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rt-thread-official/bsp/imxrt/libraries/MIMXRT1170/MIMXRT1176/drivers/fsl_enc.c

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/*
* Copyright (c) 2015, Freescale Semiconductor, Inc.
* Copyright 2016-2021 NXP
* All rights reserved.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include "fsl_enc.h"
/*******************************************************************************
* Definitions
******************************************************************************/
/* Component ID definition, used by tools. */
#ifndef FSL_COMPONENT_ID
#define FSL_COMPONENT_ID "platform.drivers.enc"
#endif
#define ENC_CTRL_W1C_FLAGS (ENC_CTRL_HIRQ_MASK | ENC_CTRL_XIRQ_MASK | ENC_CTRL_DIRQ_MASK | ENC_CTRL_CMPIRQ_MASK)
#if (defined(FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT) && FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT)
#define ENC_CTRL2_W1C_FLAGS (ENC_CTRL2_ROIRQ_MASK | ENC_CTRL2_RUIRQ_MASK)
#else
#define ENC_CTRL2_W1C_FLAGS (ENC_CTRL2_SABIRQ_MASK | ENC_CTRL2_ROIRQ_MASK | ENC_CTRL2_RUIRQ_MASK)
#endif
/*******************************************************************************
* Prototypes
******************************************************************************/
/*!
* @brief Get instance number for ENC module.
*
* @param base ENC peripheral base address
*/
static uint32_t ENC_GetInstance(ENC_Type *base);
/*******************************************************************************
* Variables
******************************************************************************/
/*! @brief Pointers to ENC bases for each instance. */
static ENC_Type *const s_encBases[] = ENC_BASE_PTRS;
#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
/*! @brief Pointers to ENC clocks for each instance. */
static const clock_ip_name_t s_encClocks[] = ENC_CLOCKS;
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */
/*******************************************************************************
* Code
******************************************************************************/
static uint32_t ENC_GetInstance(ENC_Type *base)
{
uint32_t instance;
/* Find the instance index from base address mappings. */
for (instance = 0; instance < ARRAY_SIZE(s_encBases); instance++)
{
if (s_encBases[instance] == base)
{
break;
}
}
assert(instance < ARRAY_SIZE(s_encBases));
return instance;
}
/*!
* brief Initialization for the ENC module.
*
* This function is to make the initialization for the ENC module. It should be called firstly before any operation to
* the ENC with the operations like:
* - Enable the clock for ENC module.
* - Configure the ENC's working attributes.
*
* param base ENC peripheral base address.
* param config Pointer to configuration structure. See to "enc_config_t".
*/
void ENC_Init(ENC_Type *base, const enc_config_t *config)
{
assert(NULL != config);
uint16_t tmp16;
#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
/* Enable the clock. */
CLOCK_EnableClock(s_encClocks[ENC_GetInstance(base)]);
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */
/* ENC_CTRL. */
tmp16 = base->CTRL & (uint16_t)(~(ENC_CTRL_W1C_FLAGS | ENC_CTRL_HIP_MASK | ENC_CTRL_HNE_MASK | ENC_CTRL_REV_MASK |
ENC_CTRL_PH1_MASK | ENC_CTRL_XIP_MASK | ENC_CTRL_XNE_MASK | ENC_CTRL_WDE_MASK));
/* For HOME trigger. */
if (kENC_HOMETriggerDisabled != config->HOMETriggerMode)
{
tmp16 |= ENC_CTRL_HIP_MASK;
if (kENC_HOMETriggerOnFallingEdge == config->HOMETriggerMode)
{
tmp16 |= ENC_CTRL_HNE_MASK;
}
}
/* For encoder work mode. */
if (config->enableReverseDirection)
{
tmp16 |= ENC_CTRL_REV_MASK;
}
if (kENC_DecoderWorkAsSignalPhaseCountMode == config->decoderWorkMode)
{
tmp16 |= ENC_CTRL_PH1_MASK;
}
/* For INDEX trigger. */
