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Diffstat (limited to 'os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.h')
| -rw-r--r-- | os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.h | 390 |
1 files changed, 390 insertions, 0 deletions
diff --git a/os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.h b/os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.h new file mode 100644 index 0000000..f4db11e --- /dev/null +++ b/os/hal/ports/NRF5/LLD/QDECv1/hal_qei_lld.h @@ -0,0 +1,390 @@ +/*
+ 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.h
+ * @brief NRF5 QEI subsystem low level driver header.
+ *
+ * @note Not tested with LED pin
+ *
+ * @note Pins are configured as input with no pull.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#ifndef HAL_QEI_LLD_H
+#define HAL_QEI_LLD_H
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief For LED active on LOW
+ */
+#define QEI_LED_POLARITY_LOW 0
+
+/**
+ * @brief For LED active on HIGH
+ */
+#define QEI_LED_POLARITY_HIGH 1
+
+/**
+ * @brief Mininum usable value for defining counter underflow
+ */
+#define QEI_COUNT_MIN (-2147483648)
+
+/**
+ * @brief Maximum usable value for defining counter overflow
+ */
+#define QEI_COUNT_MAX ( 2147483647)
+
+
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief LED control enable switch.
+ * @details If set to @p TRUE the support for LED control
+ * is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(NRF5_QEI_USE_LED) || defined(__DOXYGEN__)
+#define NRF5_QEI_USE_LED FALSE
+#endif
+
+/**
+ * @brief Accumulator overflow notification enable switch.
+ * @details If set to @p TRUE the support for accumulator overflow
+ * is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(NRF5_QEI_USE_ACC_OVERFLOWED_CB) || defined(__DOXYGEN__)
+#define NRF5_QEI_USE_ACC_OVERFLOWED_CB FALSE
+#endif
+
+/**
+ * @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(NRF5_QEI_USE_QDEC0) || defined(__DOXYGEN__)
+#define NRF5_QEI_USE_QDEC0 FALSE
+#endif
+
+/**
+ * @brief QEID interrupt priority level setting for QDEC0.
+ */
+#if !defined(NRF5_QEI_QDEC0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_QEI_QDEC0_IRQ_PRIORITY 2
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if NRF5_QEI_USE_QDEC0 == FALSE
+#error "Requesting QEI driver, but no QDEC peripheric attached"
+#endif
+
+#if NRF5_QEI_USE_QDEC0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_QEI_QDEC0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to QDEC0"
+#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;
+
+/**
+ * @brief Clusters of samples.
+ */
+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 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 int16_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 occurs, the counter value is updated
+ * according to:
+ * - 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, then QEI_COUNT_MIN is used.
+ */
+ qeicnt_t min;
+ /**
+ * @brief Max count value.
+ *
+ * @note If min == max, then QEI_COUNT_MAX is used.
+ */
+ qeicnt_t max;
+ /**
+ * @brief Notify of value change
+ *
+ * @note Called from ISR context.
+ */
+ qeicallback_t notify_cb;
+ /**
+ * @brief Notify of overflow
+ *
+ * @note Overflow notification is performed after
+ * value changed notification.
+ * @note Called from ISR context.
+ */
+ 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;
+#if (NRF5_QEI_USE_LED == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief Line used 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 expressed in micro-seconds and value
+ * is [0..511]
+ *
+ * @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;
+#endif
+ /**
+ * @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 samples per report
+ *
+ * @details Default to QEI_REPORT_10
+ */
+ qeireport_t report;
+#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ /**
+ * @brief Notify of internal accumulator overflowed
+ * (ie: MCU discarding samples)
+ *
+ * @note Called from ISR context.
+ */
+ qeicallback_t overflowed_cb;
+#endif
+} 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.*/
+ /**
+ * @brief Counter
+ */
+ qeicnt_t count;
+#if NRF5_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ /**
+ * @brief Number of time the MCU discarded updates due to
+ * accumulator overflow
+ */
+ uint32_t overflowed;
+#endif
+ /**
+ * @brief Pointer to the QDECx 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)
+
+
+/**
+ * @brief Set the counter value.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @param[in] value counter value
+ *
+ * @notapi
+ */
+#define qei_lld_set_count(qeip, value) \
+ if ((qeip)->count != ((qeicnt_t)value)) { \
+ (qeip)->count = value; \
+ if ((qeip)->config->notify_cb) \
+ (qeip)->config->notify_cb(qeip); \
+ } while(0)
+
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if NRF5_QEI_USE_QDEC0 && !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);
+ qeidelta_t qei_lld_adjust_count(QEIDriver *qeip, qeidelta_t delta);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* To be moved in hal_qei */
+/*===========================================================================*/
+
+void qeiSetCount(QEIDriver *qeip, qeicnt_t value);
+qeidelta_t qeiAdjust(QEIDriver *qeip, qeidelta_t delta);
+
+#endif /* HAL_USE_QEI */
+
+#endif /* HAL_QEI_LLD_H */
+
+/** @} */
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