feat(encoder): 添加编码器模块支持

- 在CMakeLists.txt中添加encoder_module.c和encoder_event.c源文件
- 配置设备树pinctrl设置编码器引脚（QDEC_A和QDEC_B）
- 在设备树中启用qdec外设并配置相关参数
- 添加atguigu厂商前缀到vendor-prefixes.txt
- 创建encoder_event.h事件头文件定义编码器事件结构
- 在prj.conf中启用NRFX_QDEC和PINCTRL_DYNAMIC配置
- 实现encoder_module.c包含完整的编码器驱动逻辑
- 实现encoder_event.c处理编码器事件的发布和记录

src/encoder_module.c

@@ -0,0 +1,226 @@
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <app_event_manager.h>
+
+#define MODULE encoder_module
+#include <caf/events/module_state_event.h>
+#include <caf/events/power_event.h>
+
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/pm/device.h>
+
+#include "encoder_event.h"
+
+LOG_MODULE_REGISTER(MODULE, LOG_LEVEL_INF);
+
+#define ENCODER_QDEC_NODE DT_ALIAS(qdec0)
+#define ENCODER_PULSES_PER_DETENT 4LL
+#define ENCODER_DETENT_UDEG (360000000LL / (80LL / ENCODER_PULSES_PER_DETENT))
+
+BUILD_ASSERT(DT_NODE_EXISTS(ENCODER_QDEC_NODE), "Missing qdec0 alias");
+
+static const struct device *const qdec_dev = DEVICE_DT_GET(ENCODER_QDEC_NODE);
+
+static struct k_work encoder_report_work;
+static struct sensor_trigger encoder_trigger = {
+	.type = SENSOR_TRIG_DATA_READY,
+	.chan = SENSOR_CHAN_ROTATION,
+};
+
+static bool initialized;
+static bool running;
+static int64_t angle_remainder_udeg;
+
+static int64_t sensor_value_to_udeg(const struct sensor_value *value)
+{
+	return ((int64_t)value->val1 * 1000000LL) + value->val2;
+}
+
+static void submit_detents(int32_t detents)
+{
+	while (detents != 0) {
+		struct encoder_event *event = new_encoder_event();
+
+		if (detents > INT8_MAX) {
+			event->detents = INT8_MAX;
+			detents -= INT8_MAX;
+		} else if (detents < INT8_MIN) {
+			event->detents = INT8_MIN;
+			detents -= INT8_MIN;
+		} else {
+			event->detents = (int8_t)detents;
+			detents = 0;
+		}
+
+		APP_EVENT_SUBMIT(event);
+	}
+}
+
+static void encoder_report_work_handler(struct k_work *work)
+{
+	struct sensor_value rotation;
+	int64_t total_udeg;
+	int32_t detents;
+	int err;
+
+	ARG_UNUSED(work);
+
+	if (!running) {
+		return;
+	}
+
+	err = sensor_sample_fetch(qdec_dev);
+	if (err) {
+		LOG_WRN("QDEC sample fetch failed (%d)", err);
+		return;
+	}
+
+	err = sensor_channel_get(qdec_dev, SENSOR_CHAN_ROTATION, &rotation);
+	if (err) {
+		LOG_WRN("QDEC channel get failed (%d)", err);
+		return;
+	}
+
+	total_udeg = angle_remainder_udeg + sensor_value_to_udeg(&rotation);
+	detents = (int32_t)(total_udeg / ENCODER_DETENT_UDEG);
+	angle_remainder_udeg = total_udeg - ((int64_t)detents * ENCODER_DETENT_UDEG);
+
+	if (detents != 0) {
+		submit_detents(detents);
+	}
+}
+
+static void encoder_trigger_handler(const struct device *dev,
+				    const struct sensor_trigger *trigger)
+{
+	ARG_UNUSED(dev);
+	ARG_UNUSED(trigger);
+
+	if (!running) {
+		return;
+	}
+
+	k_work_submit(&encoder_report_work);
+}
+
+static int module_init(void)
+{
+	int err;
+
+	if (!device_is_ready(qdec_dev)) {
+		LOG_ERR("QDEC device not ready");
+		return -ENODEV;
+	}
+