if (kENC_INDEXTriggerDisabled != config->INDEXTriggerMode)
{
tmp16 |= ENC_CTRL_XIP_MASK;
if (kENC_INDEXTriggerOnFallingEdge == config->INDEXTriggerMode)
{
tmp16 |= ENC_CTRL_XNE_MASK;
}
}
/* Watchdog. */
if (config->enableWatchdog)
{
tmp16 |= ENC_CTRL_WDE_MASK;
base->WTR = config->watchdogTimeoutValue; /* WDOG can be only available when the feature is enabled. */
}
base->CTRL = tmp16;
/* ENC_FILT. */
base->FILT = ENC_FILT_FILT_CNT(config->filterCount) | ENC_FILT_FILT_PER(config->filterSamplePeriod);
/* ENC_CTRL2. */
tmp16 = base->CTRL2 & (uint16_t)(~(ENC_CTRL2_W1C_FLAGS | ENC_CTRL2_OUTCTL_MASK | ENC_CTRL2_REVMOD_MASK |
ENC_CTRL2_MOD_MASK | ENC_CTRL2_UPDPOS_MASK | ENC_CTRL2_UPDHLD_MASK));
if (kENC_POSMATCHOnReadingAnyPositionCounter == config->positionMatchMode)
{
tmp16 |= ENC_CTRL2_OUTCTL_MASK;
}
if (kENC_RevolutionCountOnRollOverModulus == config->revolutionCountCondition)
{
tmp16 |= ENC_CTRL2_REVMOD_MASK;
}
if (config->enableModuloCountMode)
{
tmp16 |= ENC_CTRL2_MOD_MASK;
/* Set modulus value. */
base->UMOD = (uint16_t)(config->positionModulusValue >> 16U); /* Upper 16 bits. */
base->LMOD = (uint16_t)(config->positionModulusValue); /* Lower 16 bits. */
}
if (config->enableTRIGGERClearPositionCounter)
{
tmp16 |= ENC_CTRL2_UPDPOS_MASK;
}
if (config->enableTRIGGERClearHoldPositionCounter)
{
tmp16 |= ENC_CTRL2_UPDHLD_MASK;
}
base->CTRL2 = tmp16;
#if (defined(FSL_FEATURE_ENC_HAS_CTRL3) && FSL_FEATURE_ENC_HAS_CTRL3)
/* ENC_CTRL3. */
tmp16 = base->CTRL3 & (uint16_t)(~(ENC_CTRL3_PMEN_MASK | ENC_CTRL3_PRSC_MASK));
if (config->enablePeriodMeasurementFunction)
{
tmp16 |= ENC_CTRL3_PMEN_MASK;
/* Set prescaler value. */
tmp16 |= ((uint16_t)config->prescalerValue << ENC_CTRL3_PRSC_SHIFT);
}
base->CTRL3 = tmp16;
#endif
/* ENC_UCOMP & ENC_LCOMP. */
base->UCOMP = (uint16_t)(config->positionCompareValue >> 16U); /* Upper 16 bits. */
base->LCOMP = (uint16_t)(config->positionCompareValue); /* Lower 16 bits. */
/* ENC_UINIT & ENC_LINIT. */
base->UINIT = (uint16_t)(config->positionInitialValue >> 16U); /* Upper 16 bits. */
base->LINIT = (uint16_t)(config->positionInitialValue); /* Lower 16 bits. */
}
/*!
* brief De-initialization for the ENC module.
*
* This function is to make the de-initialization for the ENC module. It could be called when ENC is no longer used with
* the operations like:
* - Disable the clock for ENC module.
*
* param base ENC peripheral base address.
*/
void ENC_Deinit(ENC_Type *base)
{
#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
/* Disable the clock. */
CLOCK_DisableClock(s_encClocks[ENC_GetInstance(base)]);
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */
}
/*!
* brief Get an available pre-defined settings for ENC's configuration.
*
* This function initializes the ENC configuration structure with an available settings, the default value are:
* code
* config->enableReverseDirection = false;
* config->decoderWorkMode = kENC_DecoderWorkAsNormalMode;
* config->HOMETriggerMode = kENC_HOMETriggerDisabled;
* config->INDEXTriggerMode = kENC_INDEXTriggerDisabled;
* config->enableTRIGGERClearPositionCounter = false;
* config->enableTRIGGERClearHoldPositionCounter = false;
* config->enableWatchdog = false;
* config->watchdogTimeoutValue = 0U;
* config->filterCount = 0U;
* config->filterSamplePeriod = 0U;
* config->positionMatchMode = kENC_POSMATCHOnPositionCounterEqualToComapreValue;
* config->positionCompareValue = 0xFFFFFFFFU;
* config->revolutionCountCondition = kENC_RevolutionCountOnINDEXPulse;
* config->enableModuloCountMode = false;
* config->positionModulusValue = 0U;
* config->positionInitialValue = 0U;
* config->prescalerValue = kENC_ClockDiv1;
* config->enablePeriodMeasurementFunction = true;
* endcode
* param config Pointer to a variable of configuration structure. See to "enc_config_t".
