From 707b3a2f97ef9751e42bc377d68ff8479f3ef438 Mon Sep 17 00:00:00 2001 From: Stephane D'Alu Date: Fri, 8 Jul 2016 12:58:25 +0200 Subject: renamed port to NRF5 to make room for NRF52832 chip --- os/hal/ports/NRF5/NRF51822/hal_qei_lld.h | 390 +++++++++++++++++++++++++++++++ 1 file changed, 390 insertions(+) create mode 100644 os/hal/ports/NRF5/NRF51822/hal_qei_lld.h (limited to 'os/hal/ports/NRF5/NRF51822/hal_qei_lld.h') diff --git a/os/hal/ports/NRF5/NRF51822/hal_qei_lld.h b/os/hal/ports/NRF5/NRF51822/hal_qei_lld.h new file mode 100644 index 0000000..5037591 --- /dev/null +++ b/os/hal/ports/NRF5/NRF51822/hal_qei_lld.h @@ -0,0 +1,390 @@ +/* + 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(NRF51_QEI_USE_LED) || defined(__DOXYGEN__) +#define NRF51_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(NRF51_QEI_USE_ACC_OVERFLOWED_CB) || defined(__DOXYGEN__) +#define NRF51_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(NRF51_QEI_USE_QDEC0) || defined(__DOXYGEN__) +#define NRF51_QEI_USE_QDEC0 FALSE +#endif + +/** + * @brief QEID interrupt priority level setting for QDEC0. + */ +#if !defined(NRF51_QEI_QDEC0_IRQ_PRIORITY) || defined(__DOXYGEN__) +#define NRF51_QEI_QDEC0_IRQ_PRIORITY 2 +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if NRF51_QEI_USE_QDEC0 && \ + !OSAL_IRQ_IS_VALID_PRIORITY(NRF51_QEI_QDEC0_IRQ_PRIORITY) +#error "Invalid IRQ priority assigned to QDEC0" +#endif + +#if NRF51_QEI_USE_QDEC0 == FALSE +#error "Requesting QEI driver, but no QDEC peripheric attached" +#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 int32_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 (NRF51_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 NRF51_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 NRF51_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 NRF51_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 */ + +/** @} */ -- cgit v1.2.3