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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 NRF51/hal_qei_lld.h
* @brief NRF51 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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