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/*
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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