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lhye200
2025-10-15 00:22:56 +08:00
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/*********************************************************************************************************************
* TC264 Opensourec Library <20><><EFBFBD><EFBFBD>TC264 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
*
* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> TC264 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
*
* TC264 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><E6A3A8> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
*
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
* <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
*
* <20><>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>ͬʱ<CDAC>յ<EFBFBD>һ<EFBFBD><D2BB> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
*
* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ʹ<EFBFBD><CAB9> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD> libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <20>ļ<EFBFBD><C4BC><EFBFBD>
* <20><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <20>ļ<EFBFBD>
* <20><>ӭ<EFBFBD><D3AD>λʹ<CEBB>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> zf_driver_encoder
* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD>޹<EFBFBD>˾
* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ADS v1.10.2
* <20><><EFBFBD><EFBFBD>ƽ̨ TC264D
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
*
* <20>޸ļ<DEB8>¼
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-09-15 pudding first version
********************************************************************************************************************/
#include "IfxGpt12_IncrEnc.h"
#include "zf_common_debug.h"
#include "zf_driver_encoder.h"
static uint8 encoder_mode[TIM6_ENCODER + 1] = {0};
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> gptn ѡ<><D1A1><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD>GPT12<31><32>ʱ<EFBFBD><CAB1>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> count_pin <20><><EFBFBD>ü<EFBFBD><C3BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> dir_pin <20><><EFBFBD>ü<EFBFBD><C3BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> encoder_mapping_set(gptn, ch1_pin, ch2_pin);
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
static void encoder_mapping_set (encoder_index_enum encoder_n, encoder_channel1_enum ch1_pin, encoder_channel2_enum ch2_pin)
{
IfxGpt12_TxIn_In *ch1;
IfxGpt12_TxEud_In *ch2;
switch(encoder_n)
{
case TIM2_ENCODER:
{
if (TIM2_ENCODER_CH1_P00_7 == ch1_pin) ch1 = &IfxGpt120_T2INA_P00_7_IN;
else if (TIM2_ENCODER_CH1_P33_7 == ch1_pin) ch1 = &IfxGpt120_T2INB_P33_7_IN;
else zf_assert(FALSE);
if (TIM2_ENCODER_CH2_P00_8 == ch2_pin) ch2 = &IfxGpt120_T2EUDA_P00_8_IN;
else if (TIM2_ENCODER_CH2_P33_6 == ch2_pin) ch2 = &IfxGpt120_T2EUDB_P33_6_IN;
else zf_assert(FALSE);
}break;
case TIM3_ENCODER:
{
if (TIM3_ENCODER_CH1_P02_6 == ch1_pin) ch1 = &IfxGpt120_T3INA_P02_6_IN;
else zf_assert(FALSE);
if (TIM3_ENCODER_CH2_P02_7 == ch2_pin) ch2 = &IfxGpt120_T3EUDA_P02_7_IN;
else zf_assert(FALSE);
}break;
case TIM4_ENCODER:
{
if (TIM4_ENCODER_CH1_P02_8 == ch1_pin) ch1 = &IfxGpt120_T4INA_P02_8_IN;
else zf_assert(FALSE);
if (TIM4_ENCODER_CH2_P00_9 == ch2_pin) ch2 = &IfxGpt120_T4EUDA_P00_9_IN;
else if (TIM4_ENCODER_CH2_P33_5 == ch2_pin) ch2 = &IfxGpt120_T4EUDB_P33_5_IN;
else zf_assert(FALSE);
}break;
case TIM5_ENCODER:
{
if (TIM5_ENCODER_CH1_P21_7 == ch1_pin) ch1 = &IfxGpt120_T5INA_P21_7_IN;
else if (TIM5_ENCODER_CH1_P10_3 == ch1_pin) ch1 = &IfxGpt120_T5INB_P10_3_IN;
else zf_assert(FALSE);
if (TIM5_ENCODER_CH2_P21_6 == ch2_pin) ch2 = &IfxGpt120_T5EUDA_P21_6_IN;
else if (TIM5_ENCODER_CH2_P10_1 == ch2_pin) ch2 = &IfxGpt120_T5EUDB_P10_1_IN;
else zf_assert(FALSE);
}break;
case TIM6_ENCODER:
{
if (TIM6_ENCODER_CH1_P20_3 == ch1_pin) ch1 = &IfxGpt120_T6INA_P20_3_IN;
else if (TIM6_ENCODER_CH1_P10_2 == ch1_pin) ch1 = &IfxGpt120_T6INB_P10_2_IN;
else zf_assert(FALSE);
