spdis
76 lines
2.0 KiB
C++
76 lines
2.0 KiB
C++
/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-10-11 06:20:04
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2024-12-01 03:48:28
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* @FilePath: /smartcar/lib/encoder.h
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* @Description:
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*
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* Copyright (c) 2024 by ilikara 3435193369@qq.com, All Rights Reserved.
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*/
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#ifndef ENCODER_H
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#define ENCODER_H
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <errno.h>
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#include <string.h>
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#include "GPIO.h"
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#define PWM_BASE_ADDR 0x1611B000
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#define PWM_OFFSET 0x10
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#define LOW_BUFFER_OFFSET 0x4
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#define FULL_BUFFER_OFFSET 0x8
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#define CONTROL_REG_OFFSET 0xC
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#define CNTR_ENABLE_BIT (1 << 0) // 计数器使能
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#define PULSE_OUT_ENABLE_BIT (1 << 3) // 脉冲输出使能（低有效）
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#define SINGLE_PULSE_BIT (1 << 4) // 单脉冲控制位
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#define INT_ENABLE_BIT (1 << 5) // 中断使能
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#define INT_STATUS_BIT (1 << 6) // 中断状态
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#define COUNTER_RESET_BIT (1 << 7) // 计数器重置
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#define MEASURE_PULSE_BIT (1 << 8) // 测量脉冲使能
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#define INVERT_OUTPUT_BIT (1 << 9) // 输出翻转使能
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#define DEAD_ZONE_ENABLE_BIT (1 << 10) // 防死区使能
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#define LOW_BUFFER_ADDR (PWM_BASE_ADDR + LOW_BUFFER_OFFSET)
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#define FULL_BUFFER_ADDR (PWM_BASE_ADDR + FULL_BUFFER_OFFSET)
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#define CONTROL_REG_ADDR (PWM_BASE_ADDR + CONTROL_REG_OFFSET)
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#define GPIO_PIN 73
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#define GPIO_PATH "/sys/class/gpio/gpio73/value"
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#define PAGE_SIZE 0x10000
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#define REG_READ(addr) (*(volatile uint32_t *)(addr))
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#define REG_WRITE(addr, val) (*(volatile uint32_t *)(addr) = (val))
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class ENCODER
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{
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public:
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ENCODER(int pwmNum, int gpioNum);
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~ENCODER();
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double pulse_counter_update(void);
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private:
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uint32_t base_addr;
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GPIO directionGPIO;
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void *low_buffer;
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void *full_buffer;
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void *control_buffer;
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void *map_register(uint32_t physical_address, size_t size);
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void PWM_Init(void);
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void reset_counter(void);
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};
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#endif
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