From c1c135c9718201d53342c8d97064dd29b672c52d Mon Sep 17 00:00:00 2001 From: Eric <1018965095@qq.com> Date: Mon, 25 May 2026 20:15:46 +0800 Subject: [PATCH] [bsp][Novosense] optimize ECAP driver --- .../libraries/HAL_Drivers/drivers/drv_ecap.c | 255 +++++++++++++++--- .../libraries/HAL_Drivers/drivers/drv_ecap.h | 4 +- .../ns800/ns800rt7p65-nssinepad/.config | 3 +- .../ns800/ns800rt7p65-nssinepad/board/Kconfig | 29 ++ .../ns800/ns800rt7p65-nssinepad/rtconfig.h | 1 - 5 files changed, 255 insertions(+), 37 deletions(-) diff --git a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_ecap.c b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_ecap.c index aca167fc794..656e10eff95 100644 --- a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_ecap.c +++ b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_ecap.c @@ -18,21 +18,163 @@ #define DBG_LVL DBG_INFO #include -static const struct rt_ecap_config ecap1_config = +enum { - .name = "ecap1", - .instance = ECAP1, - .irq_type = ECAP1_IRQn, - .input_xbar = XBAR_INPUT7, - .input_source = GPIO_PIN_16, - .gpio_port = GPIOA, - .gpio_pin = GPIO_PIN_16, - .gpio_mux = ALT0_FUNCTION, +#ifdef BSP_USING_ECAP1 + ECAP1_INDEX, +#endif +#ifdef BSP_USING_ECAP2 + ECAP2_INDEX, +#endif +#ifdef BSP_USING_ECAP3 + ECAP3_INDEX, +#endif +#ifdef BSP_USING_ECAP4 + ECAP4_INDEX, +#endif +#ifdef BSP_USING_ECAP5 + ECAP5_INDEX, +#endif +#ifdef BSP_USING_ECAP6 + ECAP6_INDEX, +#endif +#ifdef BSP_USING_ECAP7 + ECAP7_INDEX, +#endif }; -static struct rt_ecap_device ecap1_dev; - +#ifdef BSP_USING_ECAP1 void ECAP1_IRQHandler (void); +#endif +#ifdef BSP_USING_ECAP2 +void ECAP2_IRQHandler (void); +#endif +#ifdef BSP_USING_ECAP3 +void ECAP3_IRQHandler (void); +#endif +#ifdef BSP_USING_ECAP4 +void ECAP4_IRQHandler (void); +#endif +#ifdef BSP_USING_ECAP5 +void ECAP5_IRQHandler (void); +#endif +#ifdef BSP_USING_ECAP6 +void ECAP6_IRQHandler (void); +#endif +#ifdef BSP_USING_ECAP7 +void ECAP7_IRQHandler (void); +#endif + +static const struct rt_ecap_config ecap_config[] = +{ +#ifdef BSP_USING_ECAP1 + { + .name = "ecap1", + .instance = ECAP1, + .irq_type = ECAP1_IRQn, + .input_signal = ECAP_INPUT_XBAR_INPUT7, + .input_xbar = XBAR_INPUT7, + .input_source = GPIO_PIN_16, + .pre_scaler = 30U, + .gpio_port = GPIOA, + .gpio_pin = GPIO_PIN_16, + .gpio_mux = ALT0_FUNCTION, + .irq_handler = ECAP1_IRQHandler + }, +#endif +#ifdef BSP_USING_ECAP2 + { + .name = "ecap2", + .instance = ECAP2, + .irq_type = ECAP2_IRQn, + .input_signal = ECAP_INPUT_XBAR_INPUT8, + .input_xbar = XBAR_INPUT8, + .input_source = GPIO_PIN_17, + .pre_scaler = 30U, + .gpio_port = GPIOA, + .gpio_pin = GPIO_PIN_17, + .gpio_mux = ALT0_FUNCTION, + .irq_handler = ECAP2_IRQHandler + } +#endif +#ifdef BSP_USING_ECAP3 + { + .name = "ecap3", + .instance = ECAP3, + .irq_type = ECAP3_IRQn, + .input_signal = ECAP_INPUT_XBAR_INPUT3, + .input_xbar = XBAR_INPUT3, + .input_source = GPIO_PIN_14, + .pre_scaler = 30U, + .gpio_port = GPIOA, + .gpio_pin = GPIO_PIN_14, + .gpio_mux = ALT0_FUNCTION, + .irq_handler = ECAP3_IRQHandler + } +#endif +#ifdef BSP_USING_ECAP4 + { + .name = "ecap4", + .instance = ECAP4, + .irq_type = ECAP4_IRQn, + .input_signal = ECAP_INPUT_XBAR_INPUT4, + .input_xbar = XBAR_INPUT4, + .input_source = GPIO_PIN_15, + .pre_scaler = 30U, + .gpio_port = GPIOA, + .gpio_pin = GPIO_PIN_15, + .gpio_mux = ALT0_FUNCTION, + .irq_handler = ECAP4_IRQHandler + } +#endif +#ifdef BSP_USING_ECAP5 + { + .name = "ecap5", + .instance = ECAP5, + .irq_type = ECAP5_IRQn, + .input_signal = ECAP_INPUT_XBAR_INPUT6, + .input_xbar = XBAR_INPUT6, + .input_source = GPIO_PIN_9, + .pre_scaler = 30U, + .gpio_port = GPIOA, + .gpio_pin = GPIO_PIN_9, + .gpio_mux = ALT0_FUNCTION, + .irq_handler = ECAP5_IRQHandler + } +#endif +#ifdef BSP_USING_ECAP6 + { + .name = "ecap6", + .instance = ECAP6, + .irq_type = ECAP6_IRQn, + .input_signal = ECAP_INPUT_XBAR_INPUT6, + .input_xbar = XBAR_INPUT6, + .input_source = GPIO_PIN_9, + .pre_scaler = 30U, + .gpio_port = GPIOA, + .gpio_pin = GPIO_PIN_9, + .gpio_mux = ALT0_FUNCTION, + .irq_handler = ECAP6_IRQHandler + } +#endif +#ifdef BSP_USING_ECAP7 + { + .name = "ecap7", + .instance = ECAP7, + .irq_type = ECAP7_IRQn, + .input_signal = ECAP_INPUT_XBAR_INPUT6, + .input_xbar = XBAR_INPUT6, + .input_source = GPIO_PIN_9, + .pre_scaler = 30U, + .gpio_port = GPIOA, + .gpio_pin = GPIO_PIN_9, + .gpio_mux = ALT0_FUNCTION, + .irq_handler = ECAP7_IRQHandler + } +#endif +}; + +static struct rt_ecap_device ecap_dev[sizeof(ecap_config) / sizeof(ecap_config[0])] = {0}; /* * @@ -88,7 +230,7 @@ static void ecap_hw_init (const struct rt_ecap_config *config) */ ECAP_enableCaptureMode(config->instance); ECAP_setCaptureMode(config->instance, ECAP_CONTINUOUS_CAPTURE_MODE, ECAP_EVENT_4); - ECAP_setEventPrescaler(config->instance, 0U); + ECAP_setEventPrescaler(config->instance, config->pre_scaler); ECAP_setEventPolarity(config->instance, ECAP_EVENT_1, ECAP_EVNT_FALLING_EDGE); ECAP_setEventPolarity(config->instance, ECAP_EVENT_2, ECAP_EVNT_RISING_EDGE); @@ -100,7 +242,7 @@ static void ecap_hw_init (const struct rt_ecap_config *config) ECAP_enableCounterResetOnEvent(config->instance, ECAP_EVENT_3); ECAP_enableCounterResetOnEvent(config->instance, ECAP_EVENT_4); - ECAP_selectECAPInput(config->instance, ECAP_INPUT_XBAR_INPUT7); + ECAP_selectECAPInput(config->instance, config->input_signal); ECAP_setPhaseShiftCount(config->instance, 0U); ECAP_enableLoadCounter(config->instance); @@ -215,7 +357,7 @@ static rt_err_t rt_ecap_open (rt_device_t dev, rt_uint16_t oflag) ECAP_reArm(ecap->config->instance); ECAP_enableInterrupt(ecap->config->instance, ECAP_ECEINT_CEVT4_M); - Interrupt_register(ecap->config->irq_type, &ECAP1_IRQHandler); + Interrupt_register(ecap->config->irq_type, ecap->config->irq_handler); Interrupt_enable(ecap->config->irq_type); } @@ -273,7 +415,7 @@ static rt_ssize_t rt_ecap_read (rt_device_t dev, rt_off_t pos, void *buffer, rt_ * 阻塞等待一次完整 capture。 * 如果不希望阻塞，可以改成 RT_WAITING_NO。 */ - if (rt_sem_take(&ecap->rx_sem, RT_WAITING_FOREVER) != RT_EOK) + if (rt_sem_take(&ecap->rx_sem, RT_WAITING_NO) != RT_EOK) { return 0; } @@ -349,7 +491,7 @@ static rt_err_t rt_ecap_control (rt_device_t dev, int cmd, void *args) case ECAP_CMD_ENABLE_IRQ: ECAP_enableInterrupt(ecap->config->instance, ECAP_ECEINT_CEVT4_M); - Interrupt_register(ecap->config->irq_type, &ECAP1_IRQHandler); + Interrupt_register(ecap->config->irq_type, ecap->config->irq_handler); Interrupt_enable(ecap->config->irq_type); break; @@ -413,34 +555,26 @@ static rt_err_t rt_hw_ecap_register (struct rt_ecap_device *ecap, const struct r int rt_hw_ecap_init (void) { - rt_err_t ret; - - ret = rt_hw_ecap_register(&ecap1_dev, &ecap1_config); + rt_err_t result = RT_EOK; + rt_size_t i; - if (ret != RT_EOK) + for (i = 0; i < (sizeof(ecap_config) / sizeof(ecap_config[0])); i++) { - LOG_E("register ecap1 failed, ret = %d", ret); - return ret; + result = rt_hw_ecap_register(&ecap_dev[i], &ecap_config[i]); + RT_ASSERT(result == RT_EOK); } - LOG_I("ecap1 register done"); - - return RT_EOK; + return result; } INIT_DEVICE_EXPORT(rt_hw_ecap_init); /* * */ -void rt_hw_ecap1_isr(void) +void rt_hw_ecap_isr(struct rt_ecap_device *ecap) { - struct rt_ecap_device *ecap; struct rt_ecap_capture cap; - ecap = &ecap1_dev; - - rt_interrupt_enter(); - rt_memset(&cap, 0, sizeof(cap)); cap.cap1 = ECAP_getEventTimeStamp(ecap->config->instance, ECAP_EVENT_1); @@ -465,15 +599,70 @@ void rt_hw_ecap1_isr(void) ecap->rx_callback((struct rt_ecap_capture *)&ecap->last_capture, ecap->rx_user_data); } +} +#ifdef BSP_USING_ECAP1 +void ECAP1_IRQHandler (void) +{ + rt_interrupt_enter(); + rt_hw_ecap_isr(&ecap_dev[ECAP1_INDEX]); rt_interrupt_leave(); } +#endif -void ECAP1_IRQHandler (void) +#ifdef BSP_USING_ECAP2 +void ECAP2_IRQHandler (void) +{ + rt_interrupt_enter(); + rt_hw_ecap_isr(&ecap_dev[ECAP2_INDEX]); + rt_interrupt_leave(); +} +#endif + +#ifdef BSP_USING_ECAP3 +void ECAP3_IRQHandler (void) +{ + rt_interrupt_enter(); + rt_hw_ecap_isr(&ecap_dev[ECAP3_INDEX]); + rt_interrupt_leave(); +} +#endif + +#ifdef BSP_USING_ECAP4 +void ECAP4_IRQHandler (void) { - rt_hw_ecap1_isr(); + rt_interrupt_enter(); + rt_hw_ecap_isr(&ecap_dev[ECAP4_INDEX]); + rt_interrupt_leave(); } +#endif +#ifdef BSP_USING_ECAP5 +void ECAP5_IRQHandler (void) +{ + rt_interrupt_enter(); + rt_hw_ecap_isr(&ecap_dev[ECAP5_INDEX]); + rt_interrupt_leave(); +} +#endif + +#ifdef BSP_USING_ECAP6 +void ECAP6_IRQHandler (void) +{ + rt_interrupt_enter(); + rt_hw_ecap_isr(&ecap_dev[ECAP6_INDEX]); + rt_interrupt_leave(); +} +#endif + +#ifdef BSP_USING_ECAP7 +void ECAP7_IRQHandler (void) +{ + rt_interrupt_enter(); + rt_hw_ecap_isr(&ecap_dev[ECAP7_INDEX]); + rt_interrupt_leave(); +} +#endif #endif /* #if defined(BSP_USING_ECAP) */ diff --git a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_ecap.h b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_ecap.h index 23ffb0ac369..3ee81441a49 100644 --- a/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_ecap.h +++ b/bsp/novosns/ns800/libraries/HAL_Drivers/drivers/drv_ecap.h @@ -81,10 +81,10 @@ struct rt_ecap_config ECAP_TypeDef *instance; IRQn_Type irq_type; - + ECAP_InputCaptureSignals input_signal; rt_uint32_t input_xbar; - rt_uint32_t ecap_input; rt_uint32_t input_source; + rt_uint32_t pre_scaler; GPIO_TypeDef *gpio_port; GPIO_PinNum gpio_pin; diff --git a/bsp/novosns/ns800/ns800rt7p65-nssinepad/.config b/bsp/novosns/ns800/ns800rt7p65-nssinepad/.config index 5eb647dc85a..adf30071e85 100644 --- a/bsp/novosns/ns800/ns800rt7p65-nssinepad/.config +++ b/bsp/novosns/ns800/ns800rt7p65-nssinepad/.config @@ -268,6 +268,7 @@ CONFIG_RT_CAN_NB_TX_FIFO_SIZE=256 # CONFIG_RT_USING_LCD is not set # CONFIG_RT_USING_HWCRYPTO is not set # CONFIG_RT_USING_WIFI is not set +# CONFIG_RT_USING_RPMSG is not set # CONFIG_RT_USING_BLK is not set # CONFIG_RT_USING_REGULATOR is not set # CONFIG_RT_USING_POWER_SUPPLY is not set @@ -1450,7 +1451,7 @@ CONFIG_BSP_USING_UART1=y # CONFIG_BSP_USING_UART2 is not set # CONFIG_BSP_USING_UART3 is not set # CONFIG_BSP_USING_UART4 is not set -CONFIG_BSP_USING_ECAP=y +# CONFIG_BSP_USING_ECAP is not set CONFIG_BSP_USING_CAN=y CONFIG_BSP_USING_CANFD1=y # end of On-chip Peripheral Drivers diff --git a/bsp/novosns/ns800/ns800rt7p65-nssinepad/board/Kconfig b/bsp/novosns/ns800/ns800rt7p65-nssinepad/board/Kconfig index c4bbdf3080b..4a79938a84e 100644 --- a/bsp/novosns/ns800/ns800rt7p65-nssinepad/board/Kconfig +++ b/bsp/novosns/ns800/ns800rt7p65-nssinepad/board/Kconfig @@ -92,6 +92,35 @@ menu "On-chip Peripheral Drivers" menuconfig BSP_USING_ECAP bool "Enable ECAP" default n + if BSP_USING_ECAP + menuconfig BSP_USING_ECAP1 + bool "Enable ECAP1" + default n + + menuconfig BSP_USING_ECAP2 + bool "Enable ECAP2" + default n + + menuconfig BSP_USING_ECAP3 + bool "Enable ECAP3" + default n + + menuconfig BSP_USING_ECAP4 + bool "Enable ECAP4" + default n + + menuconfig BSP_USING_ECAP5 + bool "Enable ECAP5" + default n + + menuconfig BSP_USING_ECAP6 + bool "Enable ECAP6" + default n + + menuconfig BSP_USING_ECAP7 + bool "Enable ECAP7" + default n + endif menuconfig BSP_USING_CAN bool "Enable CAN" diff --git a/bsp/novosns/ns800/ns800rt7p65-nssinepad/rtconfig.h b/bsp/novosns/ns800/ns800rt7p65-nssinepad/rtconfig.h index 380f2986c76..9300af36c69 100644 --- a/bsp/novosns/ns800/ns800rt7p65-nssinepad/rtconfig.h +++ b/bsp/novosns/ns800/ns800rt7p65-nssinepad/rtconfig.h @@ -421,7 +421,6 @@ #define BSP_USING_UART #define BSP_NS800_UART_TX_TIMEOUT 6000 #define BSP_USING_UART1 -#define BSP_USING_ECAP #define BSP_USING_CAN #define BSP_USING_CANFD1 /* end of On-chip Peripheral Drivers */