301 lines
7.9 KiB
C
301 lines
7.9 KiB
C
/*
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ChibiOS - Copyright (C) 2016..2016 Stéphane D'Alu
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file QDECv1/hal_qei_lld.c
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* @brief NRF5 QEI subsystem low level driver.
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*
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* @addtogroup QEI
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* @{
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*/
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#include "hal.h"
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#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/**
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* @brief QEID1 driver identifier.
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*/
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#if NRF5_QEI_USE_QDEC0 || defined(__DOXYGEN__)
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QEIDriver QEID1;
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#endif
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/**
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* @brief Common IRQ handler.
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*
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* @param[in] qeip pointer to an QEIDriver
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*/
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static void serve_interrupt(QEIDriver *qeip) {
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NRF_QDEC_Type *qdec = qeip->qdec;
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#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
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/* Accumulator overflowed
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*/
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if (qdec->EVENTS_ACCOF) {
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qdec->EVENTS_ACCOF = 0;
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#if CORTEX_MODEL >= 4
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(void)qdec->EVENTS_ACCOF;
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#endif
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qeip->overflowed++;
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if (qeip->config->overflowed_cb)
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qeip->config->overflowed_cb(qeip);
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}
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#endif
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/* Report ready
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*/
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if (qdec->EVENTS_REPORTRDY) {
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qdec->EVENTS_REPORTRDY = 0;
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#if CORTEX_MODEL >= 4
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(void)qdec->EVENTS_REPORTRDY;
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#endif
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/* Read (and clear counters due to shortcut) */
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int16_t acc = ( int16_t)qdec->ACCREAD;
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uint16_t accdbl = (uint16_t)qdec->ACCDBLREAD;
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/* Inverse direction if requested */
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if (qeip->config->dirinv)
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acc = -acc; // acc is [-1024..+1023], its okay on int16_t
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/* Adjust counter */
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qeiAdjustI(qeip, acc);
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}
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}
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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#if NRF5_QEI_USE_QDEC0 == TRUE
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/**
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* @brief Quadrature decoder vector (QDEC)
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*
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* @isr
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*/
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OSAL_IRQ_HANDLER(Vector88) {
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OSAL_IRQ_PROLOGUE();
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serve_interrupt(&QEID1);
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OSAL_IRQ_EPILOGUE();
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}
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#endif
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level QEI driver initialization.
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*
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* @notapi
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*/
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void qei_lld_init(void) {
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#if NRF5_QEI_USE_QDEC0 == TRUE
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/* Driver initialization.*/
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qeiObjectInit(&QEID1);
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QEID1.qdec = NRF_QDEC;
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#endif
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}
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/**
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* @brief Configures and activates the QEI peripheral.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @notapi
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*/
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void qei_lld_start(QEIDriver *qeip) {
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NRF_QDEC_Type *qdec = qeip->qdec;
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const QEIConfig *cfg = qeip->config;
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if (qeip->state == QEI_STOP) {
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/* Set Pins */
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palSetLineMode(cfg->phase_a, PAL_MODE_INPUT);
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palSetLineMode(cfg->phase_b, PAL_MODE_INPUT);
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#if NRF5_QEI_USE_LED == TRUE
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if (cfg->led != PAL_NOLINE) {
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palSetLineMode(cfg->led, PAL_MODE_INPUT);
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}
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#endif
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/* Set interrupt masks and enable interrupt */
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#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
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qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk |
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QDEC_INTENSET_ACCOF_Msk;
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#else
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qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk;
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#endif
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#if NRF5_QEI_USE_QDEC0 == TRUE
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if (&QEID1 == qeip) {
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nvicEnableVector(QDEC_IRQn, NRF5_QEI_QDEC0_IRQ_PRIORITY);
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}
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#endif
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/* Select pin for Phase A and Phase B */
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#if NRF_SERIES == 51
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qdec->PSELA = PAL_PAD(cfg->phase_a);
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qdec->PSELB = PAL_PAD(cfg->phase_b);
