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+/*
+ ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+ 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.
+*/
+/*
+*/
+
+#ifndef HAL_ICU_LLD_H
+#define HAL_ICU_LLD_H
+
+#if (HAL_USE_ICU == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+/**
+ * @brief Number of ICU channels per ICU driver.
+ */
+#define ICU_CHANNELS 2 /* max channels */
+#define ICU_WAIT_TIMEOUT ( 0xFFFF ) /* first edge wait timeout */
+
+#define ICU_FREQUENCY_16MHZ 16000000 /** @brief 16MHz */
+#define ICU_FREQUENCY_8MHZ 8000000 /** @brief 8MHz */
+#define ICU_FREQUENCY_4MHZ 4000000 /** @brief 4MHz */
+#define ICU_FREQUENCY_2MHZ 2000000 /** @brief 2MHz */
+#define ICU_FREQUENCY_1MHZ 1000000 /** @brief 1MHz */
+#define ICU_FREQUENCY_500KHZ 500000 /** @brief 500kHz */
+#define ICU_FREQUENCY_250KHZ 250000 /** @brief 250kHz */
+#define ICU_FREQUENCY_125KHZ 125000 /** @brief 125kHz */
+#define ICU_FREQUENCY_62500HZ 62500 /** @brief 62500Hz */
+#define ICU_FREQUENCY_31250HZ 31250 /** @brief 31250Hz */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief ICUD1 driver enable switch.
+ * @details If set to @p TRUE the support for ICUD1 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(NRF5_ICU_USE_TIMER0) || defined(__DOXYGEN__)
+#define NRF5_ICU_USE_TIMER0 FALSE
+#endif
+
+/**
+ * @brief ICUD2 driver enable switch.
+ * @details If set to @p TRUE the support for ICUD2 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(NRF5_ICU_USE_TIMER1) || defined(__DOXYGEN__)
+#define NRF5_ICU_USE_TIMER1 FALSE
+#endif
+
+/**
+ * @brief ICUD3 driver enable switch.
+ * @details If set to @p TRUE the support for ICUD3 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(NRF5_ICU_USE_TIMER2) || defined(__DOXYGEN__)
+#define NRF5_ICU_USE_TIMER2 FALSE
+#endif
+
+/**
+ * @brief ICUD4 driver enable switch.
+ * @details If set to @p TRUE the support for ICUD4 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(NRF5_ICU_USE_TIMER3) || defined(__DOXYGEN__)
+#define NRF5_ICU_USE_TIMER3 FALSE
+#endif
+
+/**
+ * @brief ICUD5 driver enable switch.
+ * @details If set to @p TRUE the support for ICUD5 is included.
+ * @note The default is @p TRUE.
+ */
+#if !defined(NRF5_ICU_USE_TIMER4) || defined(__DOXYGEN__)
+#define NRF5_ICU_USE_TIMER4 FALSE
+#endif
+
+/**
+ * @brief ICUD1 interrupt priority level setting.
+ */
+#if !defined(NRF5_ICU_TIMER0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_ICU_TIMER0_IRQ_PRIORITY 3
+#endif
+
+/**
+ * @brief ICUD2 interrupt priority level setting.
+ */
+#if !defined(NRF5_ICU_TIMER1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_ICU_TIMER1_IRQ_PRIORITY 3
+#endif
+
+/**
+ * @brief ICUD3 interrupt priority level setting.
+ */
+#if !defined(NRF5_ICU_TIMER2_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_ICU_TIMER2_IRQ_PRIORITY 3
+#endif
+
+/**
+ * @brief ICUD4 interrupt priority level setting.
+ */
+#if !defined(NRF5_ICU_TIMER3_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_ICU_TIMER3_IRQ_PRIORITY 3
+#endif
+
+/**
+ * @brief ICUD5 interrupt priority level setting.
