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href="../../../topics/sdk/spi/spi_user_guide_2.html" id="spi-d5856e5805-link"><span class="ph">Q</span>SPI 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="uart_user_guide-d5856e5879" class="topicref" data-id="uart_user_guide" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action uart_user_guide-d5856e5879-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/uart/uart_user_guide_2.html" id="uart_user_guide-d5856e5879-link">UART 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="usb_user_guide-d5856e5951" class="topicref" data-id="usb_user_guide" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action usb_user_guide-d5856e5951-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/usb/usb_user_guide_2.html" id="usb_user_guide-d5856e5951-link">USB 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="id-d5856e6011" class="topicref" data-id="id" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action id-d5856e6011-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/mac/mac_user_guide_2.html" id="id-d5856e6011-link">MAC 使用指南</a></div></div></li></ul></li><li role="treeitem" aria-expanded="false"><div data-tocid="chapter-safety-d5856e6083" class="topicref" data-id="chapter-safety" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action chapter-safety-d5856e6083-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/chapter-title/chapter-safety-sdk.html" id="chapter-safety-d5856e6083-link">安全</a><div class="wh-tooltip"><p class="shortdesc">SPI ENC、CE、eFuse 等安全模块的介绍和使用说明。</p></div></div></div></li></ul></li></ul></div>
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<div class=" wh_topic_content body "><main role="main"><article class="- topic/topic topic" role="article" aria-labelledby="ariaid-title1"><span class="edit-link" style="font-size:12px; opacity:0.6; text-align:right; vertical-align:middle"><a target="_blank" href="http://172.16.35.88/tasks/jdssno1uvvbf2mltu9kb9v3if05d5gopuakboe8hlud18rma/edit/F:/aicdita/aicdita-cn/topics/sdk/qep/qep_design.dita">Edit online</a></span><h1 class="- topic/title title topictitle1" id="ariaid-title1">设计说明</h1><div class="date inPage">15 Jan 2024</div><div style="color: gray;">
|
||
Read time: 4 minute(s)
|
||
</div><div class="- topic/body body"><section class="- topic/section section" id="id__section_avy_gpf_fdc" data-ofbid="id__section_avy_gpf_fdc"><h2 class="- topic/title title sectiontitle">源码说明</h2>
|
||
|
||
<div class="- topic/p p" data-ofbid="d137239e24__20250121171607">源代码位于 <span class="+ topic/ph sw-d/filepath ph filepath">bsp/artinchip/</span>：<ul class="- topic/ul ul simple" id="id__ul_izx_wxh_fdc" data-ofbid="id__ul_izx_wxh_fdc"><li class="- topic/li li" data-ofbid="d137239e30__20250121171607">
|
||
<p class="- topic/p p" data-ofbid="d137239e32__20250121171607"><span class="+ topic/ph sw-d/filepath ph filepath">bsp/artinchip/drv/qep/drv_qep.c</span>，QEP Driver 层实现</p>
|
||
</li><li class="- topic/li li" data-ofbid="d137239e37__20250121171607">
|
||
<p class="- topic/p p" data-ofbid="d137239e39__20250121171607"><span class="+ topic/ph sw-d/filepath ph filepath">bsp/artinchip/hal/pwmcs/hal_qep.c</span>，PWMCS QEP 模块的 HAL
|
||
层实现</p>
|
||
</li><li class="- topic/li li" data-ofbid="d137239e44__20250121171607">
|
||
<p class="- topic/p p" data-ofbid="d137239e46__20250121171607"><span class="+ topic/ph sw-d/filepath ph filepath">bsp/artinchip/include/hal/hal_qep.h</span>，PWMCS QEP 模块的
|
||
HAL 层接口头文件</p>
|
||
</li></ul></div>
|
||
</section><section class="- topic/section section" id="id__section_mrc_yxh_fdc" data-ofbid="id__section_mrc_yxh_fdc"><h2 class="- topic/title title sectiontitle">模块架构</h2>
|
||
|
||
<div class="- topic/p p" data-ofbid="d137239e57__20250121171607">QEP 驱动 Driver 层采用 RT-Thread 的 PULSE ENCODER 设备驱动框架，如果只使用 HAL 层也可以支持 Baremetal
|
||
