diff options
Diffstat (limited to 'os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.c')
| -rw-r--r-- | os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.c | 300 |
1 files changed, 300 insertions, 0 deletions
diff --git a/os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.c b/os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.c new file mode 100644 index 0000000..f0c24c9 --- /dev/null +++ b/os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.c @@ -0,0 +1,300 @@ +/*
+ ChibiOS - Copyright (C) 2016..2016 Stéphane D'Alu
+
+ 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 QDECv1/hal_qei_lld.c
+ * @brief NRF5 QEI subsystem low level driver.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#include "hal.h"
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief QEID1 driver identifier.
+ */
+#if NRF5_QEI_USE_QDEC0 || defined(__DOXYGEN__)
+QEIDriver QEID1;
+#endif
+
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Common IRQ handler.
+ *
+ * @param[in] qeip pointer to an QEIDriver
+ */
+static void serve_interrupt(QEIDriver *qeip) {
+ NRF_QDEC_Type *qdec = qeip->qdec;
+
+#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ /* Accumulator overflowed
+ */
+ if (qdec->EVENTS_ACCOF) {
+ qdec->EVENTS_ACCOF = 0;
+#if CORTEX_MODEL >= 4
+ (void)qdec->EVENTS_ACCOF;
+#endif
+
+ qeip->overflowed++;
+ if (qeip->config->overflowed_cb)
+ qeip->config->overflowed_cb(qeip);
+ }
+#endif
+
+ /* Report ready
+ */
+ if (qdec->EVENTS_REPORTRDY) {
+ qdec->EVENTS_REPORTRDY = 0;
+#if CORTEX_MODEL >= 4
+ (void)qdec->EVENTS_REPORTRDY;
+#endif
+
+ /* 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
+
+ /* Adjust counter */
+ qeiAdjustI(qeip, acc);
+ }
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if NRF5_QEI_USE_QDEC0 == TRUE
+/**
+ * @brief Quadrature decoder vector (QDEC)
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector88) {
+
+ OSAL_IRQ_PROLOGUE();
+ serve_interrupt(&QEID1);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level QEI driver initialization.
+ *
+ * @notapi
+ */
+void qei_lld_init(void) {
+
+#if NRF5_QEI_USE_QDEC0 == TRUE
+ /* 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 NRF5_QEI_USE_LED == TRUE
+ if (cfg->led != PAL_NOLINE) {
+ palSetLineMode(cfg->led, PAL_MODE_INPUT);
+ }
+#endif
+
+ /* Set interrupt masks and enable interrupt */
+#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk |
+ QDEC_INTENSET_ACCOF_Msk;
+#else
+ qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk;
+#endif
+#if NRF5_QEI_USE_QDEC0 == TRUE
+ if (&QEID1 == qeip) {
+ nvicEnableVector(QDEC_IRQn, NRF5_QEI_QDEC0_IRQ_PRIORITY);
+ }
+#endif
+
+ /* Select pin for Phase A and Phase B */
+#if NRF_SERIES == 51
+ qdec->PSELA = PAL_PAD(cfg->phase_a);
+ qdec->PSELB = PAL_PAD(cfg->phase_b);
+#else
+ qdec->PSEL.A = PAL_PAD(cfg->phase_a);
+ qdec->PSEL.B = PAL_PAD(cfg->phase_b);
+#endif
+ /* Select (optional) pin for LED, and configure it */
+#if NRF5_QEI_USE_LED == TRUE
+#if NRF_SERIES == 51
+ qdec->PSELLED = PAL_PAD(cfg->led);
+#else
+ qdec->PSEL.LED = PAL_PAD(cfg->led);
+#endif
+ 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;
+#else
+#if NRF_SERIES == 51
+ qdec->PSELLED = (uint32_t)-1;
+#else
+ qdec->PSEL.LED = (uint32_t)-1;
+#endif
+#endif
+
+ /* 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;
+#if CORTEX_MODEL >= 4
+ (void)qdec->EVENTS_SAMPLERDY;
+ (void)qdec->EVENTS_REPORTRDY;
+ (void)qdec->EVENTS_ACCOF;
+#endif
+}
+
+/**
+ * @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;
+
+ /* Unset interrupt masks and disable interrupt */
+#if NRF5_QEI_USE_QDEC0 == TRUE
+ if (&QEID1 == qeip) {
+ nvicDisableVector(QDEC_IRQn);
+ }
+#endif
+#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ qdec->INTENCLR = QDEC_INTENCLR_REPORTRDY_Msk |
+ QDEC_INTENCLR_ACCOF_Msk;
+#else
+ qdec->INTENCLR = QDEC_INTENCLR_REPORTRDY_Msk;
+#endif
+
+ /* Return pins to reset state */
+ palSetLineMode(cfg->phase_a, PAL_MODE_RESET);
+ palSetLineMode(cfg->phase_b, PAL_MODE_RESET);
+#if NRF5_QEI_USE_LED == TRUE
+ if (cfg->led != PAL_NOLINE) {
+ palSetLineMode(cfg->led, PAL_MODE_RESET);
+ }
+#endif
+ }
+}
+
+/**
+ * @brief Enables the input capture.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_enable(QEIDriver *qeip) {
+#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ qeip->overflowed = 0;
+#endif
+
+ qeip->qdec->EVENTS_SAMPLERDY = 0;
+ qeip->qdec->EVENTS_REPORTRDY = 0;
+ qeip->qdec->EVENTS_ACCOF = 0;
+#if CORTEX_MODEL >= 4
+ (void)qeip->qdec->EVENTS_SAMPLERDY;
+ (void)qeip->qdec->EVENTS_REPORTRDY;
+ (void)qeip->qdec->EVENTS_ACCOF;
+#endif
+ 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 */
+
+/** @} */
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