if (TIM6_ENCODER_CH2_P20_0 == ch2_pin) ch2 = &IfxGpt120_T6EUDA_P20_0_IN;
else zf_assert(FALSE);
}break;
}
#pragma warning 507
IfxGpt12_initTxInPinWithPadLevel(ch1, IfxPort_InputMode_pullUp, IfxPort_PadDriver_cmosAutomotiveSpeed1);
IfxGpt12_initTxEudInPinWithPadLevel(ch2, IfxPort_InputMode_pullUp, IfxPort_PadDriver_cmosAutomotiveSpeed1);
#pragma warning default
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݲɼ<DDB2>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> gptn ѡ<><D1A1><EFBFBD><EFBFBD>ʹ<EFBFBD>õĶ<C3B5>ʱ<EFBFBD><CAB1>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> int16 speed; speed = encoder_get_count(TIM2_ENCODER); // ʹ<><CAB9>T2<54><32>ʱ<EFBFBD><CAB1>
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
int16 encoder_get_count (encoder_index_enum encoder_n)
{
int16 encoder_data = 0;
switch(encoder_n)
{
case TIM2_ENCODER: encoder_data = (int16)IfxGpt12_T2_getTimerValue(&MODULE_GPT120); break;
case TIM3_ENCODER: encoder_data = (int16)IfxGpt12_T3_getTimerValue(&MODULE_GPT120); break;
case TIM4_ENCODER: encoder_data = (int16)IfxGpt12_T4_getTimerValue(&MODULE_GPT120); break;
case TIM5_ENCODER: encoder_data = (int16)IfxGpt12_T5_getTimerValue(&MODULE_GPT120); break;
case TIM6_ENCODER: encoder_data = (int16)IfxGpt12_T6_getTimerValue(&MODULE_GPT120); break;
default: encoder_data = 0;
}
if(0 == encoder_mode[encoder_n])
{
encoder_data = encoder_data / 4;
}
return encoder_data;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> gptn ѡ<><D1A1><EFBFBD><EFBFBD>ʹ<EFBFBD>õĶ<C3B5>ʱ<EFBFBD><CAB1>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> encoder_clear_count(TIM2_ENCODER);// ʹ<><CAB9>T2<54><32>ʱ<EFBFBD><CAB1>
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
void encoder_clear_count (encoder_index_enum encoder_n)
{
switch(encoder_n)
{
case TIM2_ENCODER: IfxGpt12_T2_setTimerValue(&MODULE_GPT120, 0); break;
case TIM3_ENCODER: IfxGpt12_T3_setTimerValue(&MODULE_GPT120, 0); break;
case TIM4_ENCODER: IfxGpt12_T4_setTimerValue(&MODULE_GPT120, 0); break;
case TIM5_ENCODER: IfxGpt12_T5_setTimerValue(&MODULE_GPT120, 0); break;
case TIM6_ENCODER: IfxGpt12_T6_setTimerValue(&MODULE_GPT120, 0); break;
}
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>ʼ<EFBFBD><CABC>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> encoder_n ѡ<><D1A1><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD>GPT12<31><32>ʱ<EFBFBD><CAB1>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> ch1_pin ENCODER ͨ<><CDA8> 1
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> ch2_pin ENCODER ͨ<><CDA8> 2
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> encoder_quad_init(TIM2_ENCODER, TIM2_ENCODER_CH1_P00_7, TIM2_ENCODER_CH2_P00_8);// ʹ<><CAB9>T2<54><32>ʱ<EFBFBD><CAB1> P00_7<5F><37><EFBFBD><EFBFBD>ΪAͨ<41><CDA8> P00_8<5F><38><EFBFBD><EFBFBD>ΪBͨ<42><CDA8>
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
void encoder_quad_init (encoder_index_enum encoder_n, encoder_channel1_enum ch1_pin, encoder_channel2_enum ch2_pin)
{
// zf_assert(encoder_n <= TIM4_ENCODER); // <20><>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD> TIM2 TIM3 TIM4֧<34><D6A7> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﱨ<EFBFBD><EFB1A8> <20><><EFBFBD>Գ<EFBFBD><D4B3><EFBFBD>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>encoder_dir_init
IfxGpt12_enableModule(&MODULE_GPT120);
IfxGpt12_setGpt1BlockPrescaler(&MODULE_GPT120, IfxGpt12_Gpt1BlockPrescaler_4);
IfxGpt12_setGpt2BlockPrescaler(&MODULE_GPT120, IfxGpt12_Gpt2BlockPrescaler_4);
encoder_mapping_set(encoder_n, ch1_pin, ch2_pin);
switch(encoder_n)
{
case TIM2_ENCODER:
{
IfxGpt12_T2_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
IfxGpt12_T2_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T2_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
IfxGpt12_T2_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
case TIM3_ENCODER:
{
IfxGpt12_T3_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