方式的应用场景。<figure class="- topic/fig fig fignone" id="id__id7" data-ofbid="id__id7"><br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="id__image_jzx_wxh_fdc" src="../../../images/qep/sw_system18.png" width="288" alt="sw_system18"/></div><br/><figcaption data-caption-side="bottom" class="- topic/title title figcapcenter"><span class="figtitleprefix fig--title-label">图<span class="fig--title-label-number"> 1</span><span class="fig--title-label-punctuation">. </span></span><span class="fig--title">QEP 驱动的软件架构图</span></figcaption></figure></div>
|
||
</section><section class="- topic/section section" id="id__section_gjg_byh_fdc" data-ofbid="id__section_gjg_byh_fdc"><h2 class="- topic/title title sectiontitle">关键流程设计</h2>
|
||
|
||
<div class="- topic/div div section" id="id__id5">
|
||
<strong class="+ topic/ph hi-d/b ph b">初始化流程</strong>
|
||
<p class="- topic/p p" data-ofbid="d137239e76__20250121171607">QEP 驱动的初始化接口通过 <code class="+ topic/ph pr-d/codeph ph codeph">INIT_DEVICE_EXPORT(drv_qep_init)</code> 完成，主要是通过调用 PULSE
|
||
ENCODER 子系统的接口 <span class="+ topic/keyword pr-d/apiname keyword apiname">rt_device_pulse_encoder_register()</span> 注册一个 QEP
|
||
设备。</p><p class="- topic/p p" data-ofbid="d137239e84__20250121171607">QEP 控制器的配置过程，主要步骤有：</p><ol class="- topic/ol ol arabic simple" id="id__ol_kzx_wxh_fdc" data-ofbid="id__ol_kzx_wxh_fdc"><li class="- topic/li li" data-ofbid="d137239e87__20250121171607">
|
||
<p class="- topic/p p" data-ofbid="d137239e89__20250121171607">初始化 PWMCS 模块的 clk</p>
|
||
</li><li class="- topic/li li" data-ofbid="d137239e92__20250121171607">
|
||
<p class="- topic/p p" data-ofbid="d137239e94__20250121171607">使能 QEP 指定通道的 clk</p>
|
||
</li><li class="- topic/li li" data-ofbid="d137239e97__20250121171607">
|
||
<p class="- topic/p p" data-ofbid="d137239e99__20250121171607">设置 QEP 工作模式</p>
|
||
</li><li class="- topic/li li" data-ofbid="d137239e102__20250121171607">
|
||
<p class="- topic/p p" data-ofbid="d137239e104__20250121171607">使能 QEP 的中断</p>
|
||
</li><li class="- topic/li li" data-ofbid="d137239e107__20250121171607">
|
||
<p class="- topic/p p" data-ofbid="d137239e109__20250121171607">启动 QEP 计数</p>
|
||
</li></ol></div>
|
||
</section><section class="- topic/section section" id="id__section_znd_cyh_fdc" data-ofbid="id__section_znd_cyh_fdc"><h2 class="- topic/title title sectiontitle">数据结构设计</h2>
|
||
|
||
<ul class="- topic/ul ul" id="id__ul_b2h_nv3_5dc" data-ofbid="id__ul_b2h_nv3_5dc"><li class="- topic/li li" data-ofbid="d137239e119__20250121171607">
|
||
<div class="- topic/div div section" id="id__struct-aic-qep-arg">
|
||
<strong class="+ topic/ph hi-d/b ph b">struct aic_qep_arg</strong>
|
||
<div class="- topic/p p" data-ofbid="d137239e126__20250121171607">属于 HAL 层接口，记录每一个 QEP
|
||
通道的信息：<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_qdg_kyh_fdc" data-ofbid="id__codeblock_qdg_kyh_fdc"><strong class="hl-keyword">struct</strong> aic_qep_arg {
|
||
u16 available;
|
||
u16 id;
|
||
};</pre></div></div>
|
||
</li><li class="- topic/li li" data-ofbid="d137239e131__20250121171607">
|
||
<div class="- topic/div div section" id="id__struct-aic-qep">
|
||
<strong class="+ topic/ph hi-d/b ph b">struct aic_qep</strong>
|
||
<div class="- topic/p p" data-ofbid="d137239e138__20250121171607">属于 Driver 层接口，记录一个 QEP
|
||
设备的配置信息：<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_mvz_jyh_fdc" data-ofbid="id__codeblock_mvz_jyh_fdc"><strong class="hl-keyword">struct</strong> aic_qep {
|
||
<strong class="hl-keyword">struct</strong> rt_pulse_encoder_device rtdev;
|
||
<strong class="hl-keyword">struct</strong> aic_qep_data *data;
|
||
};</pre></div></div>
|
||
</li></ul>
|
||
</section><section class="- topic/section section" id="id__section_ig3_dyh_fdc" data-ofbid="id__section_ig3_dyh_fdc"><h2 class="- topic/title title sectiontitle">Driver 层接口设计</h2>
|
||
|
||
<div class="- topic/p p" data-ofbid="d137239e149__20250121171607">以下接口是 PULSE ENCODER 设备驱动框架的标准接口。
|
||
