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rt-thread-official/bsp/imxrt/Libraries/imxrt1021/devices/MIMXRT1021/drivers/fsl_enc.c

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/*
* The Clear BSD License
* Copyright (c) 2015, Freescale Semiconductor, Inc.
* Copyright 2016-2017 NXP
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted (subject to the limitations in the disclaimer below) provided
* that the following conditions are met:
*
* o Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* o Redistributions in binary form 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.
*
* o Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER 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 "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)
#define ENC_CTRL2_W1C_FLAGS (ENC_CTRL2_SABIRQ_MASK | ENC_CTRL2_ROIRQ_MASK | ENC_CTRL2_RUIRQ_MASK)
/*******************************************************************************
* 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;
}
void ENC_Init(ENC_Type *base, const enc_config_t *config)
{
assert(NULL != config);
uint32_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;
/* 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. */
}
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 */
}
void ENC_GetDefaultConfig(enc_config_t *config)
{
assert(NULL != 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;
}
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;
}
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. */
{
base->TST = 0U;
return;
}
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;
}
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;
}
uint32_t ENC_GetStatusFlags(ENC_Type *base)
{
uint32_t ret32 = 0U;
/* ENC_CTRL. */
if (ENC_CTRL_HIRQ_MASK == (ENC_CTRL_HIRQ_MASK & base->CTRL))
{
ret32 |= kENC_HOMETransitionFlag;
}
if (ENC_CTRL_XIRQ_MASK == (ENC_CTRL_XIRQ_MASK & base->CTRL))
{
ret32 |= kENC_INDEXPulseFlag;
}
if (ENC_CTRL_DIRQ_MASK == (ENC_CTRL_DIRQ_MASK & base->CTRL))
{
ret32 |= kENC_WatchdogTimeoutFlag;
}
if (ENC_CTRL_CMPIRQ_MASK == (ENC_CTRL_CMPIRQ_MASK & base->CTRL))
{
ret32 |= kENC_PositionCompareFlag;
}
/* ENC_CTRL2. */
if (ENC_CTRL2_SABIRQ_MASK == (ENC_CTRL2_SABIRQ_MASK & base->CTRL2))
{
ret32 |= kENC_SimultBothPhaseChangeFlag;
}
if (ENC_CTRL2_ROIRQ_MASK == (ENC_CTRL2_ROIRQ_MASK & base->CTRL2))
{
ret32 |= kENC_PositionRollOverFlag;
}
if (ENC_CTRL2_RUIRQ_MASK == (ENC_CTRL2_RUIRQ_MASK & base->CTRL2))
{
ret32 |= kENC_PositionRollUnderFlag;
}
if (ENC_CTRL2_DIR_MASK == (ENC_CTRL2_DIR_MASK & base->CTRL2))
{
ret32 |= kENC_LastCountDirectionFlag;
}
return ret32;
}
void ENC_ClearStatusFlags(ENC_Type *base, uint32_t mask)
{
uint32_t tmp16 = 0U;
/* ENC_CTRL. */
if (kENC_HOMETransitionFlag == (kENC_HOMETransitionFlag & mask))
{
tmp16 |= ENC_CTRL_HIRQ_MASK;
}
if (kENC_INDEXPulseFlag == (kENC_INDEXPulseFlag & mask))
{
tmp16 |= ENC_CTRL_XIRQ_MASK;
}
if (kENC_WatchdogTimeoutFlag == (kENC_WatchdogTimeoutFlag & mask))
{
tmp16 |= ENC_CTRL_DIRQ_MASK;
}
if (kENC_PositionCompareFlag == (kENC_PositionCompareFlag & mask))
{
tmp16 |= ENC_CTRL_CMPIRQ_MASK;
}
if (0U != tmp16)
{
base->CTRL = (base->CTRL & (uint16_t)(~ENC_CTRL_W1C_FLAGS)) | tmp16;
}
/* ENC_CTRL2. */
tmp16 = 0U;
if (kENC_SimultBothPhaseChangeFlag == (kENC_SimultBothPhaseChangeFlag & mask))
{
tmp16 |= ENC_CTRL2_SABIRQ_MASK;
}
if (kENC_PositionRollOverFlag == (kENC_PositionRollOverFlag & mask))
{
tmp16 |= ENC_CTRL2_ROIRQ_MASK;
}
if (kENC_PositionRollUnderFlag == (kENC_PositionRollUnderFlag & mask))