*/
void ENC_GetDefaultConfig(enc_config_t *config)
{
assert(NULL != config);
/* Initializes the configure structure to zero. */
(void)memset(config, 0, sizeof(*config));
config->enableReverseDirection = false;
config->decoderWorkMode = kENC_DecoderWorkAsNormalMode;
config->HOMETriggerMode = kENC_HOMETriggerDisabled;
config->INDEXTriggerMode = kENC_INDEXTriggerDisabled;
config->enableTRIGGERClearPositionCounter = false;
config->enableTRIGGERClearHoldPositionCounter = false;
config->enableWatchdog = false;
config->watchdogTimeoutValue = 0U;
config->filterCount = 0U;
config->filterSamplePeriod = 0U;
config->positionMatchMode = kENC_POSMATCHOnPositionCounterEqualToComapreValue;
config->positionCompareValue = 0xFFFFFFFFU;
config->revolutionCountCondition = kENC_RevolutionCountOnINDEXPulse;
config->enableModuloCountMode = false;
config->positionModulusValue = 0U;
config->positionInitialValue = 0U;
#if (defined(FSL_FEATURE_ENC_HAS_CTRL3) && FSL_FEATURE_ENC_HAS_CTRL3)
config->prescalerValue = kENC_ClockDiv1;
config->enablePeriodMeasurementFunction = true;
#endif
}
/*!
* brief Load the initial position value to position counter.
*
* This function is to transfer the initial position value (UINIT and LINIT) contents to position counter (UPOS and
* LPOS), so that to provide the consistent operation the position counter registers.
*
* param base ENC peripheral base address.
*/
void ENC_DoSoftwareLoadInitialPositionValue(ENC_Type *base)
{
uint16_t tmp16 = base->CTRL & (uint16_t)(~ENC_CTRL_W1C_FLAGS);
tmp16 |= ENC_CTRL_SWIP_MASK; /* Write 1 to trigger the command for loading initial position value. */
base->CTRL = tmp16;
}
/*!
* brief Enable and configure the self test function.
*
* This function is to enable and configuration the self test function. It controls and sets the frequency of a
* quadrature signal generator. It provides a quadrature test signal to the inputs of the quadrature decoder module.
* It is a factory test feature; however, it may be useful to customers' software development and testing.
*
* param base ENC peripheral base address.
* param config Pointer to configuration structure. See to "enc_self_test_config_t". Pass "NULL" to disable.
*/
void ENC_SetSelfTestConfig(ENC_Type *base, const enc_self_test_config_t *config)
{
uint16_t tmp16 = 0U;
if (NULL == config) /* Pass "NULL" to disable the feature. */
{
tmp16 = 0U;
}
else
{
tmp16 = ENC_TST_TEN_MASK | ENC_TST_TCE_MASK | ENC_TST_TEST_PERIOD(config->signalPeriod) |
ENC_TST_TEST_COUNT(config->signalCount);
if (kENC_SelfTestDirectionNegative == config->signalDirection)
{
tmp16 |= ENC_TST_QDN_MASK;
}
}
base->TST = tmp16;
}
/*!
* brief Enable watchdog for ENC module.
*
* param base ENC peripheral base address
* param enable Enables or disables the watchdog
*/
void ENC_EnableWatchdog(ENC_Type *base, bool enable)
{
uint16_t tmp16 = base->CTRL & (uint16_t)(~(ENC_CTRL_W1C_FLAGS | ENC_CTRL_WDE_MASK));
if (enable)
{
tmp16 |= ENC_CTRL_WDE_MASK;
}
base->CTRL = tmp16;
}
/*!
* brief Get the status flags.
*
* param base ENC peripheral base address.
*
* return Mask value of status flags. For available mask, see to "_enc_status_flags".
*/
uint32_t ENC_GetStatusFlags(ENC_Type *base)
{
uint32_t ret32 = 0U;
/* ENC_CTRL. */
if (0U != (ENC_CTRL_HIRQ_MASK & base->CTRL))
{
ret32 |= (uint32_t)kENC_HOMETransitionFlag;
}
if (0U != (ENC_CTRL_XIRQ_MASK & base->CTRL))
{
ret32 |= (uint32_t)kENC_INDEXPulseFlag;
}
if (0U != (ENC_CTRL_DIRQ_MASK & base->CTRL))
{
ret32 |= (uint32_t)kENC_WatchdogTimeoutFlag;
}
if (0U != (ENC_CTRL_CMPIRQ_MASK & base->CTRL))
{
ret32 |= (uint32_t)kENC_PositionCompareFlag;
}
/* ENC_CTRL2. */
#if !(defined(FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT) && FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT)
if (0U != (ENC_CTRL2_SABIRQ_MASK & base->CTRL2))
{
ret32 |= (uint32_t)kENC_SimultBothPhaseChangeFlag;
}
#endif
if (0U != (ENC_CTRL2_ROIRQ_MASK & base->CTRL2))
{
ret32 |= (uint32_t)kENC_PositionRollOverFlag;
}
if (0U != (ENC_CTRL2_RUIRQ_MASK & base->CTRL2))
{
ret32 |= (uint32_t)kENC_PositionRollUnderFlag;
}
if (0U != (ENC_CTRL2_DIR_MASK & base->CTRL2))
{
ret32 |= (uint32_t)kENC_LastCountDirectionFlag;
}
return ret32;
}
/*!