<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_htr_jyh_fdc" data-ofbid="id__codeblock_htr_jyh_fdc"><strong class="hl-keyword">struct</strong> rt_pulse_encoder_ops
|
||
{
|
||
rt_err_t (*init)(<strong class="hl-keyword">struct</strong> rt_pulse_encoder_device *pulse_encoder);
|
||
rt_int32_t (*get_count)(<strong class="hl-keyword">struct</strong> rt_pulse_encoder_device *pulse_encoder);
|
||
rt_err_t (*clear_count)(<strong class="hl-keyword">struct</strong> rt_pulse_encoder_device *pulse_encoder);
|
||
rt_err_t (*control)(<strong class="hl-keyword">struct</strong> rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, <strong class="hl-keyword">void</strong> *args);
|
||
};</pre><div class="table-container"><table class="- topic/table table frame-all" id="id__table_lzx_wxh_fdc" data-ofbid="id__table_lzx_wxh_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 1</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">aic_qep_init</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_lzx_wxh_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_lzx_wxh_fdc__entry__2">static rt_err_t aic_qep_init(struct rt_pulse_encoder_device
|
||
*qep)</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_lzx_wxh_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_lzx_wxh_fdc__entry__2">初始化配置一路 QEP</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_lzx_wxh_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_lzx_wxh_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">qep - 指向 rt_pulse_encoder_device 设备的指针</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_lzx_wxh_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_lzx_wxh_fdc__entry__2">0，成功；<0，失败</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_lzx_wxh_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_lzx_wxh_fdc__entry__2">- </td></tr></tbody></table></div><div class="table-container"><table class="- topic/table table frame-all" id="id__table_mzx_wxh_fdc" data-ofbid="id__table_mzx_wxh_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 2</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">aic_qep_get_count</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_mzx_wxh_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_mzx_wxh_fdc__entry__2">static rt_int32_t aic_qep_get_count(struct
|
||
rt_pulse_encoder_device *qep)</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_mzx_wxh_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_mzx_wxh_fdc__entry__2">获取 QEP 计数</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_mzx_wxh_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_mzx_wxh_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">qep - 指向 rt_pulse_encoder_device 设备的指针</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_mzx_wxh_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_mzx_wxh_fdc__entry__2">0，成功；<0，失败</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_mzx_wxh_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_mzx_wxh_fdc__entry__2">暂不支持</td></tr></tbody></table></div><div class="table-container"><table class="- topic/table table frame-all" id="id__table_nzx_wxh_fdc" data-ofbid="id__table_nzx_wxh_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 3</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">aic_qep_clear_count</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_nzx_wxh_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_nzx_wxh_fdc__entry__2">static rt_err_t aic_qep_clear_count(struct
|
||
