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QEI driver for NRF51

This commit is contained in:
Stephane D'Alu 2016-06-28 21:53:12 +02:00
parent 18659d72b3
commit 3cdd1360d4
3 changed files with 642 additions and 1 deletions
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303
os/hal/ports/NRF51/NRF51822/hal_qei_lld.c Normal file
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/*
ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file TIMv1/hal_qei_lld.c
* @brief STM32 QEI subsystem low level driver header.
*
* @addtogroup QEI
* @{
*/
#include "hal.h"
#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief QEID1 driver identifier.
*/
#if NRF51_QEI_USE_QDEC1 || defined(__DOXYGEN__)
QEIDriver QEID1;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if NRF51_QEI_USE_QDEC1 == TRUE
/**
* @brief Quadrature decoder vector (QDEC)
*
* @isr
*/
OSAL_IRQ_HANDLER(Vector88) {
QEIDriver *qeip = &QEID1;
NRF_QDEC_Type *qdec = qeip->qdec;
OSAL_IRQ_PROLOGUE();
osalSysLockFromISR();
if (qdec->EVENTS_ACCOF) {
qdec->EVENTS_ACCOF = 0;
qeip->overflowed++;
if (qeip->config->overflowed_cb)
qeip->config->overflowed_cb(qeip);
}
if (qdec->EVENTS_REPORTRDY) {
qdec->EVENTS_REPORTRDY = 0;
// Read and clear counters (due to shortcut)
int16_t acc = ( int16_t)qdec->ACCREAD;
uint16_t accdbl = (uint16_t)qdec->ACCDBLREAD;
// Inverse direction if requested
if (qeip->config->dirinv)
acc = -acc; // acc is [-1024..+1023], its okay on int16_t
// Get boundaries
qeicnt_t min = QEI_COUNT_MIN;
qeicnt_t max = QEI_COUNT_MAX;
if (qeip->config->min != qeip->config->max) {
min = qeip->config->min;
max = qeip->config->max;
}
// Compute new value
qeidelta_t delta = 0;
qeicnt_t count = qeip->count + acc;
bool overflowed = false;
// See: https://www.securecoding.cert.org/confluence/display/c/INT32-C.+Ensure+that+operations+on+signed+integers+do+not+result+in+overflow
// Overflow
if ((acc > 0) && (qeip->count > (max - acc))) {
overflowed = true;
switch(qeip->config->overflow) {
case QEI_OVERFLOW_WRAP:
delta = 0;
count = (min + (qeip->count - (max - acc))) - 1;
break;
case QEI_OVERFLOW_DISCARD:
delta = acc;
count = qeip->count;
break;
case QEI_OVERFLOW_MINMAX:
delta = qeip->count - (max - acc);
count = max;
break;
}
// Underflow
} else if ((acc < 0) && (qeip->count < (min - acc))) {
overflowed = true;
switch(qeip->config->overflow) {
case QEI_OVERFLOW_WRAP:
delta = 0;
count = (max + (qeip->count - (min - acc))) + 1;
break;
case QEI_OVERFLOW_DISCARD:
delta = acc;
count = qeip->count;
break;
case QEI_OVERFLOW_MINMAX:
delta = qeip->count - (min - acc);
count = min;
break;
}
}
// Set value and notify
if (qeip->count != count) {
qeip->count = count;
if (qeip->config->notify_cb)
qeip->config->notify_cb(qeip);
}
// Notify for overflow (passing the remaining delta)
if (overflowed && qeip->config->overflow_cb)
qeip->config->overflow_cb(qeip, delta);
}
osalSysUnlockFromISR();
OSAL_IRQ_EPILOGUE();
}
#endif
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Low level QEI driver initialization.
*
* @notapi
*/
void qei_lld_init(void) {
#if NRF51_QEI_USE_QDEC1
/* Driver initialization.*/
qeiObjectInit(&QEID1);
QEID1.qdec = NRF_QDEC;
#endif
}
/**
* @brief Configures and activates the QEI peripheral.
