ABI added

encoder/ABI.c

@@ -0,0 +1,80 @@
+
+
+#include "encoder/ABI.h"
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32f4xx_conf.h"
+#include "hw.h"
+#include "mc_interface.h"
+#include "utils.h"
+#include <math.h>
+
+static float last_enc_angle = 0.0;
+static ABI_config_t abi_config_now = {0};
+static uint32_t enc_counts = 10000;
+
+void ABI_deinit(void){
+	nvicDisableVector(HW_ENC_EXTI_CH);
+
+	TIM_DeInit(HW_ENC_TIM);
+
+	palSetPadMode(abi_config_now.incremental_config.gpio_A.port, abi_config_now.incremental_config.gpio_A.pin, PAL_MODE_INPUT_PULLUP);
+	palSetPadMode(abi_config_now.incremental_config.gpio_B.port, abi_config_now.incremental_config.gpio_B.pin, PAL_MODE_INPUT_PULLUP);
+
+	last_enc_angle = 0.0;
+}
+
+encoders_ret_t ABI_init(ABI_config_t *abi_config){
+
+	EXTI_InitTypeDef   EXTI_InitStructure;
+
+	// Initialize variables
+	enc_counts = abi_config->counts;
+
+	palSetPadMode(abi_config->incremental_config.gpio_A.port, abi_config->incremental_config.gpio_A.pin, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
+	palSetPadMode(abi_config->incremental_config.gpio_B.port, abi_config->incremental_config.gpio_B.pin, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
+//	palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
+
+	// Enable timer clock
+	HW_ENC_TIM_CLK_EN();
+
+	// Enable SYSCFG clock
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
+
+	TIM_EncoderInterfaceConfig (HW_ENC_TIM, TIM_EncoderMode_TI12,
+			TIM_ICPolarity_Rising,
+			TIM_ICPolarity_Rising);
+	TIM_SetAutoreload(HW_ENC_TIM, enc_counts - 1);
+
+	// Filter
+	HW_ENC_TIM->CCMR1 |= 6 << 12 | 6 << 4;
+	HW_ENC_TIM->CCMR2 |= 6 << 4;
+
+	TIM_Cmd(HW_ENC_TIM, ENABLE);
+
+	// Interrupt on index pulse
+
+	// Connect EXTI Line to pin
+	SYSCFG_EXTILineConfig(HW_ENC_EXTI_PORTSRC, HW_ENC_EXTI_PINSRC);
+
+	// Configure EXTI Line
+	EXTI_InitStructure.EXTI_Line = HW_ENC_EXTI_LINE;
+	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
+	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+	EXTI_Init(&EXTI_InitStructure);
+
+	// Enable and set EXTI Line Interrupt to the highest priority
+	nvicEnableVector(HW_ENC_EXTI_CH, 0);
+	abi_config->is_init = 1;
+
+	abi_config_now = *abi_config;
+	return ENCODERS_OK;
+}
+
+float ABI_read_deg(void){
+	last_enc_angle = ((float)HW_ENC_TIM->CNT * 360.0) / (float)enc_counts;
+	return last_enc_angle;
+}
+

encoder/ABI.h

@@ -0,0 +1,15 @@
+
+
+#ifndef ENCODER_ABI_H_
+#define ENCODER_ABI_H_
+
+#include "datatypes.h"
+#include "encoder/encoder_datatype.h"
+
+void ABI_deinit(void);
+encoders_ret_t ABI_init(ABI_config_t *abi_config);
+
+float ABI_read_deg(void);
+
+
+#endif /* ENCODER_ABI_H_ */

encoder/encoder_datatype.h

@@ -23,7 +23,8 @@ typedef enum{
 	ENCODERS_TYPE_MT6816,
 	ENCODERS_TYPE_AD2S1205_SPI,
 	ENCODERS_TYPE_SINCOS,
-	ENCODERS_TYPE_TS5700N8501
+	ENCODERS_TYPE_TS5700N8501,
+	ENCODERS_TYPE_ABI
 }encoders_type_t;
 
 typedef struct{
@@ -38,6 +39,11 @@ typedef struct{
 	encoders_gpio_t gpio_sck;
 }encoders_spi_config_t;
 
+typedef struct{
+	encoders_gpio_t gpio_A;
+	encoders_gpio_t gpio_B;
+}encoders_incremental_config_t;
+
 typedef struct {
 	bool is_init;
 	encoders_refresh_rate_hz_t refresh_rate_hz; //TODO: REWRITE TO POINTER OF AS504x_config_t
@@ -56,10 +62,18 @@ typedef struct {
 	encoders_spi_config_t spi_config;
 }AD2S1205_config_t;
 
+typedef struct {
+	bool is_init;
+	uint32_t counts;
+	encoders_incremental_config_t incremental_config;
+}ABI_config_t;
+
 typedef struct{
 	encoders_type_t encoder_type;
 	encoders_refresh_rate_hz_t refresh_rate_hz;
 	encoders_spi_config_t spi_config;
+	uint32_t counts; // FOR INCREMENTAL INTERFACE
+	encoders_incremental_config_t incremental_config; // FOR INCREMENTAL INTERFACE
 }encoders_config_t;
 
