From 6f67aa78c3061654bb50ed86dc5f104ca49e87b8 Mon Sep 17 00:00:00 2001 From: Nicolas Reinecke Date: Sat, 30 Apr 2016 16:03:33 +0200 Subject: add STM32 qei (quadrature encoder interface) driver Code from tinito in forum thread: http://forum.chibios.org/phpbb/viewtopic.php?f=14&t=685 Updated to chibios trunk. --- os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c | 293 +++++++++++++++++++++++++++++ 1 file changed, 293 insertions(+) create mode 100644 os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c (limited to 'os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c') diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c new file mode 100644 index 0000000..c9f511b --- /dev/null +++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c @@ -0,0 +1,293 @@ +/* + ChibiOS - Copyright (C) 2006..2016 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. +*/ + +/** + * @file TIMv1/hal_qei_lld.c + * @brief STM32 QEI subsystem low level driver header. + * + * @addtogroup QEI + * @{ + */ + +#include "hal.h" + +#if HAL_USE_QEI || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/** + * @brief QEID1 driver identifier. + * @note The driver QEID1 allocates the complex timer TIM1 when enabled. + */ +#if STM32_QEI_USE_TIM1 || defined(__DOXYGEN__) +QEIDriver QEID1; +#endif + +/** + * @brief QEID2 driver identifier. + * @note The driver QEID1 allocates the timer TIM2 when enabled. + */ +#if STM32_QEI_USE_TIM2 || defined(__DOXYGEN__) +QEIDriver QEID2; +#endif + +/** + * @brief QEID3 driver identifier. + * @note The driver QEID1 allocates the timer TIM3 when enabled. + */ +#if STM32_QEI_USE_TIM3 || defined(__DOXYGEN__) +QEIDriver QEID3; +#endif + +/** + * @brief QEID4 driver identifier. + * @note The driver QEID4 allocates the timer TIM4 when enabled. + */ +#if STM32_QEI_USE_TIM4 || defined(__DOXYGEN__) +QEIDriver QEID4; +#endif + +/** + * @brief QEID5 driver identifier. + * @note The driver QEID5 allocates the timer TIM5 when enabled. + */ +#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__) +QEIDriver QEID5; +#endif + +/** + * @brief QEID8 driver identifier. + * @note The driver QEID8 allocates the timer TIM8 when enabled. + */ +#if STM32_QEI_USE_TIM8 || defined(__DOXYGEN__) +QEIDriver QEID8; +#endif + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver interrupt handlers. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level QEI driver initialization. + * + * @notapi + */ +void qei_lld_init(void) { + +#if STM32_QEI_USE_TIM1 + /* Driver initialization.*/ + qeiObjectInit(&QEID1); + QEID1.tim = STM32_TIM1; +#endif + +#if STM32_QEI_USE_TIM2 + /* Driver initialization.*/ + qeiObjectInit(&QEID2); + QEID2.tim = STM32_TIM2; +#endif + +#if STM32_QEI_USE_TIM3 + /* Driver initialization.*/ + qeiObjectInit(&QEID3); + QEID3.tim = STM32_TIM3; +#endif + +#if STM32_QEI_USE_TIM4 + /* Driver initialization.*/ + qeiObjectInit(&QEID4); + QEID4.tim = STM32_TIM4; +#endif + +#if STM32_QEI_USE_TIM5 + /* Driver initialization.*/ + qeiObjectInit(&QEID5); + QEID5.tim = STM32_TIM5; +#endif + +#if STM32_QEI_USE_TIM8 + /* Driver initialization.