4ecbc6a0ba
1. pl端的encoder模块实现了可选的外部复位信号 2. pl端修改encoder模块的ENCODER_CR寄存器复位值，为仅限内部复位以及内部默认处于复位状态 3. 驱动层实现外部复位的开启和关闭功能，驱动open时退出默认的复位清零状态 由于驱动程序已在open时退出复位状态，应用程序可不做更改，驱动程序close后不会自动切换回复位状态 4. 更新了驱动测试应用程序
157 lines
5.4 KiB
C
157 lines
5.4 KiB
C
/**
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* @file encoder_dev.c
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* @brief Manage the hardware encoder unit
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* @author miaow, lyz (3703781@qq.com)
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* @version 0.11
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* @date 2022/04/26
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* @mainpage github.com/NanjingForestryUniversity
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*
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* @copyright Copyright (c) 2023 miaow, lyz
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*
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* @par Changelog:
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* <table>
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* <tr><th>Date <th>Version <th>Author <th>Description
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* <tr><td>2022/06/11 <td>0.9 <td>Miaow <td>Write this module
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* <tr><td>2022/04/11 <td>0.10 <td>lyz <td>Add seprate dividers up to 4 cameras
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* <tr><td>2023/04/26 <td>0.11 <td>Miaow <td>Add Clear mode
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* </table>
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*/
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#include <stdlib.h>
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#include <encoder_dev.h>
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#include <stdint.h>
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#include <common.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#define ENCODER_CMD_FUNCTION_CLEAR 1
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#define ENCODER_CMD_FUNCTION_VIRT_INPUT 2
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static int encoder_dev_fd = -1;
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static char perror_buffer[128];
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static struct
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{
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uint32_t valve_divide_value;
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uint32_t camera_a_divide_value;
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uint32_t camera_b_divide_value;
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uint32_t camera_c_divide_value;
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uint32_t camera_d_divide_value;
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} encoder_dev_divide_value_structure;
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/**
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* @brief Initialize the hardware encoder unit
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* @note This function just open the file descriptor of the hardware encoder unit
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* @return 0 - success, other - error
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*/
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int encoder_dev_init()
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{
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encoder_dev_fd = open(ENCODER_DEV_PATH, O_RDWR);
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ON_ERROR_RET(encoder_dev_fd, "", "", -1);
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encoder_dev_set_divide(100, 100, 100, 100, 100);
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return 0;
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}
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/**
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* @brief Set the two divider in the hareware encoder unit.
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* @param valve_divide the frequency division factor between the encoder signal and valve output
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* Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter
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* @param camera_a_divide the frequency division factor between the encoder signal and camera a triggle signal
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* Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter
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* @param camera_b_divide the frequency division factor between the encoder signal and camera b triggle signal
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* Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter
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* @param camera_c_divide the frequency division factor between the encoder signal and camera c triggle signal
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* Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter
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* @param camera_d_divide the frequency division factor between the encoder signal and camera d triggle signal
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* Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter
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* @return 0 - success, other - error
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*/
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int encoder_dev_set_divide(int valve_divide,
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int camera_a_divide,
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int camera_b_divide,
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int camera_c_divide,
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int camera_d_divide)
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{
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if (valve_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET)
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encoder_dev_divide_value_structure.valve_divide_value = valve_divide;
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if (camera_a_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET)
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encoder_dev_divide_value_structure.camera_a_divide_value = camera_a_divide;
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if (camera_b_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET)
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encoder_dev_divide_value_structure.camera_b_divide_value = camera_b_divide;
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if (camera_c_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET)
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encoder_dev_divide_value_structure.camera_c_divide_value = camera_c_divide;
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if (camera_d_divide != ENCODER_DEV_DIVIDE_NOT_TO_SET)
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encoder_dev_divide_value_structure.camera_d_divide_value = camera_d_divide;
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ssize_t size = write(encoder_dev_fd, &encoder_dev_divide_value_structure, sizeof(encoder_dev_divide_value_structure));
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int res = -(size != sizeof(encoder_dev_divide_value_structure));
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ON_ERROR_RET(res, "size=", "", -1);
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return 0;
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}
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/**
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* @brief Set the trig signal to internal or external.
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* @param count the count of virtual trig cycles.
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* @return 0 - success, other - error
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*/
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int encoder_dev_virtual_trig(int count)
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{
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int res = ioctl(encoder_dev_fd, _IOW('D', ENCODER_CMD_FUNCTION_VIRT_INPUT, int), count);
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ON_ERROR_RET(res, "", "", -1);
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return 0;
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}
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/**
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* @brief Set the trig signal to internal or external.
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* @param mode ENCODER_TRIG_MODE_EXTERNEL for externally trig, or ENCODER_TRIG_MODE_INTERNEL for internally trig
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* @return 0 - success, other - error
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*/
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int encoder_dev_set_trigmod(encoder_dev_trig_mode_enum mode)
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{
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int res = ioctl(encoder_dev_fd, _IOW('D', mode, int));
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ON_ERROR_RET(res, "", "", -1);
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return 0;
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}
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/**
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* @brief Set the clr signal to internal or both external and internal.
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* @return 0 - success, other - error
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*/
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int encoder_dev_set_clrmod(encoder_dev_clear_mode_enum mode)
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{
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int res = ioctl(encoder_dev_fd, _IOW('D', mode, int));
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ON_ERROR_RET(res, "", "", -1);
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return 0;
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}
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/**
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* @brief Claer the cache in hardware encoder unit.
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* @note The frequency division counters continutly count pluses of external/internal signal.
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* This functhion clears the counters.
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* @return 0 - success, other - error
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*/
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int encoder_dev_flush()
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{
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int res = ioctl(encoder_dev_fd, _IOW('D', ENCODER_CMD_FUNCTION_CLEAR, 0));
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ON_ERROR_RET(res, "", "", -1);
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return 0;
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}
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/**
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* @brief Deinitialize the hardware encoder unit.
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* @note This function just close the file descriptor of the encoder unit.
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* @return 0 - success, other - error
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*/
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int encoder_dev_deinit()
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{
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int res = close(encoder_dev_fd);
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ON_ERROR_RET(res, "", "", -1);
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return 0;
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}
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