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#else
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qdec->PSEL.A = PAL_PAD(cfg->phase_a);
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qdec->PSEL.B = PAL_PAD(cfg->phase_b);
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#endif
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/* Select (optional) pin for LED, and configure it */
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#if NRF5_QEI_USE_LED == TRUE
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#if NRF_SERIES == 51
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qdec->PSELLED = PAL_PAD(cfg->led);
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#else
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qdec->PSEL.LED = PAL_PAD(cfg->led);
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#endif
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qdec->LEDPOL = ((cfg->led_polarity == QEI_LED_POLARITY_LOW)
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? QDEC_LEDPOL_LEDPOL_ActiveLow
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: QDEC_LEDPOL_LEDPOL_ActiveHigh)
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<< QDEC_LEDPOL_LEDPOL_Pos;
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qdec->LEDPRE = cfg->led_warming;
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#else
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#if NRF_SERIES == 51
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qdec->PSELLED = (uint32_t)-1;
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#else
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qdec->PSEL.LED = (uint32_t)-1;
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#endif
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#endif
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/* Set sampling resolution and debouncing */
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qdec->SAMPLEPER = cfg->resolution;
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qdec->DBFEN = (cfg->debouncing ? QDEC_DBFEN_DBFEN_Enabled
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: QDEC_DBFEN_DBFEN_Disabled)
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<< QDEC_DBFEN_DBFEN_Pos;
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/* Define minimum sampling before reporting
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and create shortcut to clear accumulation */
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qdec->REPORTPER = cfg->report;
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qdec->SHORTS = QDEC_SHORTS_REPORTRDY_READCLRACC_Msk;
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/* Enable peripheric */
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qdec->ENABLE = 1;
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}
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/* Initially state is stopped, events cleared */
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qdec->TASKS_STOP = 1;
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qdec->EVENTS_SAMPLERDY = 0;
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qdec->EVENTS_REPORTRDY = 0;
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qdec->EVENTS_ACCOF = 0;
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#if CORTEX_MODEL >= 4
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(void)qdec->EVENTS_SAMPLERDY;
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(void)qdec->EVENTS_REPORTRDY;
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(void)qdec->EVENTS_ACCOF;
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#endif
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}
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/**
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* @brief Deactivates the QEI peripheral.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @notapi
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*/
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void qei_lld_stop(QEIDriver *qeip) {
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NRF_QDEC_Type *qdec = qeip->qdec;
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const QEIConfig *cfg = qeip->config;
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if (qeip->state == QEI_READY) {
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qdec->TASKS_STOP = 1;
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qdec->ENABLE = 0;
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/* Unset interrupt masks and disable interrupt */
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#if NRF5_QEI_USE_QDEC0 == TRUE
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if (&QEID1 == qeip) {
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nvicDisableVector(QDEC_IRQn);
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}
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#endif
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#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
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qdec->INTENCLR = QDEC_INTENCLR_REPORTRDY_Msk |
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QDEC_INTENCLR_ACCOF_Msk;
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#else
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qdec->INTENCLR = QDEC_INTENCLR_REPORTRDY_Msk;
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#endif
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/* Return pins to reset state */
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palSetLineMode(cfg->phase_a, PAL_MODE_RESET);
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palSetLineMode(cfg->phase_b, PAL_MODE_RESET);
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#if NRF5_QEI_USE_LED == TRUE
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if (cfg->led != PAL_NOLINE) {
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palSetLineMode(cfg->led, PAL_MODE_RESET);
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}
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#endif
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}
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}
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/**
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* @brief Enables the input capture.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @notapi
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*/
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void qei_lld_enable(QEIDriver *qeip) {
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#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
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qeip->overflowed = 0;
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#endif
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qeip->qdec->EVENTS_SAMPLERDY = 0;
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qeip->qdec->EVENTS_REPORTRDY = 0;
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qeip->qdec->EVENTS_ACCOF = 0;
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#if CORTEX_MODEL >= 4
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(void)qeip->qdec->EVENTS_SAMPLERDY;
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(void)qeip->qdec->EVENTS_REPORTRDY;
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(void)qeip->qdec->EVENTS_ACCOF;
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#endif
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qeip->qdec->TASKS_START = 1;
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}
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/**
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* @brief Disables the input capture.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @notapi
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*/
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void qei_lld_disable(QEIDriver *qeip) {
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qeip->qdec->TASKS_STOP = 1;
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}
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#endif /* HAL_USE_QEI */
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/** @} */
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