| /** |
| * Copyright (c) 2014 - 2018, Nordic Semiconductor ASA |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions are met: |
| * |
| * 1. Redistributions of source code must retain the above copyright notice, this |
| * list of conditions and the following disclaimer. |
| * |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * |
| * 3. Neither the name of the copyright holder nor the names of its |
| * contributors may be used to endorse or promote products derived from this |
| * software without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE |
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| * POSSIBILITY OF SUCH DAMAGE. |
| */ |
| #ifndef NRF_QDEC_H__ |
| #define NRF_QDEC_H__ |
| |
| #include <nrfx.h> |
| |
| #ifdef __cplusplus |
| extern "C" { |
| #endif |
| |
| /** |
| * @defgroup nrf_qdec_hal QDEC HAL |
| * @{ |
| * @ingroup nrf_qdec |
| * @brief Hardware access layer for managing the Quadrature Decoder (QDEC) peripheral. |
| */ |
| |
| /** |
| * @enum nrf_qdec_task_t |
| * @brief QDEC tasks. |
| */ |
| typedef enum /*lint -save -e30 -esym(628,__INTADDR__) */ |
| { |
| NRF_QDEC_TASK_START = offsetof(NRF_QDEC_Type, TASKS_START), /**< Starting the quadrature decoder. */ |
| NRF_QDEC_TASK_STOP = offsetof(NRF_QDEC_Type, TASKS_STOP), /**< Stopping the quadrature decoder. */ |
| NRF_QDEC_TASK_READCLRACC = offsetof(NRF_QDEC_Type, TASKS_READCLRACC) /**< Reading and clearing ACC and ACCDBL registers. */ |
| } nrf_qdec_task_t; |
| |
| /** |
| * @enum nrf_qdec_event_t |
| * @brief QDEC events. |
| */ |
| typedef enum |
| { |
| NRF_QDEC_EVENT_SAMPLERDY = offsetof(NRF_QDEC_Type, EVENTS_SAMPLERDY), /**< Event generated for every new sample. */ |
| NRF_QDEC_EVENT_REPORTRDY = offsetof(NRF_QDEC_Type, EVENTS_REPORTRDY), /**< Event generated for every new report. */ |
| NRF_QDEC_EVENT_ACCOF = offsetof(NRF_QDEC_Type, EVENTS_ACCOF) /**< Event generated for every accumulator overflow. */ |
| } nrf_qdec_event_t; /*lint -restore */ |
| |
| /** |
| * @enum nrf_qdec_short_mask_t |
| * @brief QDEC shortcuts. |
| */ |
| typedef enum |
| { |
| NRF_QDEC_SHORT_REPORTRDY_READCLRACC_MASK = QDEC_SHORTS_REPORTRDY_READCLRACC_Msk, /**< Shortcut between REPORTRDY event and READCLRACC task. */ |
| NRF_QDEC_SHORT_SAMPLERDY_STOP_MASK = QDEC_SHORTS_SAMPLERDY_STOP_Msk /**< Shortcut between SAMPLERDY event and STOP task. */ |
| } nrf_qdec_short_mask_t; |
| |
| /** |
| * @enum nrf_qdec_int_mask_t |
| * @brief QDEC interrupts. |
| */ |
| typedef enum |
| { |
| NRF_QDEC_INT_SAMPLERDY_MASK = QDEC_INTENSET_SAMPLERDY_Msk, /**< Mask for enabling or disabling an interrupt on SAMPLERDY event. */ |
| NRF_QDEC_INT_REPORTRDY_MASK = QDEC_INTENSET_REPORTRDY_Msk, /**< Mask for enabling or disabling an interrupt on REPORTRDY event. */ |
| NRF_QDEC_INT_ACCOF_MASK = QDEC_INTENSET_ACCOF_Msk /**< Mask for enabling or disabling an interrupt on ACCOF event. */ |
| } nrf_qdec_int_mask_t; |
| |
| /** |
| * @enum nrf_qdec_enable_t |
| * @brief States of the enable bit. |
| */ |
| typedef enum |
| { |
| NRF_QDEC_DISABLE = QDEC_ENABLE_ENABLE_Disabled, /**< Mask for disabling the QDEC periperal. When disabled, the QDEC decoder pins are not active. */ |
| NRF_QDEC_ENABLE = QDEC_ENABLE_ENABLE_Enabled /**< Mask for enabling the QDEC periperal. When enabled, the QDEC pins are active. */ |
| } nrf_qdec_enable_t; |
| |
| |
| /** |
| * @enum nrf_qdec_dbfen_t |
| * @brief States of the debounce filter enable bit. |
| */ |
| typedef enum |
| { |
| NRF_QDEC_DBFEN_DISABLE = QDEC_DBFEN_DBFEN_Disabled, /**< Mask for disabling the debounce filter. */ |
| NRF_QDEC_DBFEN_ENABLE = QDEC_DBFEN_DBFEN_Enabled /**< Mask for enabling the debounce filter. */ |
| } nrf_qdec_dbfen_t; |
| |
| /** |
| * @enum nrf_qdec_ledpol_t |
