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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_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 */
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