diff options
| author | Stephane D'Alu <sdalu@sdalu.com> | 2016-06-28 21:53:12 +0200 |
|---|---|---|
| committer | Stephane D'Alu <sdalu@sdalu.com> | 2016-06-28 21:53:12 +0200 |
| commit | 3cdd1360d4e71edabad003f7652a0abc0b1aaad1 (patch) | |
| tree | 78338d7aa2c6edf83daa53327dbe655b0325f110 /os/hal/ports/NRF51/NRF51822 | |
| parent | 18659d72b3dbe58881d908f22023a8fc0822137c (diff) | |
| download | ChibiOS-Contrib-3cdd1360d4e71edabad003f7652a0abc0b1aaad1.tar.gz ChibiOS-Contrib-3cdd1360d4e71edabad003f7652a0abc0b1aaad1.tar.bz2 ChibiOS-Contrib-3cdd1360d4e71edabad003f7652a0abc0b1aaad1.zip | |
QEI driver for NRF51
Diffstat (limited to 'os/hal/ports/NRF51/NRF51822')
| -rw-r--r-- | os/hal/ports/NRF51/NRF51822/hal_qei_lld.c | 303 | ||||
| -rw-r--r-- | os/hal/ports/NRF51/NRF51822/hal_qei_lld.h | 334 | ||||
| -rw-r--r-- | os/hal/ports/NRF51/NRF51822/platform.mk | 6 |
3 files changed, 642 insertions, 1 deletions
diff --git a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c new file mode 100644 index 0000000..0f8043d --- /dev/null +++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c @@ -0,0 +1,303 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file TIMv1/hal_qei_lld.c
+ * @brief STM32 QEI subsystem low level driver header.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#include "hal.h"
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief QEID1 driver identifier.
+ */
+#if NRF51_QEI_USE_QDEC1 || defined(__DOXYGEN__)
+QEIDriver QEID1;
+#endif
+
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if NRF51_QEI_USE_QDEC1 == TRUE
+/**
+ * @brief Quadrature decoder vector (QDEC)
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector88) {
+ QEIDriver *qeip = &QEID1;
+ NRF_QDEC_Type *qdec = qeip->qdec;
+
+ OSAL_IRQ_PROLOGUE();
+
+
+ osalSysLockFromISR();
+
+ if (qdec->EVENTS_ACCOF) {
+ qdec->EVENTS_ACCOF = 0;
+ qeip->overflowed++;
+ if (qeip->config->overflowed_cb)
+ qeip->config->overflowed_cb(qeip);
+ }
+
+ if (qdec->EVENTS_REPORTRDY) {
+ qdec->EVENTS_REPORTRDY = 0;
+
+ // Read and clear counters (due to shortcut)
+ int16_t acc = ( int16_t)qdec->ACCREAD;
+ uint16_t accdbl = (uint16_t)qdec->ACCDBLREAD;
+
+ // Inverse direction if requested
+ if (qeip->config->dirinv)
+ acc = -acc; // acc is [-1024..+1023], its okay on int16_t
+
+ // Get boundaries
+ qeicnt_t min = QEI_COUNT_MIN;
+ qeicnt_t max = QEI_COUNT_MAX;
+ if (qeip->config->min != qeip->config->max) {
+ min = qeip->config->min;
+ max = qeip->config->max;
+ }
+
+ // Compute new value
+ qeidelta_t delta = 0;
+ qeicnt_t count = qeip->count + acc;
+ bool overflowed = false;
+
+ // See: https://www.securecoding.cert.org/confluence/display/c/INT32-C.+Ensure+that+operations+on+signed+integers+do+not+result+in+overflow
+
+ // Overflow
+ if ((acc > 0) && (qeip->count > (max - acc))) {
+ overflowed = true;
+ switch(qeip->config->overflow) {
+ case QEI_OVERFLOW_WRAP:
+ delta = 0;
+ count = (min + (qeip->count - (max - acc))) - 1;
+ break;
+ case QEI_OVERFLOW_DISCARD:
+ delta = acc;
+ count = qeip->count;
+ break;
+ case QEI_OVERFLOW_MINMAX:
+ delta = qeip->count - (max - acc);
+ count = max;
+ break;
+ }
+
+ // Underflow
+ } else if ((acc < 0) && (qeip->count < (min - acc))) {
+ overflowed = true;
+ switch(qeip->config->overflow) {
+ case QEI_OVERFLOW_WRAP:
+ delta = 0;
+ count = (max + (qeip->count - (min - acc))) + 1;
+ break;
+ case QEI_OVERFLOW_DISCARD:
+ delta = acc;
+ count = qeip->count;
+ break;
+ case QEI_OVERFLOW_MINMAX:
+ delta = qeip->count - (min - acc);
+ count = min;
+ break;
+ }
+ }
+
+ // Set value and notify
+ if (qeip->count != count) {
+ qeip->count = count;
+ if (qeip->config->notify_cb)
+ qeip->config->notify_cb(qeip);
+ }
+
+ // Notify for overflow (passing the remaining delta)
+ if (overflowed && qeip->config->overflow_cb)
+ qeip->config->overflow_cb(qeip, delta);
+ }
+
+
+ osalSysUnlockFromISR();
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level QEI driver initialization.
