diff options
Diffstat (limited to 'drivers_nrf/qdec/nrf_drv_qdec.c')
| -rw-r--r-- | drivers_nrf/qdec/nrf_drv_qdec.c | 234 |
1 files changed, 234 insertions, 0 deletions
diff --git a/drivers_nrf/qdec/nrf_drv_qdec.c b/drivers_nrf/qdec/nrf_drv_qdec.c new file mode 100644 index 0000000..cdd3fc5 --- /dev/null +++ b/drivers_nrf/qdec/nrf_drv_qdec.c @@ -0,0 +1,234 @@ +/** + * Copyright (c) 2015 - 2017, Nordic Semiconductor ASA + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form, except as embedded into a Nordic + * Semiconductor ASA integrated circuit in a product or a software update for + * such product, must reproduce the above copyright notice, this list of + * conditions and the following disclaimer in the documentation and/or other + * materials provided with the distribution. + * + * 3. Neither the name of Nordic Semiconductor ASA nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * 4. This software, with or without modification, must only be used with a + * Nordic Semiconductor ASA integrated circuit. + * + * 5. Any software provided in binary form under this license must not be reverse + * engineered, decompiled, modified and/or disassembled. + * + * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS + * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES + * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE + * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT + * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ +#include "sdk_common.h" +#if NRF_MODULE_ENABLED(QDEC) +#include <stdint.h> +#include <stddef.h> + +#include "nrf.h" +#include "nrf_gpio.h" +#include "nrf_error.h" +#include "nrf_assert.h" +#include "nrf_drv_common.h" +#include "nrf_drv_qdec.h" +#include "app_util_platform.h" +#include "nrf_assert.h" + +#define NRF_LOG_MODULE_NAME "QDEC" + +#if QDEC_CONFIG_LOG_ENABLED +#define NRF_LOG_LEVEL QDEC_CONFIG_LOG_LEVEL +#define NRF_LOG_INFO_COLOR QDEC_CONFIG_INFO_COLOR +#define NRF_LOG_DEBUG_COLOR QDEC_CONFIG_DEBUG_COLOR +#define EVT_TO_STR(event) (event == NRF_QDEC_EVENT_SAMPLERDY ? "NRF_QDEC_EVENT_SAMPLERDY" : \ + (event == NRF_QDEC_EVENT_REPORTRDY ? "NRF_QDEC_EVENT_REPORTRDY" : \ + (event == NRF_QDEC_EVENT_ACCOF ? "NRF_QDEC_EVENT_ACCOF" : "UNKNOWN EVENT"))) +#else //QDEC_CONFIG_LOG_ENABLED +#define EVT_TO_STR(event) "" +#define NRF_LOG_LEVEL 0 +#endif //QDEC_CONFIG_LOG_ENABLED +#include "nrf_log.h" +#include "nrf_log_ctrl.h" + + +static qdec_event_handler_t m_qdec_event_handler = NULL; +static const nrf_drv_qdec_config_t m_default_config = NRF_DRV_QDEC_DEFAULT_CONFIG; +static nrf_drv_state_t m_state = NRF_DRV_STATE_UNINITIALIZED; + +void QDEC_IRQHandler(void) +{ + nrf_drv_qdec_event_t event; + if ( nrf_qdec_event_check(NRF_QDEC_EVENT_SAMPLERDY) && + nrf_qdec_int_enable_check(NRF_QDEC_INT_SAMPLERDY_MASK) ) + { + nrf_qdec_event_clear(NRF_QDEC_EVENT_SAMPLERDY); + NRF_LOG_DEBUG("Event: %s.\r\n", (uint32_t)EVT_TO_STR(NRF_QDEC_EVENT_SAMPLERDY)); + + event.type = NRF_QDEC_EVENT_SAMPLERDY; + event.data.sample.value = (int8_t)nrf_qdec_sample_get(); + m_qdec_event_handler(event); + } + + if ( nrf_qdec_event_check(NRF_QDEC_EVENT_REPORTRDY) && + nrf_qdec_int_enable_check(NRF_QDEC_INT_REPORTRDY_MASK) ) + { + nrf_qdec_event_clear(NRF_QDEC_EVENT_REPORTRDY); + NRF_LOG_DEBUG("Event: %s.\r\n", (uint32_t)EVT_TO_STR(NRF_QDEC_INT_REPORTRDY_MASK)); + + event.type = NRF_QDEC_EVENT_REPORTRDY; + + event.data.report.acc = (int16_t)nrf_qdec_accread_get(); + event.data.report.accdbl = (uint16_t)nrf_qdec_accdblread_get(); + m_qdec_event_handler(event); + } + + if ( nrf_qdec_event_check(NRF_QDEC_EVENT_ACCOF) && + nrf_qdec_int_enable_check(NRF_QDEC_INT_ACCOF_MASK) ) + { + nrf_qdec_event_clear(NRF_QDEC_EVENT_ACCOF); + NRF_LOG_DEBUG("Event: %s.