*
* @param[in] qeip pointer to the @p QEIDriver object
*
* @notapi
*/
void qei_lld_start(QEIDriver *qeip) {
NRF_QDEC_Type *qdec = qeip->qdec;
const QEIConfig *cfg = qeip->config;
if (qeip->state == QEI_STOP) {
// Set Pins
palSetLineMode(cfg->phase_a, PAL_MODE_INPUT);
palSetLineMode(cfg->phase_b, PAL_MODE_INPUT);
if (cfg->led != PAL_NOLINE) {
palSetLineMode(cfg->led, PAL_MODE_INPUT);
}
// Set interrupt masks and enable interrupt
qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk |
QDEC_INTENSET_ACCOF_Msk;
#if NRF51_QEI_USE_QDEC1
if (&QEID1 == qeip) {
nvicEnableVector(QDEC_IRQn, NRF51_QEI_IRQ_PRIORITY);
}
#endif
// Select pin for Phase A and Phase B
qdec->PSELA = PAL_PAD(cfg->phase_a);
qdec->PSELB = PAL_PAD(cfg->phase_b);
// Select (optional) pin for LED, and configure it
qdec->PSELLED = (cfg->led == PAL_NOLINE) ? (uint32_t)-1
: PAL_PAD(cfg->led);
qdec->LEDPOL = ((cfg->led_polarity == QEI_LED_POLARITY_LOW)
? QDEC_LEDPOL_LEDPOL_ActiveLow
: QDEC_LEDPOL_LEDPOL_ActiveHigh)
<< QDEC_LEDPOL_LEDPOL_Pos;
qdec->LEDPRE = cfg->led_warming;
// Set sampling resolution and debouncing
qdec->SAMPLEPER = cfg->resolution;
qdec->DBFEN = (cfg->debouncing ? QDEC_DBFEN_DBFEN_Enabled
: QDEC_DBFEN_DBFEN_Disabled)
<< QDEC_DBFEN_DBFEN_Pos;
// Define minimum sampling before reporting
// and create shortcut to clear accumulation
qdec->REPORTPER = cfg->report;
qdec->SHORTS = QDEC_SHORTS_REPORTRDY_READCLRACC_Msk;
// Enable peripheric
qdec->ENABLE = 1;
}
// Initially state is stopped, events cleared
qdec->TASKS_STOP = 1;
qdec->EVENTS_SAMPLERDY = 0;
qdec->EVENTS_REPORTRDY = 0;
qdec->EVENTS_ACCOF = 0;
}
/**
* @brief Deactivates the QEI peripheral.
*
* @param[in] qeip pointer to the @p QEIDriver object
*
* @notapi
*/
void qei_lld_stop(QEIDriver *qeip) {
NRF_QDEC_Type *qdec = qeip->qdec;
const QEIConfig *cfg = qeip->config;
if (qeip->state == QEI_READY) {
qdec->TASKS_STOP = 1;
qdec->ENABLE = 0;
#if NRF51_QEI_USE_QDEC1
if (&QEID1 == qeip) {
nvicDisableVector(QDEC_IRQn);
}
#endif
qdec->INTENCLR = QDEC_INTENSET_REPORTRDY_Msk |
QDEC_INTENSET_ACCOF_Msk;
}
}
/**
* @brief Enables the input capture.
*
* @param[in] qeip pointer to the @p QEIDriver object
*
* @notapi
*/
void qei_lld_enable(QEIDriver *qeip) {
qeip->overflowed = 0;
qeip->qdec->EVENTS_SAMPLERDY = 0;
qeip->qdec->EVENTS_REPORTRDY = 0;
qeip->qdec->EVENTS_ACCOF = 0;
qeip->qdec->TASKS_START = 1;
}
/**
* @brief Disables the input capture.
*
* @param[in] qeip pointer to the @p QEIDriver object
*
* @notapi
*/
void qei_lld_disable(QEIDriver *qeip) {
qeip->qdec->TASKS_STOP = 1;
}
#endif /* HAL_USE_QEI */
/** @} */

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os/hal/ports/NRF51/NRF51822/hal_qei_lld.h Normal file
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/*
ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file TIMv1/hal_qei_lld.h
* @brief STM32 QEI subsystem low level driver header.
