299 lines
8.0 KiB
C
299 lines
8.0 KiB
C
|
/**************************************************************************//**
|
||
|
|
*
|
||
|
|
* @copyright (C) 2020 Nuvoton Technology Corp. All rights reserved.
|
||
|
|
*
|
||
|
|
* SPDX-License-Identifier: Apache-2.0
|
||
|
|
*
|
||
|
|
* Change Logs:
|
||
|
|
* Date Author Notes
|
||
|
|
* 2021-10-21 Wayne First version
|
||
|
|
*
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
#include <rtconfig.h>
|
||
|
|
|
||
|
|
#if defined(BSP_USING_QEI)
|
||
|
|
|
||
|
|
#include <rtdevice.h>
|
||
|
|
#include "drv_sys.h"
|
||
|
|
#include "drv_common.h"
|
||
|
|
|
||
|
|
/* Private define ---------------------------------------------------------------*/
|
||
|
|
enum
|
||
|
|
{
|
||
|
|
QEI_START = -1,
|
||
|
|
#if defined(BSP_USING_QEI0)
|
||
|
|
QEI0_START,
|
||
|
|
#endif
|
||
|
|
#if defined(BSP_USING_QEI1)
|
||
|
|
QEI1_START,
|
||
|
|
#endif
|
||
|
|
#if defined(BSP_USING_QEI2)
|
||
|
|
QEI2_START,
|
||
|
|
#endif
|
||
|
|
QEI_CNT
|
||
|
|
};
|
||
|
|
|
||
|
|
/* Private typedef --------------------------------------------------------------*/
|
||
|
|
struct nu_qei
|
||
|
|
{
|
||
|
|
struct rt_pulse_encoder_device dev;
|
||
|
|
char *name;
|
||
|
|
QEI_T *base;
|
||
|
|
IRQn_Type irqn;
|
||
|
|
uint32_t rstidx;
|
||
|
|
uint32_t modid;
|
||
|
|
|
||
|
|
rt_uint32_t max_cntval;
|
||
|
|
rt_uint32_t cmp_val;
|
||
|
|
rt_uint8_t qei_flag;
|
||
|
|
};
|
||
|
|
typedef struct nu_qei *nu_qei_t;
|
||
|
|
|
||
|
|
/* Private functions ------------------------------------------------------------*/
|
||
|
|
static rt_uint32_t nu_qei_type(struct rt_pulse_encoder_device *pulse_encoder);
|
||
|
|
static rt_err_t nu_qei_init(struct rt_pulse_encoder_device *pulse_encoder);
|
||
|
|
static rt_int32_t nu_qei_get_count(struct rt_pulse_encoder_device *pulse_encoder);
|
||
|
|
static rt_err_t nu_qei_clear_count(struct rt_pulse_encoder_device *pulse_encoder);
|
||
|
|
static rt_err_t nu_qei_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args);
|
||
|
|
|
||
|
|
/* Public functions -------------------------------------------------------------*/
|
||
|
|
rt_int32_t nu_qei_get_maxval(struct rt_pulse_encoder_device *pulse_encoder);
|
||
|
|
rt_int32_t nu_qei_get_cmpval(struct rt_pulse_encoder_device *pulse_encoder);
|
||
|
|
rt_int32_t nu_qei_get_type(struct rt_pulse_encoder_device *pulse_encoder);
|
||
|
|
void nu_qei_set_maxval_type(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t u32val, rt_uint8_t u8type);
|
||
|
|
void nu_qei_set_cmpval(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t u32val);
|
||
|
|
|
||
|
|
/* Private variables ------------------------------------------------------------*/
|
||
|
|
static struct nu_qei nu_qei_arr [] =
|
||
|
|
{
|
||
|
|
#if defined(BSP_USING_QEI0)
|
||
|
|
{
|
||
|
|
.name = "qei0",
|
||
|
|
.base = QEI0,
|
||
|
|
.irqn = QEI0_IRQn,
|
||
|
|
.rstidx = QEI0_RST,
|
||
|
|
.modid = QEI0_MODULE,
|
||
|
|
|
||
|
|
.max_cntval = 1000,
|
||
|
|
.cmp_val = 100,
|
||
|
|
},
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if defined(BSP_USING_QEI1)
|
||
|
|
{
|
||
|
|
.name = "qei1",
|
||
|
|