| * @brief Active LED polarity. |
| */ |
| typedef enum |
| { |
| NRF_QDEC_LEPOL_ACTIVE_LOW = QDEC_LEDPOL_LEDPOL_ActiveLow, /**< QDEC LED active on output pin low. */ |
| NRF_QDEC_LEPOL_ACTIVE_HIGH = QDEC_LEDPOL_LEDPOL_ActiveHigh /**< QDEC LED active on output pin high. */ |
| } nrf_qdec_ledpol_t; |
| |
| |
| /** |
| * @enum nrf_qdec_sampleper_t |
| * @brief Available sampling periods. |
| */ |
| typedef enum |
| { |
| NRF_QDEC_SAMPLEPER_128us = QDEC_SAMPLEPER_SAMPLEPER_128us, /**< QDEC sampling period 128 microseconds. */ |
| NRF_QDEC_SAMPLEPER_256us = QDEC_SAMPLEPER_SAMPLEPER_256us, /**< QDEC sampling period 256 microseconds. */ |
| NRF_QDEC_SAMPLEPER_512us = QDEC_SAMPLEPER_SAMPLEPER_512us, /**< QDEC sampling period 512 microseconds. */ |
| NRF_QDEC_SAMPLEPER_1024us = QDEC_SAMPLEPER_SAMPLEPER_1024us, /**< QDEC sampling period 1024 microseconds. */ |
| NRF_QDEC_SAMPLEPER_2048us = QDEC_SAMPLEPER_SAMPLEPER_2048us, /**< QDEC sampling period 2048 microseconds. */ |
| NRF_QDEC_SAMPLEPER_4096us = QDEC_SAMPLEPER_SAMPLEPER_4096us, /**< QDEC sampling period 4096 microseconds. */ |
| NRF_QDEC_SAMPLEPER_8192us = QDEC_SAMPLEPER_SAMPLEPER_8192us, /**< QDEC sampling period 8192 microseconds. */ |
| NRF_QDEC_SAMPLEPER_16384us = QDEC_SAMPLEPER_SAMPLEPER_16384us /**< QDEC sampling period 16384 microseconds. */ |
| } nrf_qdec_sampleper_t; |
| |
| /** |
| * @enum nrf_qdec_reportper_t |
| * @brief Available report periods. |
| */ |
| typedef enum |
| { |
| NRF_QDEC_REPORTPER_10 = QDEC_REPORTPER_REPORTPER_10Smpl, /**< QDEC report period 10 samples. */ |
| NRF_QDEC_REPORTPER_40 = QDEC_REPORTPER_REPORTPER_40Smpl, /**< QDEC report period 40 samples. */ |
| NRF_QDEC_REPORTPER_80 = QDEC_REPORTPER_REPORTPER_80Smpl, /**< QDEC report period 80 samples. */ |
| NRF_QDEC_REPORTPER_120 = QDEC_REPORTPER_REPORTPER_120Smpl, /**< QDEC report period 120 samples. */ |
| NRF_QDEC_REPORTPER_160 = QDEC_REPORTPER_REPORTPER_160Smpl, /**< QDEC report period 160 samples. */ |
| NRF_QDEC_REPORTPER_200 = QDEC_REPORTPER_REPORTPER_200Smpl, /**< QDEC report period 200 samples. */ |
| NRF_QDEC_REPORTPER_240 = QDEC_REPORTPER_REPORTPER_240Smpl, /**< QDEC report period 240 samples. */ |
| NRF_QDEC_REPORTPER_280 = QDEC_REPORTPER_REPORTPER_280Smpl, /**< QDEC report period 280 samples. */ |
| NRF_QDEC_REPORTPER_DISABLED /**< QDEC reporting disabled. */ |
| } nrf_qdec_reportper_t; |
| |
| /** |
| * @brief Function for enabling QDEC. |
| */ |
| __STATIC_INLINE void nrf_qdec_enable(void) |
| { |
| NRF_QDEC->ENABLE = NRF_QDEC_ENABLE; |
| } |
| |
| |
| /** |
| * @brief Function for disabling QDEC. |
| */ |
| __STATIC_INLINE void nrf_qdec_disable(void) |
| { |
| NRF_QDEC->ENABLE = NRF_QDEC_DISABLE; |
| } |
| |
| |
| /** |
| * @brief Function for returning the enable state of QDEC. |
| * @return State of the register. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_enable_get(void) |
| { |
| return NRF_QDEC->ENABLE; |
| } |
| |
| |
| /** |
| * @brief Function for enabling QDEC interrupts by mask. |
| * @param[in] qdec_int_mask Sources of the interrupts to enable. |
| */ |
| __STATIC_INLINE void nrf_qdec_int_enable(uint32_t qdec_int_mask) |
| { |
| NRF_QDEC->INTENSET = qdec_int_mask; // writing 0 has no effect |
| } |
| |
| |
| /** |
| * @brief Function for disabling QDEC interrupts by mask. |
| * @param[in] qdec_int_mask Sources of the interrupts to disable. |
| * |
| */ |
| __STATIC_INLINE void nrf_qdec_int_disable(uint32_t qdec_int_mask) |
| { |
| NRF_QDEC->INTENCLR = qdec_int_mask; // writing 0 has no effect |
| } |
| |
| |
| /** |
| * @brief Function for getting the enabled interrupts of the QDEC. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_int_enable_check(nrf_qdec_int_mask_t qdec_int_mask) |
| { |
