p_lusterinc_camera_focallength_encoder_reset/usersrc/encoder.c

#include "encoder.h"
#include "zboard.h"
#include <stdio.h>
#include "zport.h"
#include "udpclient.h"

static encoder_light_state_t camera_encoder_state = STANDBY;
static encoder_light_state_t driven_encoder_gear_state = STANDBY;
static uint32_t camera_encoder_lastprocess = 0;
static uint32_t driven_encoder_gear_lastprocess = 0;

static encoder_t m_uarts[] = {
    {&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2},     // 相机编码器
    {&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2} // 从动编码器
};

void encoder_all_start(void)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        HAL_TIM_Encoder_Start(m_uarts[i].tim_handler, m_uarts[i].tim_channel);
    }
}

void encoder_all_stop(void)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        HAL_TIM_Encoder_Stop(m_uarts[i].tim_handler, m_uarts[i].tim_channel);
    }
}

bool encoder_clear_counter(encoder_usage_t encoder)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        if (encoder == i)
        {
            __HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0;
            return true;
        }
    }

    return false;
}

void encoder_all_clear_counter(void)
{
    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
    {
        __HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0; // 计数器值重新置位
    }
}

bool encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value)
{
    bool get_encoder_value_flag = false;
    switch (encoder)
    {
    case CAMERA_ENCODER:
        *encoder_value += (short)__HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler);
        __HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler) = 0; /* 清零 */
        get_encoder_value_flag = true;
        break;
    case DRIVEN_ENCODER_GEAR:
        *encoder_value += (short)__HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler);
        __HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler) = 0; /* 清零 */
        get_encoder_value_flag = true;
        break;

    default:
        break;
    }
    return get_encoder_value_flag;
}

void encoder_light_schedule(void)
{
    static bool camera_encoder_light_state;
    static bool driven_encoder_light_state;
    if (camera_encoder_state == STANDBY)
    {
        if (sys_haspassedms(camera_encoder_lastprocess) > 500)
        {
            camera_encoder_lastprocess = HAL_GetTick();
            if (camera_encoder_light_state)
            {
                encoder_light_switch_set_color_and_brightness(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_BLUE, encoder_light_max_brightness);
            }
            else
            {
                encoder_switch_close_light(CAMERA_ENCODER);
            }
            camera_encoder_light_state = !camera_encoder_light_state;
        }
    }

    if (driven_encoder_gear_state == STANDBY)
    {
        if (sys_haspassedms(driven_encoder_gear_lastprocess) > 500)
        {
            driven_encoder_gear_lastprocess = HAL_GetTick();
            if (driven_encoder_light_state)
            {
                encoder_light_switch_set_color_and_brightness(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_BLUE, encoder_light_max_brightness);
            }
            else
            {
                encoder_switch_close_light(DRIVEN_ENCODER_GEAR);
            }
            driven_encoder_light_state = !driven_encoder_light_state;
        }
    }
}

void encoder_set_state(encoder_usage_t encoder, encoder_light_state_t state)
{
    /* 主动上报的时候常亮，接收到触发指令直接翻转led，待机中0.5s周期闪烁 */
    if (encoder == CAMERA_ENCODER)
    {
        camera_encoder_state = state;
        if (state == STANDBY)
        {
            camera_encoder_lastprocess = HAL_GetTick();
            // HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
        }
        else if (state == WORKING)
        {
            /* 如果工作状态的时候触发了genlock等，灯的状态不应该变成待机状态，只有同为待机的时候闪烁，上层写的时候需要加判断 */
            // HAL_GPIO_WritePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin, GPIO_PIN_RESET);
        }
    }
    else if (encoder == DRIVEN_ENCODER_GEAR)
    {
        driven_encoder_gear_state = state;
        if (state == STANDBY)
        {
            driven_encoder_gear_lastprocess = HAL_GetTick();
            // HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
        }
        else if (state == WORKING)
        {
            // HAL_GPIO_WritePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin, GPIO_PIN_SET);
        }
    }
}

encoder_light_state_t encoder_get_state(encoder_usage_t encoder)
{
    if (encoder == CAMERA_ENCODER)
    {
        return camera_encoder_state;
    }
    else if (encoder == DRIVEN_ENCODER_GEAR)
    {
        return driven_encoder_gear_state;
    }
    return ENCODER_STATE_NUMBER_AND_ERR_STATE;
}

void encoder_all_encoder_clear_counter_and_structer_count(void)
{
    udp_client_get_active_report_data_structer()->encoder_1_count = 0;
    udp_client_get_active_report_data_structer()->encoder_2_count = 0;
    encoder_all_clear_counter();
}

void encoder_switch_encoder_clear_count_and_structer_count(encoder_usage_t encoder)
{

    switch (encoder)
    {
    case CAMERA_ENCODER:
        udp_client_get_active_report_data_structer()->encoder_1_count = 0;
        encoder_clear_counter(CAMERA_ENCODER);
        break;
    case DRIVEN_ENCODER_GEAR:
        udp_client_get_active_report_data_structer()->encoder_2_count = 0;
        encoder_clear_counter(DRIVEN_ENCODER_GEAR);
        break;

    default:
        break;
    }
}

/*
  R1:tim2-->TIM_CHANNEL_4
  G1:tim2-->TIM_CHANNEL_1
  B1:tim3-->TIM_CHANNEL_1

  R2:tim2-->TIM_CHANNEL_3
  G2:tim4-->TIM_CHANNEL_3
  B2:tim4-->TIM_CHANNEL_4
 */
void encoder_light_switch_set_color_and_brightness(encoder_usage_t encoder, encoder_light_color_table_t color, uint16_t brightness)
{
    uint16_t count;
    if (encoder == CAMERA_ENCODER)
    {
        switch (color)
        {
        case ENCODER_LIGHT_COLOR_RED:
            count = (1 - brightness / 1000.0) * __HAL_TIM_GET_AUTORELOAD(&htim2);
            __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, count);
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);
            HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
            break;
        case ENCODER_LIGHT_COLOR_GREEN:
            count = (1 - brightness / 1000.0) * __HAL_TIM_GET_AUTORELOAD(&htim2);
            __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, count);
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
            HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
            break;
        case ENCODER_LIGHT_COLOR_BLUE:
            count = (1 - brightness / 1000.0) * __HAL_TIM_GET_AUTORELOAD(&htim3);
            __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, count);
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);
            HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
            break;

        default:
            /* not find color */
            break;
        }
    }
    else if (encoder == DRIVEN_ENCODER_GEAR)
    {
        switch (color)
        {
        case ENCODER_LIGHT_COLOR_RED:
            count = (1 - brightness / 1000.0) * __HAL_TIM_GET_AUTORELOAD(&htim2);
            __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, count);
            HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
            HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
            HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4);
            break;
        case ENCODER_LIGHT_COLOR_GREEN:
            count = (1 - brightness / 1000.0) * __HAL_TIM_GET_AUTORELOAD(&htim4);
            __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, count);
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
            HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
            HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4);
            break;
        case ENCODER_LIGHT_COLOR_BLUE:
            count = (1 - brightness / 1000.0) * __HAL_TIM_GET_AUTORELOAD(&htim4);
            __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, count);
            HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
            HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
            HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
            break;

        default:
            /* not find color */
            break;
        }
    }
    else
    {
        // error
    }
}

void encoder_switch_close_light(encoder_usage_t encoder)
{
    if (encoder == CAMERA_ENCODER)
    {
        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);
        HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
    }
    else if (encoder == DRIVEN_ENCODER_GEAR)
    {
        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
        HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
        HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4);
    }
    else
    {
        // error
    }
}