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