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/*
ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca
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 == TRUE) || 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) {
osalDbgAssert((qeip->config->min == 0) || (qeip->config->max == 0),
"only min/max set to 0 is supported");
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();
}
#endif
#if STM32_QEI_USE_TIM2
if (&QEID2 == qeip) {
rccDisableTIM2();
}
#endif
#if STM32_QEI_USE_TIM3
if (&QEID3 == qeip) {
rccDisableTIM3();
}
#endif
#if STM32_QEI_USE_TIM4
if (&QEID4 == qeip) {
rccDisableTIM4();
}
#endif
#if STM32_QEI_USE_TIM5
if (&QEID5 == qeip) {
rccDisableTIM5();
}
#endif
}
#if STM32_QEI_USE_TIM8
if (&QEID8 == qeip) {
rccDisableTIM8();
}
#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 */
/** @} */
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