352 lines
8.6 KiB
C
352 lines
8.6 KiB
C
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/**************************************************************************//**
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*
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* @copyright (C) 2020 Nuvoton Technology Corp. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2021-10-21 Wayne First version
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*
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******************************************************************************/
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#include <rtconfig.h>
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#if defined(BSP_USING_EQEI)
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#include <rtdevice.h>
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#include "drv_sys.h"
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#include "drv_eqei.h"
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/* Private define ---------------------------------------------------------------*/
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enum
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{
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EQEI_START = -1,
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#if defined(BSP_USING_EQEI0)
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EQEI0_IDX,
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#endif
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#if defined(BSP_USING_EQEI1)
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EQEI1_IDX,
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#endif
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#if defined(BSP_USING_EQEI2)
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EQEI2_IDX,
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#endif
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#if defined(BSP_USING_EQEI3)
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EQEI3_IDX,
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#endif
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EQEI_CNT
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};
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/* Private typedef --------------------------------------------------------------*/
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struct nu_qei
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{
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struct rt_pulse_encoder_device dev;
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char *name;
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EQEI_T *base;
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IRQn_Type irqn;
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uint32_t rstidx;
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uint32_t modid;
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rt_uint32_t max_cntval;
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rt_uint32_t cmp_val;
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rt_uint8_t qei_flag;
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};
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typedef struct nu_qei *nu_eqei_t;
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/* Private functions ------------------------------------------------------------*/
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static rt_uint32_t nu_eqei_type(struct rt_pulse_encoder_device *pulse_encoder);
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static rt_err_t nu_eqei_init(struct rt_pulse_encoder_device *pulse_encoder);
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static rt_int32_t nu_eqei_get_count(struct rt_pulse_encoder_device *pulse_encoder);
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static rt_err_t nu_eqei_clear_count(struct rt_pulse_encoder_device *pulse_encoder);
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static rt_err_t nu_eqei_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args);
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static void nu_eqei_isr(nu_eqei_t psNuEqei);
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/* Public functions -------------------------------------------------------------*/
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/* Private variables ------------------------------------------------------------*/
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static struct nu_qei nu_eqei_arr [] =
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{
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#if defined(BSP_USING_EQEI0)
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{
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.name = "eqei0",
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.base = EQEI0,
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.irqn = EQEI0_IRQn,
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.rstidx = EQEI0_RST,
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.modid = EQEI0_MODULE,
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.max_cntval = 1000,
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.cmp_val = 100,
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},
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#endif
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#if defined(BSP_USING_EQEI1)
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{
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.name = "eqei1",
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.base = EQEI1,
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.irqn = EQEI1_IRQn,
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.rstidx = EQEI1_RST,
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.modid = EQEI1_MODULE,
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.max_cntval = 1000,
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.cmp_val = 100,
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},
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#endif
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#if defined(BSP_USING_EQEI2)
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{
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.name = "eqei2",
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.base = EQEI2,
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.irqn = EQEI2_IRQn,
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.rstidx = EQEI2_RST,
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.modid = EQEI2_MODULE,
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.max_cntval = 1000,
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.cmp_val = 100,
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},
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#endif
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#if defined(BSP_USING_EQEI3)
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{
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.name = "eqei3",
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.base = EQEI3,
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.irqn = EQEI3_IRQn,
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.rstidx = EQEI3_RST,
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.modid = EQEI3_MODULE,
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.max_cntval = 1000,
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.cmp_val = 100,
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},
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#endif
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};
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static const struct rt_pulse_encoder_ops nu_eqei_ops =
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{
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.init = nu_eqei_init,
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.get_count = nu_eqei_get_count,
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.clear_count = nu_eqei_clear_count,
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.control = nu_eqei_control,
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};
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#if defined(BSP_USING_EQEI0)
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void EQEI0_IRQHandler(void)
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{
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rt_interrupt_enter();
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nu_eqei_isr((void *)&nu_eqei_arr[EQEI0_IDX]);
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rt_interrupt_leave();
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}
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#endif
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#if defined(BSP_USING_EQEI1)
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void EQEI1_IRQHandler(void)
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{
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rt_interrupt_enter();
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nu_eqei_isr((void *)&nu_eqei_arr[EQEI1_IDX]);
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rt_interrupt_leave();
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}
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#endif
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#if defined(BSP_USING_EQEI2)
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void EQEI2_IRQHandler(void)
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{
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rt_interrupt_enter();
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nu_eqei_isr((void *)&nu_eqei_arr[EQEI2_IDX]);
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rt_interrupt_leave();
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}
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#endif
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#if defined(BSP_USING_EQEI3)
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void EQEI3_IRQHandler(void)
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{
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rt_interrupt_enter();
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nu_eqei_isr((void *)&nu_eqei_arr[EQEI3_IDX]);
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rt_interrupt_leave();
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}
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#endif
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static rt_uint32_t nu_eqei_type(struct rt_pulse_encoder_device *pulse_encoder)
