| /** |
| * Copyright (c) 2015 - 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. |
| */ |
| |
| #include <nrfx.h> |
| |
| #if NRFX_CHECK(NRFX_QDEC_ENABLED) |
| |
| #include <nrfx_qdec.h> |
| #include <hal/nrf_gpio.h> |
| |
| #define NRFX_LOG_MODULE QDEC |
| #include <nrfx_log.h> |
| |
| #define EVT_TO_STR(event) \ |
| (event == NRF_QDEC_EVENT_SAMPLERDY ? "NRF_QDEC_EVENT_SAMPLERDY" : \ |
| (event == NRF_QDEC_EVENT_REPORTRDY ? "NRF_QDEC_EVENT_REPORTRDY" : \ |
| (event == NRF_QDEC_EVENT_ACCOF ? "NRF_QDEC_EVENT_ACCOF" : \ |
| "UNKNOWN EVENT"))) |
| |
| |
| static nrfx_qdec_event_handler_t m_qdec_event_handler = NULL; |
| static nrfx_drv_state_t m_state = NRFX_DRV_STATE_UNINITIALIZED; |
| |
| void nrfx_qdec_irq_handler(void) |
| { |
| nrfx_qdec_event_t event; |
| if ( nrf_qdec_event_check(NRF_QDEC_EVENT_SAMPLERDY) && |
| nrf_qdec_int_enable_check(NRF_QDEC_INT_SAMPLERDY_MASK) ) |
| { |
| nrf_qdec_event_clear(NRF_QDEC_EVENT_SAMPLERDY); |
| NRFX_LOG_DEBUG("Event: %s.", EVT_TO_STR(NRF_QDEC_EVENT_SAMPLERDY)); |
| |
| event.type = NRF_QDEC_EVENT_SAMPLERDY; |
| event.data.sample.value = (int8_t)nrf_qdec_sample_get(); |
| m_qdec_event_handler(event); |
| } |
| |
| if ( nrf_qdec_event_check(NRF_QDEC_EVENT_REPORTRDY) && |
| nrf_qdec_int_enable_check(NRF_QDEC_INT_REPORTRDY_MASK) ) |
| { |
| nrf_qdec_event_clear(NRF_QDEC_EVENT_REPORTRDY); |
| NRFX_LOG_DEBUG("Event: %s.", EVT_TO_STR(NRF_QDEC_EVENT_REPORTRDY)); |
| |
| event.type = NRF_QDEC_EVENT_REPORTRDY; |
| |
| event.data.report.acc = (int16_t)nrf_qdec_accread_get(); |
| event.data.report.accdbl = (uint16_t)nrf_qdec_accdblread_get(); |
| m_qdec_event_handler(event); |
| } |
| |
| if ( nrf_qdec_event_check(NRF_QDEC_EVENT_ACCOF) && |
| nrf_qdec_int_enable_check(NRF_QDEC_INT_ACCOF_MASK) ) |
| { |
| nrf_qdec_event_clear(NRF_QDEC_EVENT_ACCOF); |
| NRFX_LOG_DEBUG("Event: %s.", EVT_TO_STR(NRF_QDEC_EVENT_ACCOF)); |
| |
| event.type = NRF_QDEC_EVENT_ACCOF; |
| m_qdec_event_handler(event); |
| } |
| } |
| |
| |
| nrfx_err_t nrfx_qdec_init(nrfx_qdec_config_t const * p_config, |
| nrfx_qdec_event_handler_t event_handler) |
| { |
| NRFX_ASSERT(p_config); |
| NRFX_ASSERT(event_handler); |
| nrfx_err_t err_code; |
| |
| if (m_state != NRFX_DRV_STATE_UNINITIALIZED) |
| { |
| err_code = NRFX_ERROR_INVALID_STATE; |
| NRFX_LOG_WARNING("Function: %s, error code: %s.", |
| __func__, |
| NRFX_LOG_ERROR_STRING_GET(err_code)); |
| return err_code; |
| } |
| |
| m_qdec_event_handler = event_handler; |
| |
| nrf_qdec_sampleper_set(p_config->sampleper); |
