path: root/drivers_nrf/hal/nrf_qdec.h

/**
 * Copyright (c) 2014 - 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.
 * 
 */
#ifndef NRF_QDEC_H__
#define NRF_QDEC_H__

#include <stddef.h>
#include "nrf_error.h"
#include "nrf.h"

#ifdef __cplusplus
extern "C" {
#endif

/*lint ++flb "Enter library region" */

/**
 * @defgroup nrf_qdec_hal QDEC HAL
 * @{
 * @ingroup nrf_qdec
 * @brief Hardware access layer for accessing the quadrature decoder (QDEC) peripheral.
 */

/**
 * @enum nrf_qdec_task_t
 * @brief QDEC tasks.
 */
typedef enum /*lint -save -e30 -esym(628,__INTADDR__) */
{
    NRF_QDEC_TASK_START      = offsetof(NRF_QDEC_Type, TASKS_START),     /**< Starting the quadrature decoder. */
    NRF_QDEC_TASK_STOP       = offsetof(NRF_QDEC_Type, TASKS_STOP),      /**< Stopping the quadrature decoder. */
    NRF_QDEC_TASK_READCLRACC = offsetof(NRF_QDEC_Type, TASKS_READCLRACC) /**< Reading and clearing ACC and ACCDBL registers. */
} nrf_qdec_task_t;

/**
 * @enum nrf_qdec_event_t
 * @brief QDEC events.
 */
typedef enum
{
    NRF_QDEC_EVENT_SAMPLERDY = offsetof(NRF_QDEC_Type, EVENTS_SAMPLERDY), /**< Event generated for every new sample.  */
    NRF_QDEC_EVENT_REPORTRDY = offsetof(NRF_QDEC_Type, EVENTS_REPORTRDY), /**< Event generated for every new report.  */
    NRF_QDEC_EVENT_ACCOF     = offsetof(NRF_QDEC_Type, EVENTS_ACCOF)      /**< Event generated for every accumulator overflow. */
} nrf_qdec_event_t;                                                       /*lint -restore */

/**
 * @enum nrf_qdec_short_mask_t
 * @brief QDEC shortcuts.
 */
typedef enum
{
    NRF_QDEC_SHORT_REPORTRDY_READCLRACC_MASK = QDEC_SHORTS_REPORTRDY_READCLRACC_Msk, /**< Shortcut between REPORTRDY event and READCLRACC task.  */
    NRF_QDEC_SHORT_SAMPLERDY_STOP_MASK       = QDEC_SHORTS_SAMPLERDY_STOP_Msk        /**< Shortcut between SAMPLERDY event and STOP task.  */
} nrf_qdec_short_mask_t;

/**
 * @enum nrf_qdec_int_mask_t
 * @brief QDEC interrupts.
 */
typedef enum
{
    NRF_QDEC_INT_SAMPLERDY_MASK = QDEC_INTENSET_SAMPLERDY_Msk, /**< Mask for enabling or disabling an interrupt on SAMPLERDY event.  */
    NRF_QDEC_INT_REPORTRDY_MASK = QDEC_INTENSET_REPORTRDY_Msk, /**< Mask for enabling or disabling an interrupt on REPORTRDY event.  */
    NRF_QDEC_INT_ACCOF_MASK     = QDEC_INTENSET_ACCOF_Msk      /**< Mask for enabling or disabling an interrupt on ACCOF event.  */
} nrf_qdec_int_mask_t;

/**
 * @enum nrf_qdec_enable_t
 * @brief States of the enable bit.
 */
typedef enum
{
    NRF_QDEC_DISABLE = QDEC_ENABLE_ENABLE_Disabled, /**< Mask for disabling the QDEC periperal. When disabled, the QDEC decoder pins are not active.  */
    NRF_QDEC_ENABLE  = QDEC_ENABLE_ENABLE_Enabled   /**< Mask for enabling the QDEC periperal. When enabled, the QDEC pins are active. */
} nrf_qdec_enable_t;


/**
 * @enum nrf_qdec_dbfen_t
 * @brief States of the debounce filter enable bit.
 */
typedef enum
{
    NRF_QDEC_DBFEN_DISABLE = QDEC_DBFEN_DBFEN_Disabled, /**< Mask for disabling the debounce filter.  */
    NRF_QDEC_DBFEN_ENABLE  = QDEC_DBFEN_DBFEN_Enabled   /**< Mask for enabling the debounce filter.  */
} nrf_qdec_dbfen_t;