IfxGpt12_T3_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T3_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
IfxGpt12_T3_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
case TIM4_ENCODER:
{
IfxGpt12_T4_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
IfxGpt12_T4_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T4_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
IfxGpt12_T4_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
case TIM5_ENCODER:
{
IfxGpt12_T5_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
IfxGpt12_T5_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T5_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
IfxGpt12_T5_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
case TIM6_ENCODER:
{
IfxGpt12_T6_setCounterInputMode(&MODULE_GPT120, IfxGpt12_IncrementalInterfaceInputMode_bothEdgesTxINOrTxEUD);
IfxGpt12_T6_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T6_setMode (&MODULE_GPT120, IfxGpt12_Mode_incrementalInterfaceEdgeDetection);
IfxGpt12_T6_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
}
encoder_mode[encoder_n] = 0;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>ʼ<EFBFBD><CABC>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> encoder_n ѡ<><D1A1><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD>GPT12<31><32>ʱ<EFBFBD><CAB1>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> ch1_pin <20><><EFBFBD>ü<EFBFBD><C3BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> ch2_pin <20><><EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> encoder_quad_init(TIM2_ENCODER, TIM2_ENCODER_CH1_P00_7, TIM2_ENCODER_CH2_P00_8);// ʹ<><CAB9>T2<54><32>ʱ<EFBFBD><CAB1> P00_7<5F><37><EFBFBD>Ž<EFBFBD><C5BD>м<EFBFBD><D0BC><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>P00_8<5F><38><EFBFBD><EFBFBD>
// <20><>ע<EFBFBD><D7A2>Ϣ Ӣ<><D3A2><EFBFBD><EFBFBD>ϵ<EFBFBD>е<EFBFBD>Ƭ<EFBFBD><C6AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˴<EFBFBD><CBB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿڷ<D3BF><DAB7><EFBFBD><EFBFBD>û<EFBFBD>ʹ<EFBFBD><CAB9>
//-------------------------------------------------------------------------------------------------------------------
void encoder_dir_init (encoder_index_enum encoder_n, encoder_channel1_enum count_pin, encoder_channel2_enum dir_pin)
{
IfxGpt12_enableModule(&MODULE_GPT120);
IfxGpt12_setGpt1BlockPrescaler(&MODULE_GPT120, IfxGpt12_Gpt1BlockPrescaler_4);
IfxGpt12_setGpt2BlockPrescaler(&MODULE_GPT120, IfxGpt12_Gpt2BlockPrescaler_4);
encoder_mapping_set(encoder_n, count_pin, dir_pin);
switch(encoder_n)
{
case TIM2_ENCODER:
{
IfxGpt12_T2_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
IfxGpt12_T2_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T2_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
IfxGpt12_T2_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
case TIM3_ENCODER:
{
IfxGpt12_T3_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
IfxGpt12_T3_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T3_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
IfxGpt12_T3_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
case TIM4_ENCODER:
{
IfxGpt12_T4_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
IfxGpt12_T4_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T4_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
IfxGpt12_T4_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
case TIM5_ENCODER:
{
IfxGpt12_T5_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
IfxGpt12_T5_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T5_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
IfxGpt12_T5_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
case TIM6_ENCODER:
{
IfxGpt12_T6_setCounterInputMode(&MODULE_GPT120, IfxGpt12_CounterInputMode_risingEdgeTxIN);
IfxGpt12_T6_setDirectionSource (&MODULE_GPT120, IfxGpt12_TimerDirectionSource_external);
IfxGpt12_T6_setMode (&MODULE_GPT120, IfxGpt12_Mode_counter);
IfxGpt12_T6_run (&MODULE_GPT120, IfxGpt12_TimerRun_start);
}break;
}
encoder_mode[encoder_n] = 1;
}