*/ + qeiObjectInit(&QEID8); + QEID8.tim = STM32_TIM8; +#endif +} + +/** + * @brief Configures and activates the QEI peripheral. + * + * @param[in] qeip pointer to the @p QEIDriver object + * + * @notapi + */ +void qei_lld_start(QEIDriver *qeip) { + + if (qeip->state == QEI_STOP) { + /* Clock activation and timer reset.*/ +#if STM32_QEI_USE_TIM1 + if (&QEID1 == qeip) { + rccEnableTIM1(FALSE); + rccResetTIM1(); + } +#endif +#if STM32_QEI_USE_TIM2 + if (&QEID2 == qeip) { + rccEnableTIM2(FALSE); + rccResetTIM2(); + } +#endif +#if STM32_QEI_USE_TIM3 + if (&QEID3 == qeip) { + rccEnableTIM3(FALSE); + rccResetTIM3(); + } +#endif +#if STM32_QEI_USE_TIM4 + if (&QEID4 == qeip) { + rccEnableTIM4(FALSE); + rccResetTIM4(); + } +#endif + +#if STM32_QEI_USE_TIM5 + if (&QEID5 == qeip) { + rccEnableTIM5(FALSE); + rccResetTIM5(); + } +#endif +#if STM32_QEI_USE_TIM8 + if (&QEID8 == qeip) { + rccEnableTIM8(FALSE); + rccResetTIM8(); + } +#endif + } + /* Timer configuration.*/ + qeip->tim->CR1 = 0; /* Initially stopped. */ + qeip->tim->CR2 = 0; + qeip->tim->PSC = 0; + qeip->tim->DIER = 0; + qeip->tim->ARR = 0xFFFF; + + /* Set Capture Compare 1 and Capture Compare 2 as input. */ + qeip->tim->CCMR1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0; + + if (qeip->config->mode == QEI_MODE_QUADRATURE) { + if (qeip->config->resolution == QEI_BOTH_EDGES) + qeip->tim->SMCR = TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0; + else + qeip->tim->SMCR = TIM_SMCR_SMS_0; + } else { + /* Direction/Clock mode. + * Direction input on TI1, Clock input on TI2. */ + qeip->tim->SMCR = TIM_SMCR_SMS_0; + } + + if (qeip->config->dirinv == QEI_DIRINV_TRUE) + qeip->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P | TIM_CCER_CC2E; + else + qeip->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E; +} + +/** + * @brief Deactivates the QEI peripheral. + * + * @param[in] qeip pointer to the @p QEIDriver object + * + * @notapi + */ +void qei_lld_stop(QEIDriver *qeip) { + + if (qeip->state == QEI_READY) { + qeip->tim->CR1 = 0; /* Timer disabled. */ + + /* Clock deactivation.*/ +#if STM32_QEI_USE_TIM1 + if (&QEID1 == qeip) { + rccDisableTIM1(FALSE); + } +#endif +#if STM32_QEI_USE_TIM2 + if (&QEID2 == qeip) { + rccDisableTIM2(FALSE); + } +#endif +#if STM32_QEI_USE_TIM3 + if (&QEID3 == qeip) { + rccDisableTIM3(FALSE); + } +#endif +#if STM32_QEI_USE_TIM4 + if (&QEID4 == qeip) { + rccDisableTIM4(FALSE); + } +#endif +#if STM32_QEI_USE_TIM5 + if (&QEID5 == qeip) { + rccDisableTIM5(FALSE); + } +#endif + } +#if STM32_QEI_USE_TIM8 + if (&QEID8 == qeip) { + rccDisableTIM8(FALSE); + } +#endif +} + +/** + * @brief Enables the input capture. + * + * @param[in] qeip pointer to the @p QEIDriver object + * + * @notapi + */ +void qei_lld_enable(QEIDriver *qeip) { + + qeip->tim->CR1 = TIM_CR1_CEN; /* Timer enabled. */ +} + +/** + * @brief Disables the input capture. + * + * @param[in] qeip pointer to the @p QEIDriver object + * + * @notapi + */ +void qei_lld_disable(QEIDriver *qeip) { + + qeip->tim->CR1 = 0; /* Timer disabled. */ +} + +#endif /* HAL_USE_QEI */ + +/** @} */ -- cgit v1.2.3