/**
 * @enum nrf_qdec_ledpol_t
 * @brief Active LED polarity.
 */
typedef enum
{
    NRF_QDEC_LEPOL_ACTIVE_LOW  = QDEC_LEDPOL_LEDPOL_ActiveLow, /**< QDEC LED active on output pin low.  */
    NRF_QDEC_LEPOL_ACTIVE_HIGH = QDEC_LEDPOL_LEDPOL_ActiveHigh /**< QDEC LED active on output pin high.  */
} nrf_qdec_ledpol_t;


/**
 * @enum nrf_qdec_sampleper_t
 * @brief Available sampling periods.
 */
typedef enum
{
    NRF_QDEC_SAMPLEPER_128us   = QDEC_SAMPLEPER_SAMPLEPER_128us,  /**< QDEC sampling period 128 microseconds.  */
    NRF_QDEC_SAMPLEPER_256us   = QDEC_SAMPLEPER_SAMPLEPER_256us,  /**< QDEC sampling period 256 microseconds.  */
    NRF_QDEC_SAMPLEPER_512us   = QDEC_SAMPLEPER_SAMPLEPER_512us,  /**< QDEC sampling period 512 microseconds.  */
    NRF_QDEC_SAMPLEPER_1024us  = QDEC_SAMPLEPER_SAMPLEPER_1024us, /**< QDEC sampling period 1024 microseconds.  */
    NRF_QDEC_SAMPLEPER_2048us  = QDEC_SAMPLEPER_SAMPLEPER_2048us, /**< QDEC sampling period 2048 microseconds.  */
    NRF_QDEC_SAMPLEPER_4096us  = QDEC_SAMPLEPER_SAMPLEPER_4096us, /**< QDEC sampling period 4096 microseconds.  */
    NRF_QDEC_SAMPLEPER_8192us  = QDEC_SAMPLEPER_SAMPLEPER_8192us, /**< QDEC sampling period 8192 microseconds.  */
    NRF_QDEC_SAMPLEPER_16384us = QDEC_SAMPLEPER_SAMPLEPER_16384us /**< QDEC sampling period 16384 microseconds.  */
} nrf_qdec_sampleper_t;

/**
 * @enum nrf_qdec_reportper_t
 * @brief Available report periods.
 */
typedef enum
{
    NRF_QDEC_REPORTPER_10  = QDEC_REPORTPER_REPORTPER_10Smpl,  /**< QDEC report period 10 samples.  */
    NRF_QDEC_REPORTPER_40  = QDEC_REPORTPER_REPORTPER_40Smpl,  /**< QDEC report period 40 samples.  */
    NRF_QDEC_REPORTPER_80  = QDEC_REPORTPER_REPORTPER_80Smpl,  /**< QDEC report period 80 samples.  */
    NRF_QDEC_REPORTPER_120 = QDEC_REPORTPER_REPORTPER_120Smpl, /**< QDEC report period 120 samples. */
    NRF_QDEC_REPORTPER_160 = QDEC_REPORTPER_REPORTPER_160Smpl, /**< QDEC report period 160 samples. */
    NRF_QDEC_REPORTPER_200 = QDEC_REPORTPER_REPORTPER_200Smpl, /**< QDEC report period 200 samples. */
    NRF_QDEC_REPORTPER_240 = QDEC_REPORTPER_REPORTPER_240Smpl, /**< QDEC report period 240 samples. */
    NRF_QDEC_REPORTPER_280 = QDEC_REPORTPER_REPORTPER_280Smpl, /**< QDEC report period 280 samples. */
    NRF_QDEC_REPORTPER_DISABLED                                /**< QDEC reporting disabled.        */
} nrf_qdec_reportper_t;

/**
 * @brief Function for enabling QDEC.
 */
__STATIC_INLINE void nrf_qdec_enable(void)
{
    NRF_QDEC->ENABLE = NRF_QDEC_ENABLE;
}


/**
 * @brief Function for disabling QDEC.
 */
__STATIC_INLINE void nrf_qdec_disable(void)
{
    NRF_QDEC->ENABLE = NRF_QDEC_DISABLE;
}


/**
 * @brief Function for returning the enable state of QDEC.
 * @return State of the register.
 */
__STATIC_INLINE uint32_t nrf_qdec_enable_get(void)
{
    return NRF_QDEC->ENABLE;
}


/**
 * @brief Function for enabling QDEC interrupts by mask.
 * @param[in] qdec_int_mask Sources of the interrupts to enable.
 */
__STATIC_INLINE void nrf_qdec_int_enable(uint32_t qdec_int_mask)
{
    NRF_QDEC->INTENSET = qdec_int_mask; // writing 0 has no effect
}