| nrf_gpio_cfg_input(p_config->pselled, NRF_GPIO_PIN_NOPULL); |
| nrf_gpio_cfg_input(p_config->psela, NRF_GPIO_PIN_NOPULL); |
| nrf_gpio_cfg_input(p_config->pselb, NRF_GPIO_PIN_NOPULL); |
| nrf_qdec_pio_assign(p_config->psela, p_config->pselb, p_config->pselled); |
| nrf_qdec_ledpre_set(p_config->ledpre); |
| nrf_qdec_ledpol_set(p_config->ledpol); |
| nrf_qdec_shorts_enable(NRF_QDEC_SHORT_REPORTRDY_READCLRACC_MASK); |
| |
| if (p_config->dbfen) |
| { |
| nrf_qdec_dbfen_enable(); |
| } |
| else |
| { |
| nrf_qdec_dbfen_disable(); |
| } |
| |
| uint32_t int_mask = NRF_QDEC_INT_ACCOF_MASK; |
| |
| if (p_config->reportper != NRF_QDEC_REPORTPER_DISABLED) |
| { |
| nrf_qdec_reportper_set(p_config->reportper); |
| int_mask |= NRF_QDEC_INT_REPORTRDY_MASK; |
| } |
| |
| if (p_config->sample_inten) |
| { |
| int_mask |= NRF_QDEC_INT_SAMPLERDY_MASK; |
| } |
| |
| nrf_qdec_int_enable(int_mask); |
| NRFX_IRQ_PRIORITY_SET(QDEC_IRQn, p_config->interrupt_priority); |
| NRFX_IRQ_ENABLE(QDEC_IRQn); |
| |
| m_state = NRFX_DRV_STATE_INITIALIZED; |
| |
| err_code = NRFX_SUCCESS; |
| NRFX_LOG_INFO("Function: %s, error code: %s.", __func__, NRFX_LOG_ERROR_STRING_GET(err_code)); |
| return err_code; |
| } |
| |
| void nrfx_qdec_uninit(void) |
| { |
| NRFX_ASSERT(m_state != NRFX_DRV_STATE_UNINITIALIZED); |
| nrfx_qdec_disable(); |
| NRFX_IRQ_DISABLE(QDEC_IRQn); |
| m_state = NRFX_DRV_STATE_UNINITIALIZED; |
| NRFX_LOG_INFO("Uninitialized."); |
| } |
| |
| void nrfx_qdec_enable(void) |
| { |
| NRFX_ASSERT(m_state == NRFX_DRV_STATE_INITIALIZED); |
| nrf_qdec_enable(); |
| nrf_qdec_task_trigger(NRF_QDEC_TASK_START); |
| m_state = NRFX_DRV_STATE_POWERED_ON; |
| NRFX_LOG_INFO("Enabled."); |
| } |
| |
| void nrfx_qdec_disable(void) |
| { |
| NRFX_ASSERT(m_state == NRFX_DRV_STATE_POWERED_ON); |
| nrf_qdec_task_trigger(NRF_QDEC_TASK_STOP); |
| nrf_qdec_disable(); |
| m_state = NRFX_DRV_STATE_INITIALIZED; |
| NRFX_LOG_INFO("Disabled."); |
| } |
| |
| void nrfx_qdec_accumulators_read(int16_t * p_acc, int16_t * p_accdbl) |
| { |
| NRFX_ASSERT(m_state == NRFX_DRV_STATE_POWERED_ON); |
| nrf_qdec_task_trigger(NRF_QDEC_TASK_READCLRACC); |
| |
| *p_acc = (int16_t)nrf_qdec_accread_get(); |
| *p_accdbl = (int16_t)nrf_qdec_accdblread_get(); |
| |
| NRFX_LOG_DEBUG("Accumulators data, ACC register:"); |
| NRFX_LOG_HEXDUMP_DEBUG((uint8_t *)p_acc, sizeof(p_acc[0])); |
| NRFX_LOG_DEBUG("Accumulators data, ACCDBL register:"); |
| NRFX_LOG_HEXDUMP_DEBUG((uint8_t *)p_accdbl, sizeof(p_accdbl[0])); |
| } |
| |
| #endif // NRFX_CHECK(NRFX_QDEC_ENABLED) |