*
* @addtogroup QEI
* @{
*/
#ifndef HAL_QEI_LLD_H
#define HAL_QEI_LLD_H
#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
#define QEI_LED_POLARITY_LOW 0
#define QEI_LED_POLARITY_HIGH 1
#define QEI_COUNT_MIN 0
#define QEI_COUNT_MAX 65535
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/**
* @name Configuration options
* @{
*/
/**
* @brief QEID1 driver enable switch.
* @details If set to @p TRUE the support for QEID1 is included.
* @note The default is @p FALSE.
*/
#if !defined(NRF51_QEI_USE_QDEC1) || defined(__DOXYGEN__)
#define NRF51_QEI_USE_QDEC1 FALSE
#endif
/**
* @brief QEID interrupt priority level setting.
*/
#if !defined(NRF51_QEI_IRQ_PRIORITY) || defined(__DOXYGEN__)
#define NRF51_QEI_IRQ_PRIORITY 2
#endif
/** @} */
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if NRF51_QEI_USE_QDEC1 && \
!OSAL_IRQ_IS_VALID_PRIORITY(NRF51_QEI_IRQ_PRIORITY)
#error "Invalid IRQ priority assigned to QDEC1"
#endif
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @brief QEI count mode.
*/
typedef enum {
QEI_MODE_QUADRATURE = 0, /**< Quadrature encoder mode. */
} qeimode_t;
/**
* @brief QEI resolution.
*/
typedef enum {
QEI_RESOLUTION_128us = 0x00UL, /**< 128us sample period. */
QEI_RESOLUTION_256us = 0x01UL, /**< 256us sample period. */
QEI_RESOLUTION_512us = 0x02UL, /**< 512us sample period. */
QEI_RESOLUTION_1024us = 0x03UL, /**< 1024us sample period. */
QEI_RESOLUTION_2048us = 0x04UL, /**< 2048us sample period. */
QEI_RESOLUTION_4096us = 0x05UL, /**< 4096us sample period. */
QEI_RESOLUTION_8192us = 0x06UL, /**< 8192us sample period. */
QEI_RESOLUTION_16384us = 0x07UL, /**< 16384us sample period. */
} qeiresolution_t;
/**
*
*/
typedef enum {
QEI_REPORT_10 = 0x00UL, /**< 10 samples per report. */
QEI_REPORT_40 = 0x01UL, /**< 40 samples per report. */
QEI_REPORT_80 = 0x02UL, /**< 80 samples per report. */
QEI_REPORT_120 = 0x03UL, /**< 120 samples per report. */
QEI_REPORT_160 = 0x04UL, /**< 160 samples per report. */
QEI_REPORT_200 = 0x05UL, /**< 200 samples per report. */
QEI_REPORT_240 = 0x06UL, /**< 240 samples per report. */
QEI_REPORT_280 = 0x07UL, /**< 280 samples per report. */
} qeireport_t;
/**
* @brief Handling of counter overflow/underflow
*/
typedef enum {
QEI_OVERFLOW_WRAP = 0, /**< Counter value will wrap around. */
QEI_OVERFLOW_DISCARD = 1, /**< Counter doesn't change. */
QEI_OVERFLOW_MINMAX = 2, /**< Counter will be updated to min or max. */
} qeioverflow_t;
/**
* @brief QEI direction inversion.
*/
typedef enum {
QEI_DIRINV_FALSE = 0, /**< Do not invert counter direction. */
QEI_DIRINV_TRUE = 1, /**< Invert counter direction. */
} qeidirinv_t;
/**
* @brief QEI counter type.
*/
typedef uint16_t qeicnt_t;
/**
* @brief QEI delta type.
*/
typedef int16_t qeidelta_t;
/**
* @brief Driver configuration structure.
* @note It could be empty on some architectures.
*/
typedef struct {
/**
* @brief Count mode.
*/
qeimode_t mode;
/**
* @brief Resolution.
*/
qeiresolution_t resolution;
/**
* @brief Direction inversion.