{
tmp16 |= ENC_CTRL2_RUIRQ_MASK;
}
if (0U != tmp16)
{
base->CTRL2 = (base->CTRL2 & (uint16_t)(~ENC_CTRL2_W1C_FLAGS)) | tmp16;
}
}
void ENC_EnableInterrupts(ENC_Type *base, uint32_t mask)
{
uint32_t tmp16 = 0U;
/* ENC_CTRL. */
if (kENC_HOMETransitionInterruptEnable == (kENC_HOMETransitionInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_HIE_MASK;
}
if (kENC_INDEXPulseInterruptEnable == (kENC_INDEXPulseInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_XIE_MASK;
}
if (kENC_WatchdogTimeoutInterruptEnable == (kENC_WatchdogTimeoutInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_DIE_MASK;
}
if (kENC_PositionCompareInerruptEnable == (kENC_PositionCompareInerruptEnable & mask))
{
tmp16 |= ENC_CTRL_CMPIE_MASK;
}
if (tmp16 != 0U)
{
base->CTRL = (base->CTRL & (uint16_t)(~ENC_CTRL_W1C_FLAGS)) | tmp16;
}
/* ENC_CTRL2. */
tmp16 = 0U;
if (kENC_SimultBothPhaseChangeInterruptEnable == (kENC_SimultBothPhaseChangeInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_SABIE_MASK;
}
if (kENC_PositionRollOverInterruptEnable == (kENC_PositionRollOverInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_ROIE_MASK;
}
if (kENC_PositionRollUnderInterruptEnable == (kENC_PositionRollUnderInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_RUIE_MASK;
}
if (tmp16 != 0U)
{
base->CTRL2 = (base->CTRL2 & (uint16_t)(~ENC_CTRL2_W1C_FLAGS)) | tmp16;
}
}
void ENC_DisableInterrupts(ENC_Type *base, uint32_t mask)
{
uint16_t tmp16 = 0U;
/* ENC_CTRL. */
if (kENC_HOMETransitionInterruptEnable == (kENC_HOMETransitionInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_HIE_MASK;
}
if (kENC_INDEXPulseInterruptEnable == (kENC_INDEXPulseInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_XIE_MASK;
}
if (kENC_WatchdogTimeoutInterruptEnable == (kENC_WatchdogTimeoutInterruptEnable & mask))
{
tmp16 |= ENC_CTRL_DIE_MASK;
}
if (kENC_PositionCompareInerruptEnable == (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 (kENC_SimultBothPhaseChangeInterruptEnable == (kENC_SimultBothPhaseChangeInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_SABIE_MASK;
}
if (kENC_PositionRollOverInterruptEnable == (kENC_PositionRollOverInterruptEnable & mask))
{
tmp16 |= ENC_CTRL2_ROIE_MASK;
}
if (kENC_PositionRollUnderInterruptEnable == (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);
}
}
uint32_t ENC_GetEnabledInterrupts(ENC_Type *base)
{
uint32_t ret32 = 0U;
/* ENC_CTRL. */
if (ENC_CTRL_HIE_MASK == (ENC_CTRL_HIE_MASK & base->CTRL))
{
ret32 |= kENC_HOMETransitionInterruptEnable;
}
if (ENC_CTRL_XIE_MASK == (ENC_CTRL_XIE_MASK & base->CTRL))
{
ret32 |= kENC_INDEXPulseInterruptEnable;
}
if (ENC_CTRL_DIE_MASK == (ENC_CTRL_DIE_MASK & base->CTRL))
{
ret32 |= kENC_WatchdogTimeoutInterruptEnable;
}
if (ENC_CTRL_CMPIE_MASK == (ENC_CTRL_CMPIE_MASK & base->CTRL))
{
ret32 |= kENC_PositionCompareInerruptEnable;
}
/* ENC_CTRL2. */
if (ENC_CTRL2_SABIE_MASK == (ENC_CTRL2_SABIE_MASK & base->CTRL2))
{
ret32 |= kENC_SimultBothPhaseChangeInterruptEnable;
}
if (ENC_CTRL2_ROIE_MASK == (ENC_CTRL2_ROIE_MASK & base->CTRL2))
{
ret32 |= kENC_PositionRollOverInterruptEnable;
}
if (ENC_CTRL2_RUIE_MASK == (ENC_CTRL2_RUIE_MASK & base->CTRL2))
{
ret32 |= kENC_PositionRollUnderInterruptEnable;
}
return ret32;
}
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. */
}
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;
}
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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