+	k_work_init(&encoder_report_work, encoder_report_work_handler);
+	angle_remainder_udeg = 0;
+
+	err = sensor_trigger_set(qdec_dev, &encoder_trigger, encoder_trigger_handler);
+	if (err) {
+		LOG_ERR("Cannot set QDEC trigger (%d)", err);
+		return err;
+	}
+
+	return 0;
+}
+
+static int module_start(void)
+{
+	int err;
+
+	if (running) {
+		return 0;
+	}
+
+	err = pm_device_action_run(qdec_dev, PM_DEVICE_ACTION_RESUME);
+	if (err && (err != -EALREADY) && (err != -ENOTSUP)) {
+		LOG_ERR("Cannot resume QDEC device (%d)", err);
+		return err;
+	}
+
+	angle_remainder_udeg = 0;
+	running = true;
+
+	return 0;
+}
+
+static void module_pause(void)
+{
+	int err;
+
+	if (!running) {
+		return;
+	}
+
+	err = pm_device_action_run(qdec_dev, PM_DEVICE_ACTION_SUSPEND);
+	if (err && (err != -EALREADY) && (err != -ENOTSUP)) {
+		LOG_WRN("Cannot suspend QDEC device (%d)", err);
+	}
+
+	angle_remainder_udeg = 0;
+	running = false;
+}
+
+static bool app_event_handler(const struct app_event_header *aeh)
+{
+	if (is_module_state_event(aeh)) {
+		const struct module_state_event *event = cast_module_state_event(aeh);
+
+		if (check_state(event, MODULE_ID(main), MODULE_STATE_READY)) {
+			int err;
+
+			if (!initialized) {
+				err = module_init();
+				if (err) {
+					module_set_state(MODULE_STATE_ERROR);
+					return false;
+				}
+
+				initialized = true;
+			}
+
+			err = module_start();
+			if (err) {
+				module_set_state(MODULE_STATE_ERROR);
+			} else {
+				module_set_state(MODULE_STATE_READY);
+			}
+		}
+
+		return false;
+	}
+
+	if (is_power_down_event(aeh)) {
+		if (initialized) {
+			module_pause();
+			module_set_state(MODULE_STATE_STANDBY);
+		}
+
+		return false;
+	}
+
+	if (is_wake_up_event(aeh)) {
+		if (initialized) {
+			int err = module_start();
+
+			if (err) {
+				module_set_state(MODULE_STATE_ERROR);
+			} else {
+				module_set_state(MODULE_STATE_READY);
+			}
+		}
+
+		return false;
+	}
+
+	__ASSERT_NO_MSG(false);
+	return false;
+}
+
+APP_EVENT_LISTENER(MODULE, app_event_handler);
+APP_EVENT_SUBSCRIBE(MODULE, module_state_event);
+APP_EVENT_SUBSCRIBE_EARLY(MODULE, power_down_event);
+APP_EVENT_SUBSCRIBE(MODULE, wake_up_event);

src/events/encoder_event.c

@@ -0,0 +1,27 @@
+#include "encoder_event.h"
+
+static void log_encoder_event(const struct app_event_header *aeh)
+{
+	const struct encoder_event *event = cast_encoder_event(aeh);
+
+	APP_EVENT_MANAGER_LOG(aeh, "detents:%d", event->detents);
+}
+
+static void profile_encoder_event(struct log_event_buf *buf,
+				  const struct app_event_header *aeh)
+{
+	const struct encoder_event *event = cast_encoder_event(aeh);
+
+	nrf_profiler_log_encode_int8(buf, event->detents);
+}
+
+APP_EVENT_INFO_DEFINE(encoder_event,
+		      ENCODE(NRF_PROFILER_ARG_S8),
+		      ENCODE("detents"),
+		      profile_encoder_event);
+
+APP_EVENT_TYPE_DEFINE(encoder_event,
+		      log_encoder_event,
+		      &encoder_event_info,
+		      APP_EVENT_FLAGS_CREATE(
+			      APP_EVENT_TYPE_FLAGS_INIT_LOG_ENABLE));