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/**
* 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)
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