Initial commit: TC264 smart car project with IPS200 menu system
- IPS200 display menu with real-time status and parameter settings - Camera image processing and line tracking - IMU attitude solution and PID control - WiFi SPI oscilloscope data transmission
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/*********************************************************************************************************************
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* TC264 Opensourec Library 即（TC264 开源库）是一个基于官方 SDK 接口的第三方开源库
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* Copyright (c) 2022 SEEKFREE 逐飞科技
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*
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* 本文件是 TC264 开源库的一部分
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*
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* TC264 开源库 是免费软件
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* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
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* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
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*
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* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
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* 甚至没有隐含的适销性或适合特定用途的保证
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* 更多细节请参见 GPL
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*
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* 您应该在收到本开源库的同时收到一份 GPL 的副本
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* 如果没有，请参阅<https://www.gnu.org/licenses/>
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*
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* 额外注明：
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* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
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* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
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* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
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* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
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*
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* 文件名称 zf_driver_encoder
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* 公司名称 成都逐飞科技有限公司
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* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
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* 开发环境 ADS v1.10.2
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* 适用平台 TC264D
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* 店铺链接 https://seekfree.taobao.com/
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*
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* 修改记录
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* 日期 作者 备注
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* 2022-09-15 pudding first version
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********************************************************************************************************************/
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#include "IfxGpt12_IncrEnc.h"
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#include "zf_common_debug.h"
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#include "zf_driver_encoder.h"
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static uint8 encoder_mode[TIM6_ENCODER + 1] = {0};
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 编码器地址设置 内部调用
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// 参数说明 gptn 选择所使用的GPT12定时器
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// 参数说明 count_pin 设置计数引脚
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// 参数说明 dir_pin 设置计数方向引脚
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// 返回参数 void
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// 使用示例 encoder_mapping_set(gptn, ch1_pin, ch2_pin);
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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static void encoder_mapping_set (encoder_index_enum encoder_n, encoder_channel1_enum ch1_pin, encoder_channel2_enum ch2_pin)
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{
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IfxGpt12_TxIn_In *ch1;
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IfxGpt12_TxEud_In *ch2;
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switch(encoder_n)
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{
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case TIM2_ENCODER:
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{
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if (TIM2_ENCODER_CH1_P00_7 == ch1_pin) ch1 = &IfxGpt120_T2INA_P00_7_IN;
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else if (TIM2_ENCODER_CH1_P33_7 == ch1_pin) ch1 = &IfxGpt120_T2INB_P33_7_IN;
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else zf_assert(FALSE);
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if (TIM2_ENCODER_CH2_P00_8 == ch2_pin) ch2 = &IfxGpt120_T2EUDA_P00_8_IN;
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else if (TIM2_ENCODER_CH2_P33_6 == ch2_pin) ch2 = &IfxGpt120_T2EUDB_P33_6_IN;
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else zf_assert(FALSE);
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}break;
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case TIM3_ENCODER:
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{
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if (TIM3_ENCODER_CH1_P02_6 == ch1_pin) ch1 = &IfxGpt120_T3INA_P02_6_IN;
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else zf_assert(FALSE);
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if (TIM3_ENCODER_CH2_P02_7 == ch2_pin) ch2 = &IfxGpt120_T3EUDA_P02_7_IN;
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else zf_assert(FALSE);
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}break;
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case TIM4_ENCODER:
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{
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if (TIM4_ENCODER_CH1_P02_8 == ch1_pin) ch1 = &IfxGpt120_T4INA_P02_8_IN;
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else zf_assert(FALSE);
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if (TIM4_ENCODER_CH2_P00_9 == ch2_pin) ch2 = &IfxGpt120_T4EUDA_P00_9_IN;
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else if (TIM4_ENCODER_CH2_P33_5 == ch2_pin) ch2 = &IfxGpt120_T4EUDB_P33_5_IN;
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else zf_assert(FALSE);
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}break;
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case TIM5_ENCODER:
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{
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if (TIM5_ENCODER_CH1_P21_7 == ch1_pin) ch1 = &IfxGpt120_T5INA_P21_7_IN;
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else if (TIM5_ENCODER_CH1_P10_3 == ch1_pin) ch1 = &IfxGpt120_T5INB_P10_3_IN;