rt_pulse_encoder_device *qep)</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_nzx_wxh_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_nzx_wxh_fdc__entry__2">清除 QEP 计数</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_nzx_wxh_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_nzx_wxh_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">qep - 指向 rt_pulse_encoder_device 设备的指针</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_nzx_wxh_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_nzx_wxh_fdc__entry__2">0，成功；<0，失败</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_nzx_wxh_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_nzx_wxh_fdc__entry__2">暂不支持 </td></tr></tbody></table></div><div class="table-container"><table class="- topic/table table frame-all" id="id__table_ozx_wxh_fdc" data-ofbid="id__table_ozx_wxh_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 4</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">aic_qep_control</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_ozx_wxh_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_ozx_wxh_fdc__entry__2">static rt_err_t aic_qep_control(struct
|
||
rt_pulse_encoder_device *qep, rt_uint32_t cmd, void
|
||
*args)</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_ozx_wxh_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_ozx_wxh_fdc__entry__2">QEP 模块控制接口</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_ozx_wxh_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_ozx_wxh_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">qep - 指向 rt_pulse_encoder_device 设备的指针</div>
|
||
<div class="- topic/div div">cmd - 控制 QEP 模块的命令</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_ozx_wxh_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_ozx_wxh_fdc__entry__2">0，成功；<0，失败</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_ozx_wxh_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_ozx_wxh_fdc__entry__2">-</td></tr></tbody></table></div></div>
|
||
</section><section class="- topic/section section" id="id__section_qf3_dyh_fdc" data-ofbid="id__section_qf3_dyh_fdc"><h2 class="- topic/title title sectiontitle">HAL 层接口设计</h2>
|
||
|
||
<div class="- topic/p p" data-ofbid="d137239e318__20250121171607">HAL 层的函数接口声明存放在 hal_qep.h
|
||
中，主要接口有：<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_km3_fyh_fdc" data-ofbid="id__codeblock_km3_fyh_fdc">u32 hal_qep_int_stat(u32 ch);
|
||
<strong class="hl-keyword">void</strong> hal_qep_clr_int(u32 ch, u32 stat);
|
||
<strong class="hl-keyword">void</strong> hal_qep_set_cnt_ep(u32 i, u32 cnt);
|
||
<strong class="hl-keyword">void</strong> hal_qep_set_cnt_cmp(u32 i, u32 cnt);
|
||
<strong class="hl-keyword">void</strong> hal_qep_config(u32 ch);
|
||
<strong class="hl-keyword">void</strong> hal_qep_int_enable(u32 ch, u32 enable);
|
||
<strong class="hl-keyword">void</strong> hal_qep_enable(u32 ch, u32 enable);
|
||
<strong class="hl-keyword">int</strong> hal_qep_init(<strong class="hl-keyword">void</strong>);
|
||
<strong class="hl-keyword">int</strong> hal_qep_deinit(<strong class="hl-keyword">void</strong>);</pre></div>
|
||
</section><section class="- topic/section section" id="id__section_phx_yxh_fdc" data-ofbid="id__section_phx_yxh_fdc"><h2 class="- topic/title title sectiontitle">Demo</h2>
|
||
|
||
<div class="- topic/p p" data-ofbid="d137239e328__20250121171607">本 Demo 是 test_qep
|
||
的部分源码（bsp/examples/test-qep/test_qep.c）：<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_jhs_zxh_fdc" data-ofbid="id__codeblock_jhs_zxh_fdc"><strong class="hl-keyword">struct</strong> rt_device_pwm *pwm_dev = RT_NULL;
|
||
rt_device_t qep_dev = RT_NULL;
|
||
rt_uint32_t pwm_ch;
|
||
|
||
<em class="hl-comment">/* callback function */</em>
|
||
<strong class="hl-keyword">static</strong> rt_err_t qep_cb(rt_device_t dev, <strong class="hl-keyword">void</strong> *buffer)
|
||
{
|
||
#ifdef ULOG_USING_ISR_LOG
|
||
rt_uint32_t *temp = (rt_uint32_t *)buffer;
|
||
rt_kprintf(<span class="hl-string">"qep %d callback\n"</span>, temp[<span class="hl-number">0</span>]);
|
||
#endif
|
||
|
||
rt_pwm_disable(pwm_dev, pwm_ch);
|
||
|
||
rt_device_close(qep_dev);
|
||
|
||
<strong class="hl-keyword">return</strong> RT_EOK;
|
||
}
|
||
|
||
<strong class="hl-keyword">int</strong> test_qep(<strong class="hl-keyword">int</strong> argc, <strong class="hl-keyword">char</strong> **argv)
|
||
{
|
||
<strong class="hl-keyword">char</strong> device_name[<span class="hl-number">8</span>] = {<span class="hl-string">"qep"</span>};