| return NRF_QDEC->INTENSET & qdec_int_mask; // when read this register will return the value of INTEN. |
| } |
| |
| |
| /** |
| * @brief Function for enabling the debouncing filter of the QED. |
| */ |
| __STATIC_INLINE void nrf_qdec_dbfen_enable(void) |
| { |
| NRF_QDEC->DBFEN = NRF_QDEC_DBFEN_ENABLE; |
| } |
| |
| |
| /** |
| * @brief Function for disabling the debouncing filter of the QED. |
| */ |
| __STATIC_INLINE void nrf_qdec_dbfen_disable(void) |
| { |
| NRF_QDEC->DBFEN = NRF_QDEC_DBFEN_DISABLE; |
| } |
| |
| |
| /** |
| * @brief Function for getting the state of the QDEC's debouncing filter. |
| * @retval NRF_QDEC_DBFEN_DISABLE If the debouncing filter is disabled. |
| * @retval NRF_QDEC_DBFEN_ENABLE If the debouncing filter is enabled. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_dbfen_get(void) |
| { |
| return NRF_QDEC->DBFEN; |
| } |
| |
| |
| /** |
| * @brief Function for assigning QDEC pins. |
| * @param[in] psela Pin number. |
| * @param[in] pselb Pin number. |
| * @param[in] pselled Pin number. |
| */ |
| __STATIC_INLINE void nrf_qdec_pio_assign( uint32_t psela, uint32_t pselb, uint32_t pselled) |
| { |
| NRF_QDEC->PSELA = psela; |
| NRF_QDEC->PSELB = pselb; |
| NRF_QDEC->PSELLED = pselled; |
| |
| } |
| |
| /** |
| * @brief Function for setting a specific QDEC task. |
| * @param[in] qdec_task QDEC task to be set. |
| */ |
| __STATIC_INLINE void nrf_qdec_task_trigger(nrf_qdec_task_t qdec_task) |
| { |
| *( (volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_task) ) = 1; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the address of a QDEC task register. |
| * @param[in] qdec_task QDEC task. |
| */ |
| __STATIC_INLINE uint32_t * nrf_qdec_task_address_get(nrf_qdec_task_t qdec_task) |
| { |
| return (uint32_t *)( (uint8_t *)NRF_QDEC + qdec_task); |
| } |
| |
| |
| /** |
| * @brief Function for clearing a specific QDEC event. |
| * @param[in] qdec_event QDEC event to clear. |
| */ |
| __STATIC_INLINE void nrf_qdec_event_clear(nrf_qdec_event_t qdec_event) |
| { |
| *( (volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event) ) = 0; |
| #if __CORTEX_M == 0x04 |
| volatile uint32_t dummy = *((volatile uint32_t *)((uint8_t *)NRF_QDEC + qdec_event)); |
| (void)dummy; |
| #endif |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the state of a specific QDEC event. |
| * @return State of the QDEC event. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_event_check(nrf_qdec_event_t qdec_event) |
| { |
| return *(volatile uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event); |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the address of a specific QDEC event register. |
| * @param[in] qdec_event QDEC event. |
| * @return Address of the specified QDEC event. |
| */ |
| __STATIC_INLINE uint32_t * nrf_qdec_event_address_get(nrf_qdec_event_t qdec_event) |
| { |
| return (uint32_t *)( (uint8_t *)NRF_QDEC + qdec_event); |
| } |
| |
| |
| /** |
| * @brief Function for setting QDEC shortcuts. |
| * @param[in] qdec_short_mask QDEC shortcut by mask. |
| */ |
| __STATIC_INLINE void nrf_qdec_shorts_enable(uint32_t qdec_short_mask) |
| { |
| NRF_QDEC->SHORTS |= qdec_short_mask; |
| } |
| |
| |
| /** |
| * @brief Function for clearing shortcuts of the QDEC by mask. |
| * @param[in] qdec_short_mask QDEC shortcute to be cleared. |
| */ |
| __STATIC_INLINE void nrf_qdec_shorts_disable(uint32_t qdec_short_mask) |
| { |
| NRF_QDEC->SHORTS &= ~qdec_short_mask; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the value of QDEC's SAMPLEPER register. |
| * @return Value of the SAMPLEPER register. |
| */ |
| __STATIC_INLINE int32_t nrf_qdec_sampleper_reg_get(void) |
| { |
| return NRF_QDEC->SAMPLEPER; |
| } |
| |
| |
| /** |