 

encoder/encoder_hwconf.c

@@ -12,10 +12,15 @@
 #include "utils.h"
 #include <math.h>
 
+#define ENCODERS_CONFIG_UNUSED 0
+#define ENCODERS_INCREMENTAL_UNUSED {{ENCODERS_CONFIG_UNUSED}, {ENCODERS_CONFIG_UNUSED}}
+#define ENCODERS_SPI_UNUSED {{ENCODERS_CONFIG_UNUSED}, {ENCODERS_CONFIG_UNUSED}, {ENCODERS_CONFIG_UNUSED}, {ENCODERS_CONFIG_UNUSED}}
+#define ENCODERS_ABI_COUNTER_DEFAULT_VALUE 10000ul
+
  encoders_config_t conf_AS5047 = {
         ENCODERS_TYPE_AS504x,
         AS5047_SAMPLE_RATE_HZ,
-        {
+        {//SPI
                 {//NSS
                         HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3
                 },
@@ -28,13 +33,15 @@
                 {//SCK
                         HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1
                 }
-        }
+        },
+        ENCODERS_CONFIG_UNUSED,
+		ENCODERS_INCREMENTAL_UNUSED
 };
 
  encoders_config_t conf_MT6816 = {
         ENCODERS_TYPE_MT6816,
         MT6816_SAMPLE_RATE_HZ,
-        {
+        {//SPI
                 {//NSS
                         HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3
                 },
@@ -47,13 +54,15 @@
                 {//SCK
                         HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1
                 }
-         }
+         },
+	     ENCODERS_CONFIG_UNUSED,
+		 ENCODERS_INCREMENTAL_UNUSED
 };
 
  encoders_config_t conf_AD2S1205 = {
         ENCODERS_TYPE_AD2S1205_SPI,
         AD2S1205_SAMPLE_RATE_HZ,
-        {
+        {//SPI
                 {//NSS
                         HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3
                 },
@@ -66,6 +75,24 @@
                 {//SCK
                         HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1
                 }
-         }
+        },
+	     ENCODERS_CONFIG_UNUSED,
+		 ENCODERS_INCREMENTAL_UNUSED
 };
 
+ encoders_config_t conf_ABI = {
+		 ENCODERS_TYPE_ABI,
+		 ENCODERS_CONFIG_UNUSED,
+		 ENCODERS_SPI_UNUSED,
+		 ENCODERS_ABI_COUNTER_DEFAULT_VALUE,
+		 {// INCREMENTAL PROTOCOL
+				 {
+						 HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1
+				 },
+				 {
+					 	 HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2
+				 }
+
+		 }
+ };
+

encoder/encoder_hwconf.h

@@ -16,5 +16,6 @@
 extern encoders_config_t conf_AS5047;
 extern encoders_config_t conf_MT6816;
 extern encoders_config_t conf_AD2S1205;
+extern encoders_config_t conf_ABI;
 
 #endif /* ENCODER_ENCODER_HWCONF_H_ */

encoder/encoders.c

@@ -74,6 +74,26 @@ encoders_ret_t encoders_init(encoders_config_t *encoder_config)
 		index_found = true;
 		return ENCODERS_OK;
 	}
+	else if(encoder_config->encoder_type == ENCODERS_TYPE_ABI)
+	{
+		ABI_config_t abi_config;
+		encoders_ret_t encoder_ret;
+
+		abi_config.incremental_config = encoder_config->incremental_config;
+		abi_config.counts = encoder_config->counts;
+
+		encoder_ret = ABI_init(&abi_config);
+
+		if(ENCODERS_OK != encoder_ret || !abi_config.is_init)
+		{
+			encoder_type_now = ENCODERS_TYPE_NONE;
+			index_found = false;
+			return ENCODERS_ERROR;
+		}
+		encoder_type_now = ENCODERS_TYPE_ABI;
+		index_found = true;
+		return ENCODERS_OK;
+	}
 	else
 	{
 		encoder_type_now = ENCODERS_TYPE_NONE;
@@ -97,6 +117,10 @@ float encoders_read_deg(void)
 	{
 		return AD2S1205_read_deg();
 	}
+	else if(encoder_type_now == ENCODERS_TYPE_ABI)
+	{
+		return ABI_read_deg();
+	}
 	return 0.0;
 }
 
@@ -124,6 +148,10 @@ void encoders_deinit(void)
 	{
 		AD2S1205_deinit();
 	}
+	else if(encoder_type_now == ENCODERS_TYPE_ABI)
+	{
+		ABI_deinit();
+	}
 }
 
 float encoders_spi_get_error_rate(void) {

encoder/encoders.h

@@ -8,6 +8,7 @@
 #include "encoder/MT6816.h"
 #include "encoder/AD2S1205.h"
 #include "encoder/encoder_hwconf.h"
+#include "encoder/ABI.h"
 #include "hal.h"
 // GENERIC GLOBAL
 void encoders_deinit(void);