.base = QEI1,
|
||
|
|
.irqn = QEI1_IRQn,
|
||
|
|
.rstidx = QEI1_RST,
|
||
|
|
.modid = QEI1_MODULE,
|
||
|
|
|
||
|
|
.max_cntval = 1000,
|
||
|
|
.cmp_val = 100,
|
||
|
|
},
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if defined(BSP_USING_QEI2)
|
||
|
|
{
|
||
|
|
.name = "qei2",
|
||
|
|
.base = QEI2,
|
||
|
|
.irqn = QEI2_IRQn,
|
||
|
|
.rstidx = QEI2_RST,
|
||
|
|
.modid = QEI2_MODULE,
|
||
|
|
|
||
|
|
.max_cntval = 1000,
|
||
|
|
.cmp_val = 100,
|
||
|
|
},
|
||
|
|
#endif
|
||
|
|
};
|
||
|
|
|
||
|
|
static const struct rt_pulse_encoder_ops nu_qei_ops =
|
||
|
|
{
|
||
|
|
.init = nu_qei_init,
|
||
|
|
.get_count = nu_qei_get_count,
|
||
|
|
.clear_count = nu_qei_clear_count,
|
||
|
|
.control = nu_qei_control,
|
||
|
|
};
|
||
|
|
|
||
|
|
/* Public variables -------------------------------------------------------------*/
|
||
|
|
static rt_uint32_t nu_qei_type(struct rt_pulse_encoder_device *pulse_encoder)
|
||
|
|
{
|
||
|
|
rt_uint32_t u32type;
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
|
||
|
|
switch (pulse_encoder->type)
|
||
|
|
{
|
||
|
|
case SINGLE_PHASE_PULSE_ENCODER:
|
||
|
|
u32type = (psNuQei->cmp_val) ? QEI_CTL_X2_COMPARE_COUNTING_MODE : QEI_CTL_X2_FREE_COUNTING_MODE;
|
||
|
|
break;
|
||
|
|
|
||
|
|
case UNKNOWN_PULSE_ENCODER_TYPE:
|
||
|
|
case AB_PHASE_PULSE_ENCODER:
|
||
|
|
default:
|
||
|
|
u32type = (psNuQei->cmp_val) ? QEI_CTL_X4_COMPARE_COUNTING_MODE : QEI_CTL_X4_FREE_COUNTING_MODE;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
return u32type;
|
||
|
|
}
|
||
|
|
|
||
|
|
void nu_qei_set_cmpval(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t u32val)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
|
||
|
|
QEI_SET_CNT_CMP(psNuQei->base, u32val);
|
||
|
|
if (u32val > 0)
|
||
|
|
{
|
||
|
|
QEI_EnableInt(psNuQei->base, QEI_CTL_CMPIEN_Msk);
|
||
|
|
QEI_ENABLE_CNT_CMP(psNuQei->base);
|
||
|
|
rt_hw_interrupt_umask(psNuQei->irqn);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
QEI_DisableInt(psNuQei->base, QEI_CTL_CMPIEN_Msk);
|
||
|
|
QEI_DISABLE_CNT_CMP(psNuQei->base);
|
||
|
|
rt_hw_interrupt_mask(psNuQei->irqn);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static rt_err_t nu_qei_init(struct rt_pulse_encoder_device *pulse_encoder)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
|
||
|
|
/* enable noise filter */
|
||
|
|
QEI_ENABLE_NOISE_FILTER(psNuQei->base, QEI_CTL_NFCLKSEL_DIV2);
|
||
|
|
|
||
|
|
/* set compare value and interrupt */
|
||
|
|
nu_qei_set_cmpval(pulse_encoder, psNuQei->cmp_val);
|
||
|
|
|
||
|
|
/* set qei mode */
|
||
|
|
QEI_Open(psNuQei->base, nu_qei_type(pulse_encoder), psNuQei->max_cntval);
|
||
|
|
|
||
|
|
return RT_EOK;
|
||
|
|
}
|
||
|
|
|
||
|
|
static rt_int32_t nu_qei_get_count(struct rt_pulse_encoder_device *pulse_encoder)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
return (rt_int32_t)QEI_GET_CNT_VALUE(psNuQei->base);
|
||
|
|
}
|
||
|
|
|
||
|
|
static rt_err_t nu_qei_clear_count(struct rt_pulse_encoder_device *pulse_encoder)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
|
||
|
|
QEI_Stop(psNuQei->base);
|
||
|
|
QEI_SET_CNT_VALUE(psNuQei->base, 0);