| * @brief Function for converting the value of QDEC's SAMPLE PERIOD to microseconds. |
| * @retval sampling period in microseconds. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_sampleper_to_value(uint32_t sampleper) |
| { |
| return (1 << (7 + sampleper)); |
| } |
| |
| /** |
| * @brief Function for setting the value of QDEC's SAMPLEPER register. |
| * @param[in] sample_per Sampling period. |
| */ |
| __STATIC_INLINE void nrf_qdec_sampleper_set(nrf_qdec_sampleper_t sample_per) |
| { |
| NRF_QDEC->SAMPLEPER = sample_per; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the value of QDEC's SAMPLE register. |
| * @return Value of the SAMPLE register. |
| */ |
| __STATIC_INLINE int32_t nrf_qdec_sample_get(void) |
| { |
| return NRF_QDEC->SAMPLE; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the value of QDEC's ACC register. |
| * @return Value of the ACC register. |
| */ |
| __STATIC_INLINE int32_t nrf_qdec_acc_get(void) |
| { |
| return NRF_QDEC->ACC; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the value of QDEC's ACCREAD register. |
| * @return Value of the ACCREAD register. |
| */ |
| __STATIC_INLINE int32_t nrf_qdec_accread_get(void) |
| { |
| return NRF_QDEC->ACCREAD; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the value of QDEC's ACCDBL register. |
| * @return Value of the ACCDBL register. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_accdbl_get(void) |
| { |
| return NRF_QDEC->ACCDBL; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the value of QDEC's ACCDBLREAD register. |
| * @return Value of the ACCDBLREAD register. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_accdblread_get(void) |
| { |
| return NRF_QDEC->ACCDBLREAD; |
| } |
| |
| |
| /** |
| * @brief Function for setting how long the LED is switched on before sampling. |
| * @param[in] time_us Time (in microseconds) how long the LED is switched on before sampling. |
| */ |
| __STATIC_INLINE void nrf_qdec_ledpre_set(uint32_t time_us) |
| { |
| NRF_QDEC->LEDPRE = time_us; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving how long the LED is switched on before sampling. |
| * @retval time_us Time (in microseconds) how long the LED is switched on before sampling. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_ledpre_get(void) |
| { |
| return NRF_QDEC->LEDPRE; |
| } |
| |
| |
| /** |
| * @brief Function for setting the report period (in samples). |
| * @param[in] reportper Number of samples. |
| */ |
| __STATIC_INLINE void nrf_qdec_reportper_set(nrf_qdec_reportper_t reportper) |
| { |
| NRF_QDEC->REPORTPER = reportper; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the report period. |
| * @retval reportper Number of samples as encoded in the register. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_reportper_reg_get(void) |
| { |
| return NRF_QDEC->REPORTPER; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the value of QDEC's SAMPLEPER register. |
| * @param [in] reportper Reportper to be converted to amount of samples per report. |
| |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_reportper_to_value(uint32_t reportper) |
| { |
| return (reportper == NRF_QDEC_REPORTPER_10) ? 10 : reportper * 40; |
| } |
| |
| |
| /** |
| * @brief Function for setting the active level for the LED. |
| * @param[in] pol Active level for the LED. |
| */ |
| __STATIC_INLINE void nrf_qdec_ledpol_set(nrf_qdec_ledpol_t pol) |
| { |
| NRF_QDEC->LEDPOL = pol; |
| } |
| |
| |
| /** |
| * @brief Function for retrieving the active level for the LED. |
| * @return Active level for the LED. |
| */ |
| __STATIC_INLINE uint32_t nrf_qdec_ledpol_get(void) |
| { |
| return NRF_QDEC->LEDPOL; |
| } |
| |
| /** @} */ |
| |
| #ifdef __cplusplus |
| } |
| #endif |
| |
| #endif |