDEC0_ID) {
NVIC_DisableIRQ(QDEC0_IRQn);
} else if (qdec_device->id == QDEC1_ID) {
NVIC_DisableIRQ(QDEC1_IRQn);
} else if (qdec_device->id == QDEC2_ID) {
NVIC_DisableIRQ(QDEC2_IRQn);
}
break;
}
case DEVICE_CTRL_GET_INT /* constant-expression */:
/* code */
break;
case DEVICE_CTRL_CONFIG /* constant-expression */:
/* code */
break;
case DEVICE_CTRL_RESUME /* constant-expression */: {
/* Enable timer */
QDEC_Enable(qdec_device->id);
break;
}
case DEVICE_CTRL_SUSPEND /* constant-expression */: {
QDEC_Disable(qdec_device->id);
break;
}
case DEVICE_CTRL_GET_SAMPLE_VAL: {
return QDEC_Get_Sample_Val(qdec_device->id);
}
case DEVICE_CTRL_GET_SAMPLE_DIR: {
return QDEC_Get_Sample_Direction(qdec_device->id);
}
case DEVICE_CTRL_GET_ERROR_CNT: {
return QDEC_Get_Err_Cnt(qdec_device->id);
}
default:
break;
}
return 0;
}
int qdec_register(enum qdec_index_type index, const char *name)
{
struct device *dev;
if (QDEC_MAX_INDEX == 0) {
return -DEVICE_EINVAL;
}
dev = &(qdecx_device[index].parent);
dev->open = qdec_open;
dev->close = qdec_close;
dev->control = qdec_control;
dev->write = NULL;
dev->read = NULL; //qdec_read;
dev->status = DEVICE_UNREGISTER;
dev->type = DEVICE_CLASS_QDEC;
dev->handle = NULL;
return device_register(dev, name);
}
void qdec_isr(qdec_device_t *handle)
{
uint32_t tmp_sts = 0;
uint32_t tmp_val = 0;
uint32_t tmp_clr = 0;
uint32_t tmp_clr_val = 0;
if (handle->id == QDEC0_ID) {
tmp_sts = BL_RD_WORD(QDEC0_BASE + QDEC0_INT_STS_OFFSET);
tmp_clr = QDEC0_BASE + QDEC0_INT_CLR_OFFSET;
tmp_clr_val = BL_RD_WORD(tmp_clr);
tmp_val = BL_RD_REG(QDEC0_BASE, QDEC0_INT_EN);
} else if (handle->id == QDEC1_ID) {
tmp_sts = BL_RD_WORD(QDEC0_BASE + QDEC1_INT_STS_OFFSET);
tmp_clr = QDEC0_BASE + QDEC1_INT_CLR_OFFSET;
tmp_clr_val = BL_RD_WORD(tmp_clr);
tmp_val = BL_RD_REG(QDEC1_BASE, QDEC0_INT_EN);
} else if (handle->id == QDEC2_ID) {
tmp_sts = BL_RD_WORD(QDEC0_BASE + QDEC2_INT_STS_OFFSET);
tmp_clr = QDEC0_BASE + QDEC2_INT_CLR_OFFSET;
tmp_clr_val = BL_RD_WORD(tmp_clr);
tmp_val = BL_RD_REG(QDEC2_BASE, QDEC0_INT_EN);
}
if (!handle->parent.callback) {
return;
}
/* qdec report intterupt */
if (!(BL_GET_REG_BITS_VAL(tmp_val, QDEC_RPT_RDY_EN) ? UNMASK : MASK)) {
if (BL_IS_REG_BIT_SET(tmp_sts, QDEC_RPT_RDY_STS)) {
BL_WR_WORD(tmp_clr, BL_SET_REG_BIT(tmp_clr_val, QDEC_RPT_RDY_CLR));
handle->parent.callback(&handle->parent, NULL, 0, QDEC_REPORT_EVENT);
}
}
/* qdec sample intterupt */
if (!(BL_GET_REG_BITS_VAL(tmp_val, QDEC_SPL_RDY_EN) ? UNMASK : MASK)) {
if (BL_IS_REG_BIT_SET(tmp_sts, QDEC_SPL_RDY_STS)) {
BL_WR_WORD(tmp_clr, BL_SET_REG_BIT(tmp_clr_val, QDEC_SPL_RDY_CLR));
handle->parent.callback(&handle->parent, NULL, 0, QDEC_SAMPLE_EVENT);
}
}
/* qdec error intterupt */
if (!(BL_GET_REG_BITS_VAL(tmp_val, QDEC_DBL_RDY_EN) ? UNMASK : MASK)) {
if (BL_IS_REG_BIT_SET(tmp_sts, QDEC_DBL_RDY_STS)) {
BL_WR_WORD(tmp_clr, BL_SET_REG_BIT(tmp_clr_val, QDEC_DBL_RDY_CLR));
handle->parent.callback(&handle->parent, NULL, 0, QDEC_ERROR_EVENT);
}
}
/* qdec overflow intterupt */
if (!(BL_GET_REG_BITS_VAL(tmp_val, QDEC_OVERFLOW_EN) ? UNMASK : MASK)) {
if (BL_IS_REG_BIT_SET(tmp_sts, QDEC_OVERFLOW_STS)) {
BL_WR_WORD(tmp_clr, BL_SET_REG_BIT(tmp_clr_val, QDEC_OVERFLOW_CLR));
handle->parent.callback(&handle->parent, NULL, 0, QDEC_OVERFLOW_EVENT);
}
}
}
#ifdef BSP_USING_QDEC0
static void QDEC0_IRQ(void)
{
qdec_isr(&qdecx_device[QDEC0_INDEX]);
}
#endif
#ifdef BSP_USING_QDEC1
static void QDEC1_IRQ(void)
{
qdec_isr(&qdecx_device[QDEC1_INDEX]);
}
#endif
#ifdef BSP_USING_QDEC2
static void QDEC2_IRQ(void)
{
qdec_isr(&qdecx_device[QDEC2_INDEX]);
}
#endif

2
examples/qdec/qdec_dc_motor/CMakeLists.txt Normal file
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set(mains main.c)
generate_bin()

111
examples/qdec/qdec_dc_motor/main.c Normal file
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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);
}
}

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examples/qdec/qdec_dc_motor/readme.md Normal file
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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**

5
examples/qdec/qdec_it/CMakeLists.txt Normal file
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set(mains main.c)
generate_bin()

72
examples/qdec/qdec_it/main.c Normal file
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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);
}
}