|
||
|
|
QEI_Start(psNuQei->base);
|
||
|
|
|
||
|
|
return RT_EOK;
|
||
|
|
}
|
||
|
|
|
||
|
|
static rt_err_t nu_qei_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args)
|
||
|
|
{
|
||
|
|
rt_err_t result = RT_EOK;
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
|
||
|
|
switch (cmd)
|
||
|
|
{
|
||
|
|
case PULSE_ENCODER_CMD_ENABLE:
|
||
|
|
/* set compare value and interrupt */
|
||
|
|
QEI_Start(psNuQei->base);
|
||
|
|
nu_qei_set_cmpval(pulse_encoder, psNuQei->cmp_val);
|
||
|
|
break;
|
||
|
|
case PULSE_ENCODER_CMD_DISABLE:
|
||
|
|
QEI_Stop(psNuQei->base);
|
||
|
|
nu_qei_set_cmpval(pulse_encoder, 0);
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
result = -RT_ENOSYS;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
static void nu_qei_isr(int vector, void *param)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)param;
|
||
|
|
|
||
|
|
if (QEI_GET_INT_FLAG(psNuQei->base, QEI_STATUS_CMPF_Msk))
|
||
|
|
{
|
||
|
|
QEI_CLR_INT_FLAG(psNuQei->base, QEI_STATUS_CMPF_Msk);
|
||
|
|
rt_kprintf("%s: CMP flag rising\n", psNuQei->name) ;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
rt_int32_t nu_qei_get_maxval(struct rt_pulse_encoder_device *pulse_encoder)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
|
||
|
|
return psNuQei->max_cntval;
|
||
|
|
}
|
||
|
|
|
||
|
|
rt_int32_t nu_qei_get_cmpval(struct rt_pulse_encoder_device *pulse_encoder)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
|
||
|
|
return psNuQei->cmp_val;
|
||
|
|
}
|
||
|
|
|
||
|
|
rt_int32_t nu_qei_get_type(struct rt_pulse_encoder_device *pulse_encoder)
|
||
|
|
{
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
return nu_qei_type(pulse_encoder);
|
||
|
|
}
|
||
|
|
|
||
|
|
void nu_qei_set_maxval_type(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t u32val, enum rt_pulse_encoder_type eType)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = (nu_qei_t)pulse_encoder;
|
||
|
|
|
||
|
|
RT_ASSERT(pulse_encoder != RT_NULL);
|
||
|
|
RT_ASSERT(eType <= AB_PHASE_PULSE_ENCODER);
|
||
|
|
|
||
|
|
psNuQei->dev.type = eType;
|
||
|
|
psNuQei->max_cntval = u32val;
|
||
|
|
QEI_Open(psNuQei->base, nu_qei_type(&psNuQei->dev), u32val);
|
||
|
|
}
|
||
|
|
|
||
|
|
int rt_hw_qei_init(void)
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
rt_err_t result = RT_EOK;
|
||
|
|
|
||
|
|
for (i = (QEI_START + 1); i < QEI_CNT; i++)
|
||
|
|
{
|
||
|
|
nu_qei_t psNuQei = &nu_qei_arr[i];
|
||
|
|
|
||
|
|
psNuQei->dev.type = AB_PHASE_PULSE_ENCODER;
|
||
|
|
psNuQei->dev.ops = &nu_qei_ops;
|
||
|
|
|
||
|
|
/* Enable QEI module */
|
||
|
|
CLK_EnableModuleClock(psNuQei->modid);
|
||
|
|
SYS_ResetModule(psNuQei->rstidx);
|
||
|
|
|
||
|
|
/* register isr */
|
||
|
|
rt_hw_interrupt_install(psNuQei->irqn, nu_qei_isr, psNuQei, psNuQei->name);
|
||
|
|
|
||
|
|
result = rt_device_pulse_encoder_register((struct rt_pulse_encoder_device *)&nu_qei_arr[i].dev, nu_qei_arr[i].name, RT_NULL);
|
||
|
|
RT_ASSERT(result == RT_EOK);
|
||
|
|
}
|
||
|
|
|
||
|
|
return (int)result;
|
||
|
|
}
|
||
|
|
INIT_APP_EXPORT(rt_hw_qei_init);
|
||
|
|
|
||
|
|
#endif /* BSP_USING_QEI */
|