* brief Clear the status flags.
*
* param base ENC peripheral base address.
* param mask Mask value of status flags to be cleared. For available mask, see to "_enc_status_flags".
*/
void ENC_ClearStatusFlags(ENC_Type *base, uint32_t mask)
{
uint32_t tmp16 = 0U;
/* ENC_CTRL. */
if (0U != ((uint32_t)kENC_HOMETransitionFlag & mask))
{
tmp16 |= ENC_CTRL_HIRQ_MASK;
}
if (0U != ((uint32_t)kENC_INDEXPulseFlag & mask))
{
tmp16 |= ENC_CTRL_XIRQ_MASK;
}
if (0U != ((uint32_t)kENC_WatchdogTimeoutFlag & mask))
{
tmp16 |= ENC_CTRL_DIRQ_MASK;
}
if (0U != ((uint32_t)kENC_PositionCompareFlag & mask))
{
tmp16 |= ENC_CTRL_CMPIRQ_MASK;
}
if (0U != tmp16)
{
base->CTRL = (uint16_t)(((uint32_t)base->CTRL & (~ENC_CTRL_W1C_FLAGS)) | tmp16);
}
/* ENC_CTRL2. */
tmp16 = 0U;
#if !(defined(FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT) && FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT)
if (0U != ((uint32_t)kENC_SimultBothPhaseChangeFlag & mask))
{
tmp16 |= ENC_CTRL2_SABIRQ_MASK;
}
#endif
if (0U != ((uint32_t)kENC_PositionRollOverFlag & mask))
{
tmp16 |= ENC_CTRL2_ROIRQ_MASK;
}
if (0U != ((uint32_t)kENC_PositionRollUnderFlag & mask))
{
tmp16 |= ENC_CTRL2_RUIRQ_MASK;
}
if (0U != tmp16)
{
base->CTRL2 = (uint16_t)(((uint32_t)base->CTRL2 & (~ENC_CTRL2_W1C_FLAGS)) | tmp16);
}
}
/*!
* brief Enable the interrupts.
*
* param base ENC peripheral base address.
* param mask Mask value of interrupts to be enabled. For available mask, see to "_enc_interrupt_enable".
*/
void ENC_EnableInterrupts(ENC_Type *base, uint32_t mask)
{
uint32_t tmp16 = 0U;
/* ENC_CTRL. */
if (0U != ((uint32_t)kENC_HOMETransitionInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_HIE_MASK;
}
if (0U != ((uint32_t)kENC_INDEXPulseInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_XIE_MASK;
}
if (0U != ((uint32_t)kENC_WatchdogTimeoutInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_DIE_MASK;
}
if (0U != ((uint32_t)kENC_PositionCompareInerruptEnable & mask))
{
tmp16 |= ENC_CTRL_CMPIE_MASK;
}
if (tmp16 != 0U)
{
base->CTRL = (uint16_t)(((uint32_t)base->CTRL & (~ENC_CTRL_W1C_FLAGS)) | tmp16);
}
/* ENC_CTRL2. */
tmp16 = 0U;
#if !(defined(FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT) && FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT)
if (0U != ((uint32_t)kENC_SimultBothPhaseChangeInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_SABIE_MASK;
}
#endif
if (0U != ((uint32_t)kENC_PositionRollOverInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_ROIE_MASK;
}
if (0U != ((uint32_t)kENC_PositionRollUnderInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_RUIE_MASK;
}
if (tmp16 != 0U)
{
base->CTRL2 = (uint16_t)(((uint32_t)base->CTRL2 & (~ENC_CTRL2_W1C_FLAGS)) | tmp16);
}
}
/*!
* brief Disable the interrupts.
*
* param base ENC peripheral base address.
* param mask Mask value of interrupts to be disabled. For available mask, see to "_enc_interrupt_enable".