+ */
+#if !defined(NRF5_ICU_TIMER4_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define NRF5_ICU_TIMER4_IRQ_PRIORITY 3
+#endif
+
+/**
+ * @brief Allow driver to use GPIOTE/PPI to capture PAL line
+ */
+#if !defined(NRF5_ICU_USE_GPIOTE_PPI)
+#define NRF5_ICU_USE_GPIOTE_PPI TRUE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !NRF5_ICU_USE_TIMER0 && !NRF5_ICU_USE_TIMER1 && \
+ !NRF5_ICU_USE_TIMER2 && !NRF5_ICU_USE_TIMER3 && \
+ !NRF5_ICU_USE_TIMER4
+#error "ICU driver activated but no TIMER peripheral assigned"
+#endif
+
+#if NRF5_ICU_USE_TIMER0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIMER0"
+#endif
+
+#if NRF5_ICU_USE_TIMER1 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER1_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIMER1"
+#endif
+
+#if NRF5_ICU_USE_TIMER2 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER2_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIMER2"
+#endif
+
+#if NRF5_ICU_USE_TIMER3 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER3_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIMER3"
+#endif
+
+#if NRF5_ICU_USE_TIMER4 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER4_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIMER4"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+/**
+ * @brief Active level selector.
+ */
+typedef enum {
+ ICU_INPUT_DISABLED, /**< Channel disabled . */
+ ICU_INPUT_ACTIVE_HIGH, /**< Trigger on rising edge. */
+ ICU_INPUT_ACTIVE_LOW, /**< Trigger on falling edge. */
+} icumode_t;
+
+/**
+ * @brief ICU channel state.
+ */
+typedef enum {
+ ICU_CH_IDLE = 0, /**< Not initialized. */
+ ICU_CH_ACTIVE = 1 /**< First front detected. */
+} icuchannelstate_t;
+
+/**
+ * @brief ICU frequency type.
+ */
+typedef uint32_t icufreq_t;
+
+/**
+ * @brief ICU channel type.
+ */
+typedef enum {
+ ICU_CHANNEL_1 = 0, /**< Use TIMERx channel 0,2 */
+ ICU_CHANNEL_2 = 1, /**< Use TIMERx channel 1,3 */
+} icuchannel_t;
+
+/**
+ * @brief ICU counter type.
+ */
+typedef uint32_t icucnt_t;
+
+/**
+ * @brief ICU captured width and (or) period.
+ */
+typedef struct {
+ /**
+ * @brief Pulse width.
+ */
+ icucnt_t width;
+ /**
+ * @brief Pulse period.
+ */
+ icucnt_t period;
+} icuresult_t;
+
+/**
+ * @brief ICU Capture Channel Config structure definition.
+ */
+typedef struct {
+ /**
+ * @brief Specifies the channel capture mode.
+ */
+ icumode_t mode;
+
+#if NRF5_ICU_USE_GPIOTE_PPI || defined(__DOXYGEN__)
+ /**
+ * @brief PAL line to capture.
+ * @note When NRF5_ICU_USE_GPIOTE_PPI is used and channel enabled,
+ * it wont be possible to access this PAL line using the PAL
+ * driver.
+ */
+ ioline_t ioline[2];
+
+ /**
+ * @brief Unique GPIOTE channel to use. (2 channel)
+ * @note Only 8 GPIOTE channels are available on nRF52.
+ */
+ uint8_t gpiote_channel[2];
+
+ /**
+ * @brief Unique PPI channels to use. (2 channels)
+ * @note Only 20 PPI channels are available on nRF52
+ * (When Softdevice is enabled, only channels 0-7 are available)
+ */
+ uint8_t ppi_channel[2];
+#endif
+} ICUChannelConfig;
+
+/**
+ * @brief ICU Capture Channel structure definition.
+ */
+typedef struct {
+ /**
+ * @brief Channel state for the internal state machine.
+ */
+ icuchannelstate_t state;
+ /**
+ * @brief Cached value for pulse width calculation.
+ */
+ icucnt_t last_active;
+ /**
+ * @brief Cached value for period calculation.