/**
 * @brief Function for disabling QDEC interrupts by mask.
 * @param[in] qdec_int_mask Sources of the interrupts to disable.
 *
 */
__STATIC_INLINE void nrf_qdec_int_disable(uint32_t qdec_int_mask)
{
    NRF_QDEC->INTENCLR = qdec_int_mask; // writing 0 has no effect
}


/**
 * @brief Function for getting the enabled interrupts of the QDEC.
 */
__STATIC_INLINE uint32_t nrf_qdec_int_enable_check(nrf_qdec_int_mask_t qdec_int_mask)
{
    return NRF_QDEC->INTENSET & qdec_int_mask; // when read this register will return the value of INTEN.
}


/**
 * @brief Function for enabling the debouncing filter of the QED.
 */
__STATIC_INLINE void nrf_qdec_dbfen_enable(void)
{
    NRF_QDEC->DBFEN = NRF_QDEC_DBFEN_ENABLE;
}


/**
 * @brief Function for disabling the debouncing filter of the QED.
 */
__STATIC_INLINE void nrf_qdec_dbfen_disable(void)
{
    NRF_QDEC->DBFEN = NRF_QDEC_DBFEN_DISABLE;
}


/**
 * @brief Function for getting the state of the QDEC's debouncing filter.
 * @retval NRF_QDEC_DBFEN_DISABLE If the debouncing filter is disabled.
 * @retval NRF_QDEC_DBFEN_ENABLE If the debouncing filter is enabled.
 */
__STATIC_INLINE uint32_t nrf_qdec_dbfen_get(void)
{
    return NRF_QDEC->DBFEN;
}


/**
 * @brief Function for assigning QDEC pins.
 * @param[in] psela   Pin number.
 * @param[in] pselb   Pin number.
 * @param[in] pselled Pin number.
 */
__STATIC_INLINE void nrf_qdec_pio_assign( uint32_t psela, uint32_t pselb, uint32_t pselled)
{
    NRF_QDEC->PSELA = psela;
    NRF_QDEC->PSELB = pselb;
    NRF_QDEC->PSELLED = pselled;

}

/**
 * @brief Function for setting a specific QDEC task.
 * @param[in] qdec_task QDEC task to be set.
 */
__STATIC_INLINE void nrf_qdec_task_trigger(nrf_qdec_task_t qdec_task)
{
    *( (volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_task) ) = 1;
}


/**
 * @brief Function for retrieving the address of a QDEC task register.
 * @param[in] qdec_task QDEC task.
 */
__STATIC_INLINE uint32_t * nrf_qdec_task_address_get(nrf_qdec_task_t qdec_task)
{
    return (uint32_t *)( (uint8_t *)NRF_QDEC + qdec_task);
}


/**
 * @brief Function for clearing a specific QDEC event.
 * @param[in] qdec_event QDEC event to clear.
 */
__STATIC_INLINE void nrf_qdec_event_clear(nrf_qdec_event_t qdec_event)
{
    *( (volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event) ) = 0;
#if __CORTEX_M == 0x04
    volatile uint32_t dummy = *((volatile uint32_t *)((uint8_t *)NRF_QDEC + qdec_event));
    (void)dummy;
#endif
}


/**
 * @brief Function for retrieving the state of a specific QDEC event.
 * @return State of the QDEC event.
 */
__STATIC_INLINE uint32_t nrf_qdec_event_check(nrf_qdec_event_t qdec_event)
{
    return *(volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event);
}


/**
 * @brief Function for retrieving the address of a specific QDEC event register.
 * @param[in] qdec_event QDEC event.
 * @return Address of the specified QDEC event.
 */
__STATIC_INLINE uint32_t * nrf_qdec_event_address_get(nrf_qdec_event_t qdec_event)
{
    return (uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event);
}


/**
 * @brief  Function for setting QDEC shortcuts.
 * @param[in] qdec_short_mask QDEC shortcut by mask.
 */
__STATIC_INLINE void nrf_qdec_shorts_enable(uint32_t qdec_short_mask)
{
    NRF_QDEC->SHORTS |= qdec_short_mask;
}


/**
 * @brief Function for clearing shortcuts of the QDEC by mask.
 * @param[in] qdec_short_mask QDEC shortcute to be cleared.
 */
__STATIC_INLINE void nrf_qdec_shorts_disable(uint32_t qdec_short_mask)
{
    NRF_QDEC->SHORTS &= ~qdec_short_mask;
}