+ *
+ * @notapi
+ */
+void qei_lld_init(void) {
+
+#if NRF51_QEI_USE_QDEC1
+ /* Driver initialization.*/
+ qeiObjectInit(&QEID1);
+ QEID1.qdec = NRF_QDEC;
+#endif
+}
+
+/**
+ * @brief Configures and activates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_start(QEIDriver *qeip) {
+ NRF_QDEC_Type *qdec = qeip->qdec;
+ const QEIConfig *cfg = qeip->config;
+
+ if (qeip->state == QEI_STOP) {
+ // Set Pins
+ palSetLineMode(cfg->phase_a, PAL_MODE_INPUT);
+ palSetLineMode(cfg->phase_b, PAL_MODE_INPUT);
+ if (cfg->led != PAL_NOLINE) {
+ palSetLineMode(cfg->led, PAL_MODE_INPUT);
+ }
+
+ // Set interrupt masks and enable interrupt
+ qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk |
+ QDEC_INTENSET_ACCOF_Msk;
+#if NRF51_QEI_USE_QDEC1
+ if (&QEID1 == qeip) {
+ nvicEnableVector(QDEC_IRQn, NRF51_QEI_IRQ_PRIORITY);
+ }
+#endif
+
+ // Select pin for Phase A and Phase B
+ qdec->PSELA = PAL_PAD(cfg->phase_a);
+ qdec->PSELB = PAL_PAD(cfg->phase_b);
+
+ // Select (optional) pin for LED, and configure it
+ qdec->PSELLED = (cfg->led == PAL_NOLINE) ? (uint32_t)-1
+ : PAL_PAD(cfg->led);
+ qdec->LEDPOL = ((cfg->led_polarity == QEI_LED_POLARITY_LOW)
+ ? QDEC_LEDPOL_LEDPOL_ActiveLow
+ : QDEC_LEDPOL_LEDPOL_ActiveHigh)
+ << QDEC_LEDPOL_LEDPOL_Pos;
+ qdec->LEDPRE = cfg->led_warming;
+
+ // Set sampling resolution and debouncing
+ qdec->SAMPLEPER = cfg->resolution;
+ qdec->DBFEN = (cfg->debouncing ? QDEC_DBFEN_DBFEN_Enabled
+ : QDEC_DBFEN_DBFEN_Disabled)
+ << QDEC_DBFEN_DBFEN_Pos;
+
+ // Define minimum sampling before reporting
+ // and create shortcut to clear accumulation
+ qdec->REPORTPER = cfg->report;
+ qdec->SHORTS = QDEC_SHORTS_REPORTRDY_READCLRACC_Msk;
+
+ // Enable peripheric
+ qdec->ENABLE = 1;
+ }
+
+ // Initially state is stopped, events cleared
+ qdec->TASKS_STOP = 1;
+ qdec->EVENTS_SAMPLERDY = 0;
+ qdec->EVENTS_REPORTRDY = 0;
+ qdec->EVENTS_ACCOF = 0;
+}
+
+/**
+ * @brief Deactivates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_stop(QEIDriver *qeip) {
+
+ NRF_QDEC_Type *qdec = qeip->qdec;
+ const QEIConfig *cfg = qeip->config;
+
+ if (qeip->state == QEI_READY) {
+ qdec->TASKS_STOP = 1;
+ qdec->ENABLE = 0;
+#if NRF51_QEI_USE_QDEC1
+ if (&QEID1 == qeip) {
+ nvicDisableVector(QDEC_IRQn);
+ }
+#endif
+ qdec->INTENCLR = QDEC_INTENSET_REPORTRDY_Msk |
+ QDEC_INTENSET_ACCOF_Msk;
+ }
+}
+
+/**
+ * @brief Enables the input capture.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_enable(QEIDriver *qeip) {
+ qeip->overflowed = 0;
+
+ qeip->qdec->EVENTS_SAMPLERDY = 0;
+ qeip->qdec->EVENTS_REPORTRDY = 0;
+ qeip->qdec->EVENTS_ACCOF = 0;
+ qeip->qdec->TASKS_START = 1;
+}
+
+/**
+ * @brief Disables the input capture.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_disable(QEIDriver *qeip) {
+ qeip->qdec->TASKS_STOP = 1;
+}
+
+
+
+
+
+
+#endif /* HAL_USE_QEI */
+
+/** @} */
diff --git a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h new file mode 100644 index 0000000..f07a60a --- /dev/null +++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h @@ -0,0 +1,334 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file TIMv1/hal_qei_lld.h
+ * @brief STM32 QEI subsystem low level driver header.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#ifndef HAL_QEI_LLD_H
+#define HAL_QEI_LLD_H
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+#define QEI_LED_POLARITY_LOW 0
+#define QEI_LED_POLARITY_HIGH 1
+
+#define QEI_COUNT_MIN 0
+#define QEI_COUNT_MAX 65535
+
+
+
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief QEID1 driver enable switch.