\r\n", (uint32_t)EVT_TO_STR(NRF_QDEC_EVENT_ACCOF)); + + event.type = NRF_QDEC_EVENT_ACCOF; + m_qdec_event_handler(event); + } +} + + +ret_code_t nrf_drv_qdec_init(const nrf_drv_qdec_config_t * p_config, + qdec_event_handler_t event_handler) +{ + ret_code_t err_code; + + if (m_state != NRF_DRV_STATE_UNINITIALIZED) + { + err_code = NRF_ERROR_INVALID_STATE; + NRF_LOG_WARNING("Function: %s, error code: %s.\r\n", (uint32_t)__func__, (uint32_t)NRF_LOG_ERROR_STRING_GET(err_code)); + return err_code; + } + + if (p_config == NULL) + { + p_config = &m_default_config; + } + + if (event_handler) + { + m_qdec_event_handler = event_handler; + } + else + { + err_code = NRF_ERROR_INVALID_PARAM; + NRF_LOG_WARNING("Function: %s, error code: %s.\r\n", (uint32_t)__func__, (uint32_t)NRF_LOG_ERROR_STRING_GET(err_code)); + return err_code; + } + + nrf_qdec_sampleper_set(p_config->sampleper); + nrf_gpio_cfg_input(p_config->pselled, NRF_GPIO_PIN_NOPULL); + nrf_gpio_cfg_input(p_config->psela, NRF_GPIO_PIN_NOPULL); + nrf_gpio_cfg_input(p_config->pselb, NRF_GPIO_PIN_NOPULL); + nrf_qdec_pio_assign( p_config->psela, p_config->pselb, p_config->pselled); + nrf_qdec_ledpre_set(p_config->ledpre); + nrf_qdec_ledpol_set(p_config->ledpol); + nrf_qdec_shorts_enable(NRF_QDEC_SHORT_REPORTRDY_READCLRACC_MASK); + + if (p_config->dbfen) + { + nrf_qdec_dbfen_enable(); + } + else + { + nrf_qdec_dbfen_disable(); + } + + uint32_t int_mask = NRF_QDEC_INT_ACCOF_MASK; + + if (p_config->reportper != NRF_QDEC_REPORTPER_DISABLED) + { + nrf_qdec_reportper_set(p_config->reportper); + int_mask |= NRF_QDEC_INT_REPORTRDY_MASK; + } + + if (p_config->sample_inten) + { + int_mask |= NRF_QDEC_INT_SAMPLERDY_MASK; + } + + nrf_qdec_int_enable(int_mask); + nrf_drv_common_irq_enable(QDEC_IRQn, p_config->interrupt_priority); + + m_state = NRF_DRV_STATE_INITIALIZED; + + err_code = NRF_SUCCESS; + NRF_LOG_INFO("Function: %s, error code: %s.\r\n", (uint32_t)__func__, (uint32_t)NRF_LOG_ERROR_STRING_GET(err_code)); + return err_code; +} + +void nrf_drv_qdec_uninit(void) +{ + ASSERT(m_state != NRF_DRV_STATE_UNINITIALIZED); + nrf_drv_qdec_disable(); + nrf_drv_common_irq_disable(QDEC_IRQn); + m_state = NRF_DRV_STATE_UNINITIALIZED; + NRF_LOG_INFO("Uninitialized.\r\n"); +} + +void nrf_drv_qdec_enable(void) +{ + ASSERT(m_state == NRF_DRV_STATE_INITIALIZED); + nrf_qdec_enable(); + nrf_qdec_task_trigger(NRF_QDEC_TASK_START); + m_state = NRF_DRV_STATE_POWERED_ON; + NRF_LOG_INFO("Enabled.\r\n"); +} + +void nrf_drv_qdec_disable(void) +{ + ASSERT(m_state == NRF_DRV_STATE_POWERED_ON); + nrf_qdec_task_trigger(NRF_QDEC_TASK_STOP); + nrf_qdec_disable(); + m_state = NRF_DRV_STATE_INITIALIZED; + NRF_LOG_INFO("Disabled.\r\n"); +} + +void nrf_drv_qdec_accumulators_read(int16_t * p_acc, int16_t * p_accdbl) +{ + ASSERT(m_state == NRF_DRV_STATE_POWERED_ON); + nrf_qdec_task_trigger(NRF_QDEC_TASK_READCLRACC); + + *p_acc = (int16_t)nrf_qdec_accread_get(); + *p_accdbl = (int16_t)nrf_qdec_accdblread_get(); + + NRF_LOG_DEBUG("Accumulators data, ACC register:\r\n"); + NRF_LOG_HEXDUMP_DEBUG((uint8_t *)p_acc, sizeof(p_acc)); + NRF_LOG_DEBUG("Accumulators data, ACCDBL register:\r\n"); + NRF_LOG_HEXDUMP_DEBUG((uint8_t *)p_accdbl, sizeof(p_accdbl)); +} + +void nrf_drv_qdec_task_address_get(nrf_qdec_task_t task, uint32_t * p_task) +{ + *p_task = (uint32_t)nrf_qdec_task_address_get(task); +} + +void nrf_drv_qdec_event_address_get(nrf_qdec_event_t event, uint32_t * p_event) +{ + *p_event = (uint32_t)nrf_qdec_event_address_get(event); +} + +#endif //NRF_MODULE_ENABLED(QDEC) |