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{
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rt_uint32_t u32type;
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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switch (pulse_encoder->type)
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{
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case SINGLE_PHASE_PULSE_ENCODER:
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u32type = (psNuEqei->cmp_val) ? EQEI_CTL_X2_COMPARE_COUNTING_MODE : EQEI_CTL_X2_FREE_COUNTING_MODE;
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break;
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case UNKNOWN_PULSE_ENCODER_TYPE:
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case AB_PHASE_PULSE_ENCODER:
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default:
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u32type = (psNuEqei->cmp_val) ? EQEI_CTL_X4_COMPARE_COUNTING_MODE : EQEI_CTL_X4_FREE_COUNTING_MODE;
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break;
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}
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rt_kprintf("[%d %d %d]\n", pulse_encoder->type, psNuEqei->cmp_val, u32type);
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return u32type;
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}
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void nu_eqei_set_cmpval(rt_device_t pulse_encoder, rt_uint32_t u32val)
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{
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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psNuEqei->cmp_val = u32val;
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if (u32val > 0)
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{
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EQEI_DisableInt(psNuEqei->base, EQEI_CTL_CMPIEN_Msk);
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EQEI_SET_CNT_CMP(psNuEqei->base, u32val);
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EQEI_ENABLE_CNT_CMP(psNuEqei->base);
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EQEI_EnableInt(psNuEqei->base, EQEI_CTL_CMPIEN_Msk);
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}
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else
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{
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EQEI_DisableInt(psNuEqei->base, EQEI_CTL_CMPIEN_Msk);
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EQEI_DISABLE_CNT_CMP(psNuEqei->base);
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EQEI_SET_CNT_CMP(psNuEqei->base, 0);
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}
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}
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static rt_err_t nu_eqei_init(struct rt_pulse_encoder_device *pulse_encoder)
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{
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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/* enable noise filter */
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EQEI_ENABLE_NOISE_FILTER(psNuEqei->base, EQEI_CTL_NFCLKSEL_DIV2);
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/* set compare value and interrupt */
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nu_eqei_set_cmpval((rt_device_t)pulse_encoder, psNuEqei->cmp_val);
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/* set qei mode */
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EQEI_Open(psNuEqei->base, nu_eqei_type(pulse_encoder), psNuEqei->max_cntval);
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return RT_EOK;
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}
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static rt_int32_t nu_eqei_get_count(struct rt_pulse_encoder_device *pulse_encoder)
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{
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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return (rt_int32_t)EQEI_GET_CNT_VALUE(psNuEqei->base);
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}
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static rt_err_t nu_eqei_clear_count(struct rt_pulse_encoder_device *pulse_encoder)
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{
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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EQEI_Stop(psNuEqei->base);
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EQEI_SET_CNT_VALUE(psNuEqei->base, 0);
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EQEI_Start(psNuEqei->base);
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return RT_EOK;
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}
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static rt_err_t nu_eqei_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args)
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{
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rt_err_t result = RT_EOK;
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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switch (cmd)
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{
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case PULSE_ENCODER_CMD_ENABLE:
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/* set compare value and interrupt */
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EQEI_Start(psNuEqei->base);
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nu_eqei_set_cmpval((rt_device_t)pulse_encoder, psNuEqei->cmp_val);
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break;
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case PULSE_ENCODER_CMD_DISABLE:
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EQEI_Stop(psNuEqei->base);
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nu_eqei_set_cmpval((rt_device_t)pulse_encoder, 0);
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break;
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default:
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result = -RT_ENOSYS;
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break;
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}
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return result;
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}
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static void nu_eqei_isr(nu_eqei_t psNuEqei)
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{
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if (EQEI_GET_INT_FLAG(psNuEqei->base, EQEI_STATUS_CMPF_Msk))
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{
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psNuEqei->qei_flag = 1;
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EQEI_CLR_INT_FLAG(psNuEqei->base, EQEI_STATUS_CMPF_Msk);
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rt_kprintf("%s: CMP flag rising\n", psNuEqei->name) ;
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}
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}
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rt_int32_t nu_eqei_get_maxval(rt_device_t pulse_encoder)
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{
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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return psNuEqei->max_cntval;
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}
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rt_int32_t nu_eqei_get_cmpval(rt_device_t pulse_encoder)
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{
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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return psNuEqei->cmp_val;
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}
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rt_int32_t nu_eqei_get_type(rt_device_t pulse_encoder)
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{
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RT_ASSERT(pulse_encoder != RT_NULL);
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return nu_eqei_type((struct rt_pulse_encoder_device *)pulse_encoder);
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}
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void nu_eqei_set_maxval_type(rt_device_t pulse_encoder, rt_uint32_t u32val, enum rt_pulse_encoder_type eType)
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{
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nu_eqei_t psNuEqei = (nu_eqei_t)pulse_encoder;
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RT_ASSERT(pulse_encoder != RT_NULL);
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RT_ASSERT(eType <= AB_PHASE_PULSE_ENCODER);
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psNuEqei->dev.type = eType;
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psNuEqei->max_cntval = u32val;
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EQEI_Open(psNuEqei->base, nu_eqei_type(&psNuEqei->dev), u32val);
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}
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int rt_hw_qei_init(void)
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{
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int i;
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rt_err_t result = RT_EOK;
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for (i = (EQEI_START + 1); i < EQEI_CNT; i++)
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{
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nu_eqei_t psNuEqei = &nu_eqei_arr[i];
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psNuEqei->dev.type = AB_PHASE_PULSE_ENCODER;
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psNuEqei->dev.ops = &nu_eqei_ops;
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/* Enable QEI module */
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CLK_EnableModuleClock(psNuEqei->modid);
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SYS_ResetModule(psNuEqei->rstidx);
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result = rt_device_pulse_encoder_register((struct rt_pulse_encoder_device *)&nu_eqei_arr[i].dev, nu_eqei_arr[i].name, (void *)&psNuEqei->qei_flag);
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RT_ASSERT(result == RT_EOK);
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}
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return (int)result;
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}
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INIT_APP_EXPORT(rt_hw_qei_init);
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#endif /* BSP_USING_EQEI */
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