*/
void ENC_DisableInterrupts(ENC_Type *base, uint32_t mask)
{
uint16_t tmp16 = 0U;
/* ENC_CTRL. */
if (0U != ((uint32_t)kENC_HOMETransitionInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_HIE_MASK;
}
if (0U != ((uint32_t)kENC_INDEXPulseInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_XIE_MASK;
}
if (0U != ((uint32_t)kENC_WatchdogTimeoutInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_DIE_MASK;
}
if (0U != ((uint32_t)kENC_PositionCompareInerruptEnable & mask))
{
tmp16 |= ENC_CTRL_CMPIE_MASK;
}
if (0U != tmp16)
{
base->CTRL = (uint16_t)(base->CTRL & (uint16_t)(~ENC_CTRL_W1C_FLAGS)) & (uint16_t)(~tmp16);
}
/* ENC_CTRL2. */
tmp16 = 0U;
#if !(defined(FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT) && FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT)
if (0U != ((uint32_t)kENC_SimultBothPhaseChangeInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_SABIE_MASK;
}
#endif
if (0U != ((uint32_t)kENC_PositionRollOverInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_ROIE_MASK;
}
if (0U != ((uint32_t)kENC_PositionRollUnderInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_RUIE_MASK;
}
if (tmp16 != 0U)
{
base->CTRL2 = (uint16_t)(base->CTRL2 & (uint16_t)(~ENC_CTRL2_W1C_FLAGS)) & (uint16_t)(~tmp16);
}
}
/*!
* brief Get the enabled interrupts' flags.
*
* param base ENC peripheral base address.
*
* return Mask value of enabled interrupts.
*/
uint32_t ENC_GetEnabledInterrupts(ENC_Type *base)
{
uint32_t ret32 = 0U;
/* ENC_CTRL. */
if (0U != (ENC_CTRL_HIE_MASK & base->CTRL))
{
ret32 |= (uint32_t)kENC_HOMETransitionInterruptEnable;
}
if (0U != (ENC_CTRL_XIE_MASK & base->CTRL))
{
ret32 |= (uint32_t)kENC_INDEXPulseInterruptEnable;
}
if (0U != (ENC_CTRL_DIE_MASK & base->CTRL))
{
ret32 |= (uint32_t)kENC_WatchdogTimeoutInterruptEnable;
}
if (0U != (ENC_CTRL_CMPIE_MASK & base->CTRL))
{
ret32 |= (uint32_t)kENC_PositionCompareInerruptEnable;
}
/* ENC_CTRL2. */
#if !(defined(FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT) && FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT)
if (0U != (ENC_CTRL2_SABIE_MASK & base->CTRL2))
{
ret32 |= (uint32_t)kENC_SimultBothPhaseChangeInterruptEnable;
}
#endif
if (0U != (ENC_CTRL2_ROIE_MASK & base->CTRL2))
{
ret32 |= (uint32_t)kENC_PositionRollOverInterruptEnable;
}
if (0U != (ENC_CTRL2_RUIE_MASK & base->CTRL2))
{
ret32 |= (uint32_t)kENC_PositionRollUnderInterruptEnable;
}
return ret32;
}
/*!
* brief Set initial position value for ENC module.
*
* param base ENC peripheral base address
* param value Positive initial value
*/
void ENC_SetInitialPositionValue(ENC_Type *base, uint32_t value)
{
base->UINIT = (uint16_t)(value >> 16U); /* Set upper 16 bits. */
base->LINIT = (uint16_t)(value); /* Set lower 16 bits. */
}
/*!
* brief Get the current position counter's value.
*
* param base ENC peripheral base address.
*
* return Current position counter's value.
*/
uint32_t ENC_GetPositionValue(ENC_Type *base)
{
uint32_t ret32;
ret32 = base->UPOS; /* Get upper 16 bits and make a snapshot. */
ret32 <<= 16U;
ret32 |= base->LPOSH; /* Get lower 16 bits from hold register. */
return ret32;
}
/*!
* brief Get the hold position counter's value.
*
* When any of the counter registers is read, the contents of each counter register is written to the corresponding hold
* register. Taking a snapshot of the counters' values provides a consistent view of a system position and a velocity to
* be attained.
*
* param base ENC peripheral base address.
*
* return Hold position counter's value.
*/
uint32_t ENC_GetHoldPositionValue(ENC_Type *base)
{
uint32_t ret32;
ret32 = base->UPOSH; /* Get upper 16 bits and make a snapshot. */
ret32 <<= 16U;
ret32 |= base->LPOSH; /* Get lower 16 bits from hold register. */
return ret32;
}
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