+ * @details If set to @p TRUE the support for QEID1 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(NRF51_QEI_USE_QDEC1) || defined(__DOXYGEN__)
+#define NRF51_QEI_USE_QDEC1 FALSE
+#endif
+
+/**
+ * @brief QEID interrupt priority level setting.
+ */
+#if !defined(NRF51_QEI_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define NRF51_QEI_IRQ_PRIORITY 2
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if NRF51_QEI_USE_QDEC1 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF51_QEI_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to QDEC1"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+
+
+/**
+ * @brief QEI count mode.
+ */
+typedef enum {
+ QEI_MODE_QUADRATURE = 0, /**< Quadrature encoder mode. */
+} qeimode_t;
+
+/**
+ * @brief QEI resolution.
+ */
+typedef enum {
+ QEI_RESOLUTION_128us = 0x00UL, /**< 128us sample period. */
+ QEI_RESOLUTION_256us = 0x01UL, /**< 256us sample period. */
+ QEI_RESOLUTION_512us = 0x02UL, /**< 512us sample period. */
+ QEI_RESOLUTION_1024us = 0x03UL, /**< 1024us sample period. */
+ QEI_RESOLUTION_2048us = 0x04UL, /**< 2048us sample period. */
+ QEI_RESOLUTION_4096us = 0x05UL, /**< 4096us sample period. */
+ QEI_RESOLUTION_8192us = 0x06UL, /**< 8192us sample period. */
+ QEI_RESOLUTION_16384us = 0x07UL, /**< 16384us sample period. */
+} qeiresolution_t;
+
+/**
+ *
+ */
+typedef enum {
+ QEI_REPORT_10 = 0x00UL, /**< 10 samples per report. */
+ QEI_REPORT_40 = 0x01UL, /**< 40 samples per report. */
+ QEI_REPORT_80 = 0x02UL, /**< 80 samples per report. */
+ QEI_REPORT_120 = 0x03UL, /**< 120 samples per report. */
+ QEI_REPORT_160 = 0x04UL, /**< 160 samples per report. */
+ QEI_REPORT_200 = 0x05UL, /**< 200 samples per report. */
+ QEI_REPORT_240 = 0x06UL, /**< 240 samples per report. */
+ QEI_REPORT_280 = 0x07UL, /**< 280 samples per report. */
+} qeireport_t;
+
+
+/**
+ * @brief Handling of counter overflow/underflow
+ */
+typedef enum {
+ QEI_OVERFLOW_WRAP = 0, /**< Counter value will wrap around. */
+ QEI_OVERFLOW_DISCARD = 1, /**< Counter doesn't change. */
+ QEI_OVERFLOW_MINMAX = 2, /**< Counter will be updated to min or max. */
+} qeioverflow_t;
+
+
+
+/**
+ * @brief QEI direction inversion.
+ */
+typedef enum {
+ QEI_DIRINV_FALSE = 0, /**< Do not invert counter direction. */
+ QEI_DIRINV_TRUE = 1, /**< Invert counter direction. */
+} qeidirinv_t;
+
+/**
+ * @brief QEI counter type.
+ */
+typedef uint16_t qeicnt_t;
+
+/**
+ * @brief QEI delta type.
+ */
+typedef int16_t qeidelta_t;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ /**
+ * @brief Count mode.
+ */
+ qeimode_t mode;
+ /**
+ * @brief Resolution.
+ */
+ qeiresolution_t resolution;
+ /**
+ * @brief Direction inversion.
+ */
+ qeidirinv_t dirinv;
+ /**
+ * @brief Handling of counter overflow/underflow
+ *
+ * @details When overflow callback is called, the counter value
+ * is not updated, the decision on how to update is left
+ * to the callback.