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else zf_assert(FALSE);
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if (TIM5_ENCODER_CH2_P21_6 == ch2_pin) ch2 = &IfxGpt120_T5EUDA_P21_6_IN;
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else if (TIM5_ENCODER_CH2_P10_1 == ch2_pin) ch2 = &IfxGpt120_T5EUDB_P10_1_IN;
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else zf_assert(FALSE);
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}break;
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case TIM6_ENCODER:
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{
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if (TIM6_ENCODER_CH1_P20_3 == ch1_pin) ch1 = &IfxGpt120_T6INA_P20_3_IN;
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else if (TIM6_ENCODER_CH1_P10_2 == ch1_pin) ch1 = &IfxGpt120_T6INB_P10_2_IN;
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else zf_assert(FALSE);
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if (TIM6_ENCODER_CH2_P20_0 == ch2_pin) ch2 = &IfxGpt120_T6EUDA_P20_0_IN;
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else zf_assert(FALSE);
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}break;
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}
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#pragma warning 507
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IfxGpt12_initTxInPinWithPadLevel(ch1, IfxPort_InputMode_pullUp, IfxPort_PadDriver_cmosAutomotiveSpeed1);
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IfxGpt12_initTxEudInPinWithPadLevel(ch2, IfxPort_InputMode_pullUp, IfxPort_PadDriver_cmosAutomotiveSpeed1);
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#pragma warning default
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 编码器数据采集
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// 参数说明 gptn 选择所使用的定时器
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// 返回参数 void
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// 使用示例 int16 speed; speed = encoder_get_count(TIM2_ENCODER); // 使用T2定时器
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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int16 encoder_get_count (encoder_index_enum encoder_n)
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{
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int16 encoder_data = 0;
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switch(encoder_n)
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{
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case TIM2_ENCODER: encoder_data = (int16)IfxGpt12_T2_getTimerValue(&MODULE_GPT120); break;
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case TIM3_ENCODER: encoder_data = (int16)IfxGpt12_T3_getTimerValue(&MODULE_GPT120); break;
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case TIM4_ENCODER: encoder_data = (int16)IfxGpt12_T4_getTimerValue(&MODULE_GPT120); break;
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case TIM5_ENCODER: encoder_data = (int16)IfxGpt12_T5_getTimerValue(&MODULE_GPT120); break;
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case TIM6_ENCODER: encoder_data = (int16)IfxGpt12_T6_getTimerValue(&MODULE_GPT120); break;
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default: encoder_data = 0;
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}
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if(0 == encoder_mode[encoder_n])
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{
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encoder_data = encoder_data / 4;
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}
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return encoder_data;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 编码器计数清除
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// 参数说明 gptn 选择所使用的定时器
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// 返回参数 void
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// 使用示例 encoder_clear_count(TIM2_ENCODER);// 使用T2定时器
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void encoder_clear_count (encoder_index_enum encoder_n)
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{
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switch(encoder_n)
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{
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case TIM2_ENCODER: IfxGpt12_T2_setTimerValue(&MODULE_GPT120, 0); break;
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case TIM3_ENCODER: IfxGpt12_T3_setTimerValue(&MODULE_GPT120, 0); break;
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case TIM4_ENCODER: IfxGpt12_T4_setTimerValue(&MODULE_GPT120, 0); break;
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case TIM5_ENCODER: IfxGpt12_T5_setTimerValue(&MODULE_GPT120, 0); break;
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case TIM6_ENCODER: IfxGpt12_T6_setTimerValue(&MODULE_GPT120, 0); break;
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}
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 正交编码器采集初始化
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// 参数说明 encoder_n 选择所使用的GPT12定时器
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// 参数说明 ch1_pin ENCODER 通道 1
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// 参数说明 ch2_pin ENCODER 通道 2
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// 返回参数 void
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// 使用示例 encoder_quad_init(TIM2_ENCODER, TIM2_ENCODER_CH1_P00_7, TIM2_ENCODER_CH2_P00_8);// 使用T2定时器 P00_7引脚为A通道 P00_8引脚为B通道
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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void encoder_quad_init (encoder_index_enum encoder_n, encoder_channel1_enum ch1_pin, encoder_channel2_enum ch2_pin)
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{
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// zf_assert(encoder_n <= TIM4_ENCODER); // 完全正交采集仅 TIM2 TIM3 TIM4支持 如果在这里报错 可以尝试使用下面的方向初始化encoder_dir_init
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IfxGpt12_enableModule(&MODULE_GPT120);
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IfxGpt12_setGpt1BlockPrescaler(&MODULE_GPT120, IfxGpt12_Gpt1BlockPrescaler_4);
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IfxGpt12_setGpt2BlockPrescaler(&MODULE_GPT120, IfxGpt12_Gpt2BlockPrescaler_4);
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encoder_mapping_set(encoder_n, ch1_pin, ch2_pin);
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switch(encoder_n)
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{
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case TIM2_ENCODER:
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{
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IfxGpt12_T2_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
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IfxGpt12_T2_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T2_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