+ */
+ icucnt_t last_idle;
+ /**
+ * @brief Pointer to Input Capture channel configuration.
+ */
+// const ICUChannelConfig *config;
+} ICUChannel;
+
+/**
+ * @brief ICU Config structure definition.
+ */
+typedef struct {
+ /**
+ * @brief Specifies the Timer clock in Hz.
+ */
+ icufreq_t frequency;
+ /**
+ * @brief Callback for pulse width measurement.
+ */
+ icucallback_t width_cb;
+ /**
+ * @brief Callback for cycle period measurement.
+ */
+ icucallback_t period_cb;
+ /**
+ * @brief Callback for timer overflow.
+ */
+ icucallback_t overflow_cb;
+ /**
+ * @brief Pointer to each Input Capture channel configuration.
+ * @note A NULL parameter indicates the channel as unused.
+ * @note In ICU mode, only Channel 1 OR Channel 2 may be used.
+ */
+ const ICUChannelConfig iccfgp[ICU_CHANNELS];
+} ICUConfig;
+
+/**
+ * @brief ICU Driver structure definition
+ */
+struct ICUDriver {
+ /**
+ * @brief NRF52 timer peripheral for Input Capture.
+ */
+ NRF_TIMER_Type *timer;
+ /**
+ * @brief Driver state for the internal state machine.
+ */
+ icustate_t state;
+ /**
+ * @brief Channels' data structures.
+ */
+ ICUChannel channel[ICU_CHANNELS];
+ /**
+ * @brief Timer base clock.
+ */
+ uint32_t clock;
+ /**
+ * @brief Pointer to configuration for the driver.
+ */
+ const ICUConfig *config;
+ /**
+ * @brief Period, width last value.
+ */
+ icuresult_t result;
+#if defined(ICU_DRIVER_EXT_FIELDS)
+ ICU_DRIVER_EXT_FIELDS
+#endif
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+/**
+ * @brief Returns the width of the latest pulse.
+ * @details The pulse width is defined as number of ticks between the start
+ * edge and the stop edge.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ * @return The number of ticks.
+ *
+ * @notapi
+ */
+#define icu_lld_get_width(icup) ((uint32_t)((icup)->result.width))
+
+/**
+ * @brief Returns the width of the latest cycle.
+ * @details The cycle width is defined as number of ticks between a start
+ * edge and the next start edge.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ * @return The number of ticks.
+ *
+ * @notapi
+ */
+#define icu_lld_get_period(icup) ((uint32_t)((icup)->result.period))
+
+/**
+ * @brief Check on notifications status.
+ *
+ * @param[in] icup pointer to the @p ICUDriver object
+ * @return The notifications status.
+ * @retval false if notifications are not enabled.
+ * @retval true if notifications are enabled.
+ *
+ * @notapi
+ */
+#define icu_lld_are_notifications_enabled(icup) ( 1 )
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+#if NRF5_ICU_USE_TIMER0 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD1;
+#endif
+
+#if NRF5_ICU_USE_TIMER1 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD2;
+#endif
+
+#if NRF5_ICU_USE_TIMER2 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD3;
+#endif
+
+#if NRF5_ICU_USE_TIMER3 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD4;
+#endif
+
+#if NRF5_ICU_USE_TIMER4 && !defined(__DOXYGEN__)
+extern ICUDriver ICUD5;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void icu_lld_init(void);
+ void icu_lld_start(ICUDriver *icup);
+ void icu_lld_stop(ICUDriver *icup);
+ void icu_lld_start_capture(ICUDriver *icup);
+ bool icu_lld_wait_capture(ICUDriver *icup);
+ void icu_lld_stop_capture(ICUDriver *icup);
+ void icu_lld_enable_notifications(ICUDriver *icup);
+ void icu_lld_disable_notifications(ICUDriver *icup);
+ void icu_lld_serve_interrupt(ICUDriver *icup);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_ICU */
+
+#endif /* HAL_ICU_LLD_H */