+ *
+ * Three implementation are provided
+ * - QEI_OVERFLOW_DISCARD:
+ * discard the update value, counter doesn't change
+ * - QEI_OVERFLOW_MINMAX
+ * counter will be updated to reach min or max
+ * - QEI_OVERFLOW_WRAP:
+ * counter value will wrap around
+ */
+ qeioverflow_t overflow;
+ /**
+ * @brief Min count value.
+ *
+ * @note If min == max, the QEI_COUNT_MIN is used as default
+ */
+ qeicnt_t min;
+ /**
+ * @brief Max count value.
+ *
+ * @note If min == max, the QEI_COUNT_MAX is used as default
+ */
+ qeicnt_t max;
+ /**
+ * @brief Notify of value change
+ */
+ qeicallback_t notify_cb;
+ /**
+ * @brief Notify of overflow
+ *
+ * @note Overflow notification is performed after
+ * value changed notification.
+ */
+ void (*overflow_cb)(QEIDriver *qeip, qeidelta_t delta);
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Line for reading Phase A
+ */
+ ioline_t phase_a;
+ /**
+ * @brief Line for reading Phase B
+ */
+ ioline_t phase_b;
+ /**
+ * @brief Line to use to control LED
+ *
+ * @note If LED is not controlled by MCU, you need to use the
+ * PAL_NOLINE value.
+ */
+ ioline_t led;
+ /**
+ * @brief Period in µs the LED is switched on prior to sampling.
+ *
+ * @details LED warming is between 0 and 511 (including boundaries)
+ *
+ * @note 31µs is the recommanded default.
+ *
+ * @note If debouncing is activated, LED is always on for the
+ * whole sampling period (aka: resolution)
+ */
+ uint16_t led_warming;
+ /**
+ * @brief LED polarity to used (when LED is controlled by MCU)
+ */
+ uint8_t led_polarity;
+ /**
+ * @brief Activate debouncing filter
+ *
+ * @note If LED is controlled by MCU, the led_warming is ignored and,
+ * LED is always on for the whole sampling period (aka: resolution)
+ */
+ bool debouncing;
+ /**
+ * @brief Number of sample per report
+ *
+ * @details Default to QEI_REPORT_10
+ */
+ qeireport_t report;
+ /**
+ * @brief Notify of internal accumulator overflowed
+ *
+ * @note MCU has discarded some of the samples.
+ */
+ qeicallback_t overflowed_cb;
+} QEIConfig;
+
+/**
+ * @brief Structure representing an QEI driver.
+ */
+struct QEIDriver {
+ /**
+ * @brief Driver state.
+ */
+ qeistate_t state;
+ /**
+ * @brief Last count value.
+ */
+ qeicnt_t last;
+ /**
+ * @brief Current configuration data.
+ */
+ const QEIConfig *config;
+#if defined(QEI_DRIVER_EXT_FIELDS)
+ QEI_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ */
+ qeidelta_t delta;
+ /**
+ */
+ qeicnt_t count;
+ /**
+ * @brief Number of time the MCU discarded updates due to
+ * accumulator overflow
+ */
+ uint32_t overflowed;
+ /**
+ * @brief Pointer to the ADCx registers block.
+ */
+ NRF_QDEC_Type *qdec;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Returns the counter value.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @return The current counter value.
+ *
+ * @notapi
+ */
+#define qei_lld_get_count(qeip) ((qeip)->count)
+
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if NRF51_QEI_USE_QDEC1 && !defined(__DOXYGEN__)
+extern QEIDriver QEID1;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void qei_lld_init(void);
+ void qei_lld_start(QEIDriver *qeip);
+ void qei_lld_stop(QEIDriver *qeip);
+ void qei_lld_enable(QEIDriver *qeip);
+ void qei_lld_disable(QEIDriver *qeip);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_QEI */
+
+#endif /* HAL_QEI_LLD_H */
+
+/** @} */
diff --git a/os/hal/ports/NRF51/NRF51822/platform.mk b/os/hal/ports/NRF51/NRF51822/platform.mk index b937e39..ad5b2c4 100644 --- a/os/hal/ports/NRF51/NRF51822/platform.mk +++ b/os/hal/ports/NRF51/NRF51822/platform.mk @@ -37,6 +37,9 @@ endif ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),) PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c endif +ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),) +PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c +endif else PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \ ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_lld.c \ @@ -51,7 +54,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \ ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_gpt_lld.c \ ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_wdg_lld.c \ ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_rng_lld.c \ - ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c + ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c \ + ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c endif # Required include directories |