|
||
rt_uint32_t pulse_count;
|
||
rt_uint32_t period_ns, duty_ns;
|
||
<strong class="hl-keyword">int</strong> ret;
|
||
|
||
<strong class="hl-keyword">if</strong> (argc < <span class="hl-number">6</span>) {
|
||
rt_kprintf(<span class="hl-string">"usage:test_qep <qep_channel> <pwm_channel> <period_ns> <duty_ns> <pulse_count>\n"</span>);
|
||
rt_kprintf(<span class="hl-string">"example: test_qep 1 3 10000 5000 10\n"</span>);
|
||
<strong class="hl-keyword">return</strong> -RT_ERROR;
|
||
}
|
||
|
||
strcat(device_name, argv[<span class="hl-number">1</span>]);
|
||
|
||
<em class="hl-comment">/* qep configuration */</em>
|
||
qep_dev = rt_device_find(device_name);
|
||
<strong class="hl-keyword">if</strong> (qep_dev == NULL) {
|
||
rt_kprintf(<span class="hl-string">"can't find %s device!\n"</span>, device_name);
|
||
<strong class="hl-keyword">return</strong> -RT_ERROR;
|
||
}
|
||
|
||
<em class="hl-comment">//set the qep callback function</em>
|
||
rt_device_set_tx_complete(qep_dev, qep_cb);
|
||
|
||
ret = rt_device_open(qep_dev, RT_DEVICE_OFLAG_RDWR);
|
||
<strong class="hl-keyword">if</strong> (ret != RT_EOK) {
|
||
rt_kprintf(<span class="hl-string">"Failed to open %s device!\n"</span>, device_name);
|
||
<strong class="hl-keyword">return</strong> ret;
|
||
}
|
||
|
||
<em class="hl-comment">//set the pulse count</em>
|
||
pulse_count = atoi(argv[<span class="hl-number">5</span>]);
|
||
ret = rt_device_control(qep_dev, PULSE_ENCODER_CMD_SET_COUNT, &pulse_count);
|
||
<strong class="hl-keyword">if</strong> (ret != RT_EOK) {
|
||
rt_kprintf(<span class="hl-string">"Failed to set the pulse count of %s device!\n"</span>, device_name);
|
||
<strong class="hl-keyword">return</strong> ret;
|
||
}
|
||
|
||
rt_thread_mdelay(<span class="hl-number">10</span>);
|
||
|
||
<em class="hl-comment">/* pwm configuration */</em>
|
||
pwm_dev = (<strong class="hl-keyword">struct</strong> rt_device_pwm *)rt_device_find(<span class="hl-string">"pwm"</span>);
|
||
|
||
<strong class="hl-keyword">if</strong> (pwm_dev == NULL) {
|
||
rt_kprintf(<span class="hl-string">"can't find pwm device!\n"</span>);
|
||
<strong class="hl-keyword">return</strong> -RT_ERROR;
|
||
}
|
||
|
||
pwm_ch = atoi(argv[<span class="hl-number">2</span>]);
|
||
period_ns = atoi(argv[<span class="hl-number">3</span>]);
|
||
duty_ns = atoi(argv[<span class="hl-number">4</span>]);
|
||
|
||
rt_pwm_set(pwm_dev, pwm_ch, period_ns, duty_ns);
|
||
rt_pwm_enable(pwm_dev, pwm_ch);
|
||
|
||
<strong class="hl-keyword">return</strong> RT_EOK;
|
||
}
|
||
MSH_CMD_EXPORT_ALIAS(test_qep, test_qep, Test the qep);</pre></div>
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||
</section></div></article></main></div>
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<div class=" wh_topic_toc "><div class="wh_topic_label">在本页上</div><ul><li class="section-item"><div class="section-title"><a href="#id__section_avy_gpf_fdc" data-tocid="id__section_avy_gpf_fdc">源码说明</a></div></li><li class="section-item"><div class="section-title"><a href="#id__section_mrc_yxh_fdc" data-tocid="id__section_mrc_yxh_fdc">模块架构</a></div></li><li class="section-item"><div class="section-title"><a href="#id__section_gjg_byh_fdc" data-tocid="id__section_gjg_byh_fdc">关键流程设计</a></div></li><li class="section-item"><div class="section-title"><a href="#id__section_znd_cyh_fdc" data-tocid="id__section_znd_cyh_fdc">数据结构设计</a></div></li><li class="section-item"><div class="section-title"><a href="#id__section_ig3_dyh_fdc" data-tocid="id__section_ig3_dyh_fdc">Driver 层接口设计</a></div></li><li class="section-item"><div class="section-title"><a href="#id__section_qf3_dyh_fdc" data-tocid="id__section_qf3_dyh_fdc">HAL 层接口设计</a></div></li><li class="section-item"><div class="section-title"><a href="#id__section_phx_yxh_fdc" data-tocid="id__section_phx_yxh_fdc">Demo</a></div></li></ul></div>
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