*/
qeidirinv_t dirinv;
/**
* @brief Handling of counter overflow/underflow
*
* @details When overflow callback is called, the counter value
* is not updated, the decision on how to update is left
* to the callback.
*
* Three implementation are provided
* - QEI_OVERFLOW_DISCARD:
* discard the update value, counter doesn't change
* - QEI_OVERFLOW_MINMAX
* counter will be updated to reach min or max
* - QEI_OVERFLOW_WRAP:
* counter value will wrap around
*/
qeioverflow_t overflow;
/**
* @brief Min count value.
*
* @note If min == max, the QEI_COUNT_MIN is used as default
*/
qeicnt_t min;
/**
* @brief Max count value.
*
* @note If min == max, the QEI_COUNT_MAX is used as default
*/
qeicnt_t max;
/**
* @brief Notify of value change
*/
qeicallback_t notify_cb;
/**
* @brief Notify of overflow
*
* @note Overflow notification is performed after
* value changed notification.
*/
void (*overflow_cb)(QEIDriver *qeip, qeidelta_t delta);
/* End of the mandatory fields.*/
/**
* @brief Line for reading Phase A
*/
ioline_t phase_a;
/**
* @brief Line for reading Phase B
*/
ioline_t phase_b;
/**
* @brief Line to use to control LED
*
* @note If LED is not controlled by MCU, you need to use the
* PAL_NOLINE value.
*/
ioline_t led;
/**
* @brief Period in µs the LED is switched on prior to sampling.
*
* @details LED warming is between 0 and 511 (including boundaries)
*
* @note 31µs is the recommanded default.
*
* @note If debouncing is activated, LED is always on for the
* whole sampling period (aka: resolution)
*/
uint16_t led_warming;
/**
* @brief LED polarity to used (when LED is controlled by MCU)
*/
uint8_t led_polarity;
/**
* @brief Activate debouncing filter
*
* @note If LED is controlled by MCU, the led_warming is ignored and,
* LED is always on for the whole sampling period (aka: resolution)
*/
bool debouncing;
/**
* @brief Number of sample per report
*
* @details Default to QEI_REPORT_10
*/
qeireport_t report;
/**
* @brief Notify of internal accumulator overflowed
*
* @note MCU has discarded some of the samples.
*/
qeicallback_t overflowed_cb;
} QEIConfig;
/**
* @brief Structure representing an QEI driver.
*/
struct QEIDriver {
/**
* @brief Driver state.
*/
qeistate_t state;
/**
* @brief Last count value.
*/
qeicnt_t last;
/**
* @brief Current configuration data.
*/
const QEIConfig *config;
#if defined(QEI_DRIVER_EXT_FIELDS)
QEI_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
*/
qeidelta_t delta;
/**
*/
qeicnt_t count;
/**
* @brief Number of time the MCU discarded updates due to
* accumulator overflow
*/
uint32_t overflowed;
/**
* @brief Pointer to the ADCx registers block.
*/
NRF_QDEC_Type *qdec;
};
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/**
* @brief Returns the counter value.
*
* @param[in] qeip pointer to the @p QEIDriver object
* @return The current counter value.
*
* @notapi
*/
#define qei_lld_get_count(qeip) ((qeip)->count)
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if NRF51_QEI_USE_QDEC1 && !defined(__DOXYGEN__)
extern QEIDriver QEID1;
#endif
#ifdef __cplusplus
extern "C" {
#endif
void qei_lld_init(void);
void qei_lld_start(QEIDriver *qeip);
void qei_lld_stop(QEIDriver *qeip);
void qei_lld_enable(QEIDriver *qeip);
void qei_lld_disable(QEIDriver *qeip);
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_QEI */
#endif /* HAL_QEI_LLD_H */
/** @} */

6
os/hal/ports/NRF51/NRF51822/platform.mk
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@ -37,6 +37,9 @@ endif
ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),)
PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c
endif
ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
endif
else
PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_lld.c \
@ -51,7 +54,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_gpt_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_wdg_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_rng_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c \
${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
endif
# Required include directories