1 /*
2 * Copyright (c) 2015 - 2020, Nordic Semiconductor ASA
3 * All rights reserved.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 *
8 * 1. Redistributions of source code must retain the above copyright notice, this
9 * list of conditions and the following disclaimer.
10 *
11 * 2. Redistributions in binary form must reproduce the above copyright
12 * notice, this list of conditions and the following disclaimer in the
13 * documentation and/or other materials provided with the distribution.
14 *
15 * 3. Neither the name of the copyright holder nor the names of its
16 * contributors may be used to endorse or promote products derived from this
17 * software without specific prior written permission.
18 *
19 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
22 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
23 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
24 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
25 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
26 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
27 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
28 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
29 * POSSIBILITY OF SUCH DAMAGE.
30 */
31
32 #ifndef NRFX_QDEC_H__
33 #define NRFX_QDEC_H__
34
35 #include <nrfx.h>
36 #include <hal/nrf_qdec.h>
37
38 #ifdef __cplusplus
39 extern "C" {
40 #endif
41
42 /**
43 * @defgroup nrfx_qdec QDEC driver
44 * @{
45 * @ingroup nrf_qdec
46 * @brief Quadrature Decoder (QDEC) peripheral driver.
47 */
48
49 /** @brief QDEC configuration structure. */
50 typedef struct
51 {
52 nrf_qdec_reportper_t reportper; /**< Report period in samples. */
53 nrf_qdec_sampleper_t sampleper; /**< Sampling period in microseconds. */
54 uint32_t psela; /**< Pin number for A input. */
55 uint32_t pselb; /**< Pin number for B input. */
56 uint32_t pselled; /**< Pin number for LED output. */
57 uint32_t ledpre; /**< Time (in microseconds) how long LED is switched on before sampling. */
58 nrf_qdec_ledpol_t ledpol; /**< Active LED polarity. */
59 bool dbfen; /**< State of debouncing filter. */
60 bool sample_inten; /**< Enabling sample ready interrupt. */
61 uint8_t interrupt_priority; /**< QDEC interrupt priority. */
62 } nrfx_qdec_config_t;
63
64 /**
65 * @brief QDEC driver default configuration.
66 *
67 * This configuration sets up QDEC with the following options:
68 * - report period: 10 samples
69 * - sampling period: 16384 us
70 * - LED enabled for 500 us before sampling
71 * - LED polarity: active high
72 * - debouncing filter disabled
73 * - sample ready interrupt disabled
74 *
75 * @param[in] _pin_a Pin for A encoder channel input.
76 * @param[in] _pin_b Pin for B encoder channel input.
77 * @param[in] _pin_led Pin for LED output.
78 */
79 #define NRFX_QDEC_DEFAULT_CONFIG(_pin_a, _pin_b, _pin_led) \
80 { \
81 .reportper = NRF_QDEC_REPORTPER_10, \
82 .sampleper = NRF_QDEC_SAMPLEPER_16384us, \
83 .psela = _pin_a, \
84 .pselb = _pin_b, \
85 .pselled = _pin_led, \
86 .ledpre = 500, \
87 .ledpol = NRF_QDEC_LEPOL_ACTIVE_HIGH, \
88 .dbfen = NRF_QDEC_DBFEN_DISABLE, \
89 .sample_inten = false, \
90 .interrupt_priority = NRFX_QDEC_DEFAULT_CONFIG_IRQ_PRIORITY \
91 }
92
93 /** @brief QDEC sample event data. */
94 typedef struct
95 {
96 int8_t value; /**< Sample value. */
97 } nrfx_qdec_sample_data_evt_t;
98
99 /** @brief QDEC report event data. */
100 typedef struct
101 {
102 int16_t acc; /**< Accumulated transitions. */
103 uint16_t accdbl; /**< Accumulated double transitions. */
104 } nrfx_qdec_report_data_evt_t;
105
106 /** @brief QDEC event handler structure. */
107 typedef struct
108 {
109 nrf_qdec_event_t type; /**< Event type. */
110 union
111 {
112 nrfx_qdec_sample_data_evt_t sample; /**< Sample event data. */
113 nrfx_qdec_report_data_evt_t report; /**< Report event data. */
114 } data; /**< Union to store event data. */
115 } nrfx_qdec_event_t;
116
117 /**
118 * @brief QDEC event handler.
119 *
120 * @param[in] event QDEC event structure.
121 */
122 typedef void (*nrfx_qdec_event_handler_t)(nrfx_qdec_event_t event);
123
124 /**
125 * @brief Function for initializing QDEC.
126 *
127 * @param[in] p_config Pointer to the structure with the initial configuration.
128 * @param[in] event_handler Event handler provided by the user.
129 * Must not be NULL.
130 *
131 * @retval NRFX_SUCCESS Initialization was successful.
132 * @retval NRFX_ERROR_INVALID_STATE The QDEC was already initialized.
133 */
134 nrfx_err_t nrfx_qdec_init(nrfx_qdec_config_t const * p_config,
135 nrfx_qdec_event_handler_t event_handler);
136
137 /**
138 * @brief Function for uninitializing QDEC.
139 *
140 * @note Function asserts if module is uninitialized.
141 */
142 void nrfx_qdec_uninit(void);
143
144 /**
145 * @brief Function for enabling QDEC.
146 *
147 * @note Function asserts if module is uninitialized or enabled.
148 */
149 void nrfx_qdec_enable(void);
150
151 /**
152 * @brief Function for disabling QDEC.
153 *
154 * @note Function asserts if module is uninitialized or disabled.
155 */
156 void nrfx_qdec_disable(void);
157
158 /**
159 * @brief Function for reading accumulated transitions from the QDEC peripheral.
160 *
161 * @note Function asserts if module is not enabled.
162 * @note Accumulators are cleared after reading.
163 *
164 * @param[out] p_acc Pointer to store the accumulated transitions.
165 * @param[out] p_accdbl Pointer to store the accumulated double transitions.
166 */
167 void nrfx_qdec_accumulators_read(int16_t * p_acc, int16_t * p_accdbl);
168
169 /**
170 * @brief Function for returning the address of the specified QDEC task.
171 *
172 * @param task QDEC task.
173 *
174 * @return Task address.
175 */
176 NRFX_STATIC_INLINE uint32_t nrfx_qdec_task_address_get(nrf_qdec_task_t task);
177
178 /**
179 * @brief Function for returning the address of the specified QDEC event.
180 *
181 * @param event QDEC event.
182 *
183 * @return Event address.
184 */
185 NRFX_STATIC_INLINE uint32_t nrfx_qdec_event_address_get(nrf_qdec_event_t event);
186
187 #ifndef NRFX_DECLARE_ONLY
nrfx_qdec_task_address_get(nrf_qdec_task_t task)188 NRFX_STATIC_INLINE uint32_t nrfx_qdec_task_address_get(nrf_qdec_task_t task)
189 {
190 return nrf_qdec_task_address_get(NRF_QDEC, task);
191 }
192
nrfx_qdec_event_address_get(nrf_qdec_event_t event)193 NRFX_STATIC_INLINE uint32_t nrfx_qdec_event_address_get(nrf_qdec_event_t event)
194 {
195 return nrf_qdec_event_address_get(NRF_QDEC, event);
196 }
197 #endif // NRFX_DECLARE_ONLY
198
199 /** @} */
200
201
202 void nrfx_qdec_irq_handler(void);
203
204
205 #ifdef __cplusplus
206 }
207 #endif
208
209 #endif // NRFX_QDEC_H__
210