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IfxGpt12_T2_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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case TIM3_ENCODER:
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{
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IfxGpt12_T3_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
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IfxGpt12_T3_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T3_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
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IfxGpt12_T3_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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case TIM4_ENCODER:
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{
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IfxGpt12_T4_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
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IfxGpt12_T4_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T4_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
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IfxGpt12_T4_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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case TIM5_ENCODER:
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{
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IfxGpt12_T5_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
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IfxGpt12_T5_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T5_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
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IfxGpt12_T5_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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case TIM6_ENCODER:
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{
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IfxGpt12_T6_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
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IfxGpt12_T6_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T6_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
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IfxGpt12_T6_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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}
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encoder_mode[encoder_n] = 0;
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}
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 方向编码器采集初始化
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// 参数说明 encoder_n 选择所使用的GPT12定时器
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// 参数说明 ch1_pin 设置计数引脚
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// 参数说明 ch2_pin 设置方向引脚
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// 返回参数 void
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// 使用示例 encoder_quad_init(TIM2_ENCODER, TIM2_ENCODER_CH1_P00_7, TIM2_ENCODER_CH2_P00_8);// 使用T2定时器 P00_7引脚进行计数 计数方向使用P00_8引脚
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// 备注信息 英飞凌系列单片机无需区分正交和方向编码器，此处仅保留接口方便用户使用
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//-------------------------------------------------------------------------------------------------------------------
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void encoder_dir_init (encoder_index_enum encoder_n, encoder_channel1_enum count_pin, encoder_channel2_enum dir_pin)
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{
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IfxGpt12_enableModule(&MODULE_GPT120);
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IfxGpt12_setGpt1BlockPrescaler(&MODULE_GPT120, IfxGpt12_Gpt1BlockPrescaler_4);
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IfxGpt12_setGpt2BlockPrescaler(&MODULE_GPT120, IfxGpt12_Gpt2BlockPrescaler_4);
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encoder_mapping_set(encoder_n, count_pin, dir_pin);
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switch(encoder_n)
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{
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case TIM2_ENCODER:
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{
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IfxGpt12_T2_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
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IfxGpt12_T2_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T2_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
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IfxGpt12_T2_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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case TIM3_ENCODER:
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{
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IfxGpt12_T3_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
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IfxGpt12_T3_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T3_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
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IfxGpt12_T3_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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case TIM4_ENCODER:
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{
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IfxGpt12_T4_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
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IfxGpt12_T4_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T4_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
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IfxGpt12_T4_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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case TIM5_ENCODER:
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{
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IfxGpt12_T5_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
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IfxGpt12_T5_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T5_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
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IfxGpt12_T5_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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case TIM6_ENCODER:
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{
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IfxGpt12_T6_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
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IfxGpt12_T6_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
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IfxGpt12_T6_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
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IfxGpt12_T6_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
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}break;
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}
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encoder_mode[encoder_n] = 1;
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}
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