/**
 * @brief Function for retrieving the value of QDEC's SAMPLEPER register.
 * @return Value of the SAMPLEPER register.
 */
__STATIC_INLINE int32_t nrf_qdec_sampleper_reg_get(void)
{
    return NRF_QDEC->SAMPLEPER;
}


/**
 * @brief Function for converting the value of QDEC's SAMPLE PERIOD to microseconds.
 * @retval sampling period in microseconds.
 */
__STATIC_INLINE uint32_t nrf_qdec_sampleper_to_value(uint32_t sampleper)
{
    return (1 << (7 + sampleper));
}

/**
 * @brief Function for setting the value of QDEC's SAMPLEPER register.
 * @param[in] sample_per Sampling period.
 */
__STATIC_INLINE void nrf_qdec_sampleper_set(nrf_qdec_sampleper_t sample_per)
{
    NRF_QDEC->SAMPLEPER = sample_per;
}


/**
 * @brief Function for retrieving the value of QDEC's SAMPLE register.
 * @return Value of the SAMPLE register.
 */
__STATIC_INLINE int32_t nrf_qdec_sample_get(void)
{
    return NRF_QDEC->SAMPLE;
}


/**
 * @brief Function for retrieving the value of QDEC's ACC register.
 * @return Value of the ACC register.
 */
__STATIC_INLINE int32_t nrf_qdec_acc_get(void)
{
    return NRF_QDEC->ACC;
}


/**
 * @brief Function for retrieving the value of QDEC's ACCREAD register.
 * @return Value of the ACCREAD register.
 */
__STATIC_INLINE int32_t nrf_qdec_accread_get(void)
{
    return NRF_QDEC->ACCREAD;
}


/**
 * @brief Function for retrieving the value of QDEC's ACCDBL register.
 * @return Value of the ACCDBL register.
 */
__STATIC_INLINE uint32_t nrf_qdec_accdbl_get(void)
{
    return NRF_QDEC->ACCDBL;
}


/**
 * @brief Function for retrieving the value of QDEC's ACCDBLREAD register.
 * @return Value of the ACCDBLREAD register.
 */
__STATIC_INLINE uint32_t nrf_qdec_accdblread_get(void)
{
    return NRF_QDEC->ACCDBLREAD;
}


/**
 * @brief Function for setting how long the LED is switched on before sampling.
 * @param[in] time_us Time (in microseconds) how long the LED is switched on before sampling.
 */
__STATIC_INLINE void nrf_qdec_ledpre_set(uint32_t time_us)
{
    NRF_QDEC->LEDPRE = time_us;
}


/**
 * @brief Function for retrieving how long the LED is switched on before sampling.
 * @retval time_us Time (in microseconds) how long the LED is switched on before sampling.
 */
__STATIC_INLINE uint32_t nrf_qdec_ledpre_get(void)
{
    return NRF_QDEC->LEDPRE;
}


/**
 * @brief Function for setting the report period (in samples).
 * @param[in] reportper Number of samples.
 */
__STATIC_INLINE void nrf_qdec_reportper_set(nrf_qdec_reportper_t reportper)
{
    NRF_QDEC->REPORTPER = reportper;
}


/**
 * @brief Function for retrieving the report period.
 * @retval reportper Number of samples as encoded in the register.
 */
__STATIC_INLINE uint32_t nrf_qdec_reportper_reg_get(void)
{
    return NRF_QDEC->REPORTPER;
}


/**
 * @brief Function for retrieving the value of QDEC's SAMPLEPER register.
 * @param [in] reportper  Reportper to be converted to amount of samples per report.

 */
__STATIC_INLINE uint32_t nrf_qdec_reportper_to_value(uint32_t reportper)
{
    return (reportper == NRF_QDEC_REPORTPER_10) ? 10 : reportper * 40;
}


/**
 * @brief Function for setting the active level for the LED.
 * @param[in] pol Active level for the LED.
 */
__STATIC_INLINE void nrf_qdec_ledpol_set(nrf_qdec_ledpol_t pol)
{
    NRF_QDEC->LEDPOL = pol;
}


/**
 * @brief Function for retrieving the active level for the LED.
 * @return Active level for the LED.
 */
__STATIC_INLINE uint32_t nrf_qdec_ledpol_get(void)
{
    return NRF_QDEC->LEDPOL;
}


/**
   *@}
 **/

/*lint --flb "Leave library region" */

#ifdef __cplusplus
}
#endif

#endif