/** * Copyright (c) 2014 - 2020, 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, except as embedded into a Nordic * Semiconductor ASA integrated circuit in a product or a software update for * such product, 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 Nordic Semiconductor ASA nor the names of its * contributors may be used to endorse or promote products derived from this * software without specific prior written permission. * * 4. This software, with or without modification, must only be used with a * Nordic Semiconductor ASA integrated circuit. * * 5. Any software provided in binary form under this license must not be reverse * engineered, decompiled, modified and/or disassembled. * * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA 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 #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. */ /** * @brief This value can be provided as a parameter for the @ref nrf_qdec_pio_assign * function call to specify that a LED signal shall not be use by the QDEC and * connected to a physical pin. */ #define NRF_QDEC_LED_NOT_CONNECTED 0xFFFFFFFF /** @brief QDEC tasks. */ typedef enum { 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; /** @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; /** @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; /** @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; /** @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; /** @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; /** @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; /** @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; /** @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); /** @brief Function for disabling QDEC. */ __STATIC_INLINE void nrf_qdec_disable(void); /** * @brief Function for returning the enable state of QDEC. * * @return State of the register. */ __STATIC_INLINE uint32_t nrf_qdec_enable_get(void); /** * @brief Function for enabling QDEC interrupts by mask. * * @param[in] mask Mask of interrupts to be enabled. */ __STATIC_INLINE void nrf_qdec_int_enable(uint32_t mask); /** * @brief Function for disabling QDEC interrupts by mask. * * @param[in] mask Mask of interrupts to be disabled. */ __STATIC_INLINE void nrf_qdec_int_disable(uint32_t mask); /** * @brief Function for getting the enabled interrupts of the QDEC. * * @param[in] mask Mask of interrupts to be checked. * * @return Bitfield with enabled interrupts. */ __STATIC_INLINE uint32_t nrf_qdec_int_enable_check(nrf_qdec_int_mask_t mask); /** @brief Function for enabling the QDEC debouncing filter. */ __STATIC_INLINE void nrf_qdec_dbfen_enable(void); /** @brief Function for disabling the QDEC debouncing filter. */ __STATIC_INLINE void nrf_qdec_dbfen_disable(void); /** * @brief Function for getting the state of the QDEC debouncing filter. * * @retval NRF_QDEC_DBFEN_DISABLE The debouncing filter is disabled. * @retval NRF_QDEC_DBFEN_ENABLE The debouncing filter is enabled. */ __STATIC_INLINE uint32_t nrf_qdec_dbfen_get(void); /** * @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); /** * @brief Function for setting the specified QDEC task. * * @param[in] task QDEC task to be triggered. */ __STATIC_INLINE void nrf_qdec_task_trigger(nrf_qdec_task_t task); /** * @brief Function for retrieving the address of a QDEC task register. * * @param[in] task QDEC task to get its address. * * @return Address of the specified QDEC task. */ __STATIC_INLINE uint32_t * nrf_qdec_task_address_get(nrf_qdec_task_t task); /** * @brief Function for clearing the specified QDEC event. * * @param[in] event QDEC event to be cleared. */ __STATIC_INLINE void nrf_qdec_event_clear(nrf_qdec_event_t event); /** * @brief Function for getting the state of the specified QDEC event. * * @param[in] event QDEC event to be checked. * * @return State of the specified QDEC event. */ __STATIC_INLINE uint32_t nrf_qdec_event_check(nrf_qdec_event_t event); /** * @brief Function for retrieving the address of the specified QDEC event register. * * @param[in] event QDEC event to get its address. * * @return Address of the specified QDEC event. */ __STATIC_INLINE uint32_t * nrf_qdec_event_address_get(nrf_qdec_event_t event); /** * @brief Function for setting QDEC shortcuts. * * @param[in] mask Mask of QDEC shortcuts to be set. */ __STATIC_INLINE void nrf_qdec_shorts_enable(uint32_t mask); /** * @brief Function for clearing shortcuts of the QDEC by mask. * * @param[in] mask Mask of QDEC shortcuts to be cleared. */ __STATIC_INLINE void nrf_qdec_shorts_disable(uint32_t mask); /** * @brief Function for retrieving value of the sampling period. * * @return Sample period @ref nrf_qdec_sampleper_t. */ __STATIC_INLINE int32_t nrf_qdec_sampleper_reg_get(void); /** * @brief Function for converting return value of the @p nrf_qdec_sampleper_reg_get() function * to microseconds. * * @param[in] sampleper The sampling period. * * @return Period in microseconds. */ __STATIC_INLINE uint32_t nrf_qdec_sampleper_to_value(uint32_t sampleper); /** * @brief Function for setting value of the QDEC sampling period. * * @param[in] sample_per The sampling period. */ __STATIC_INLINE void nrf_qdec_sampleper_set(nrf_qdec_sampleper_t sample_per); /** * @brief Function for retrieving value of the QDEC SAMPLE register. * * @return Value of the SAMPLE register. */ __STATIC_INLINE int32_t nrf_qdec_sample_get(void); /** * @brief Function for retrieving value of the QDEC ACC register. * * @return Value of the ACC register. */ __STATIC_INLINE int32_t nrf_qdec_acc_get(void); /** * @brief Function for retrieving value of the QDEC ACCREAD register. * * @return Value of the ACCREAD register. */ __STATIC_INLINE int32_t nrf_qdec_accread_get(void); /** * @brief Function for retrieving value of the QDEC ACCDBL register. * * @return Value of the ACCDBL register. */ __STATIC_INLINE uint32_t nrf_qdec_accdbl_get(void); /** * @brief Function for retrieving value of the QDEC ACCDBLREAD register. * * @return Value of the ACCDBLREAD register. */ __STATIC_INLINE uint32_t nrf_qdec_accdblread_get(void); /** * @brief Function for setting delay time between setting LED active state and start sampling. * * @param[in] time_us Delay time (in microseconds) between setting LED active state * and start sampling. */ __STATIC_INLINE void nrf_qdec_ledpre_set(uint32_t time_us); /** * @brief Function for retrieving how long the LED is switched on before sampling. * * @return The gap in time in microseconds between switched LED to active state and start sampling. */ __STATIC_INLINE uint32_t nrf_qdec_ledpre_get(void); /** * @brief Function for setting the report period (in samples). * * @param[in] reportper The number of samples. */ __STATIC_INLINE void nrf_qdec_reportper_set(nrf_qdec_reportper_t reportper); /** * @brief Function for retrieving the report period. * * @return The report period. */ __STATIC_INLINE uint32_t nrf_qdec_reportper_reg_get(void); /** * @brief Function for retrieving the value of QDEC SAMPLEPER register. * * @param [in] reportper Reportper to be converted to amount of samples per report. * * @return Number of samples per report. */ __STATIC_INLINE uint32_t nrf_qdec_reportper_to_value(uint32_t reportper); /** * @brief Function for setting the active level for the LED. * * @param[in] pol Level of the active signal of the LED. */ __STATIC_INLINE void nrf_qdec_ledpol_set(nrf_qdec_ledpol_t pol); /** * @brief Function for retrieving the active level for the LED. * * @return Level of the active signal of the LED. */ __STATIC_INLINE uint32_t nrf_qdec_ledpol_get(void); #ifndef SUPPRESS_INLINE_IMPLEMENTATION __STATIC_INLINE void nrf_qdec_enable(void) { NRF_QDEC->ENABLE = NRF_QDEC_ENABLE; } __STATIC_INLINE void nrf_qdec_disable(void) { NRF_QDEC->ENABLE = NRF_QDEC_DISABLE; } __STATIC_INLINE uint32_t nrf_qdec_enable_get(void) { return NRF_QDEC->ENABLE; } __STATIC_INLINE void nrf_qdec_int_enable(uint32_t mask) { NRF_QDEC->INTENSET = mask; // writing 0 has no effect } __STATIC_INLINE void nrf_qdec_int_disable(uint32_t mask) { NRF_QDEC->INTENCLR = mask; // writing 0 has no effect } __STATIC_INLINE uint32_t nrf_qdec_int_enable_check(nrf_qdec_int_mask_t mask) { return NRF_QDEC->INTENSET & mask; // when read this register will return the value of INTEN. } __STATIC_INLINE void nrf_qdec_dbfen_enable(void) { NRF_QDEC->DBFEN = NRF_QDEC_DBFEN_ENABLE; } __STATIC_INLINE void nrf_qdec_dbfen_disable(void) { NRF_QDEC->DBFEN = NRF_QDEC_DBFEN_DISABLE; } __STATIC_INLINE uint32_t nrf_qdec_dbfen_get(void) { return NRF_QDEC->DBFEN; } __STATIC_INLINE void nrf_qdec_pio_assign( uint32_t psela, uint32_t pselb, uint32_t pselled) { #if defined(QDEC_PSEL_A_CONNECT_Pos) NRF_QDEC->PSEL.A = psela; #else NRF_QDEC->PSELA = psela; #endif #if defined(QDEC_PSEL_B_CONNECT_Pos) NRF_QDEC->PSEL.B = pselb; #else NRF_QDEC->PSELB = pselb; #endif #if defined(QDEC_PSEL_LED_CONNECT_Pos) NRF_QDEC->PSEL.LED = pselled; #else NRF_QDEC->PSELLED = pselled; #endif } __STATIC_INLINE void nrf_qdec_task_trigger(nrf_qdec_task_t task) { *( (volatile uint32_t *)( (uint8_t *)NRF_QDEC + (uint32_t)task) ) = 1; } __STATIC_INLINE uint32_t * nrf_qdec_task_address_get(nrf_qdec_task_t task) { return (uint32_t *)( (uint8_t *)NRF_QDEC + (uint32_t)task); } __STATIC_INLINE void nrf_qdec_event_clear(nrf_qdec_event_t event) { *( (volatile uint32_t *)( (uint8_t *)NRF_QDEC + (uint32_t)event) ) = 0; #if __CORTEX_M == 0x04 volatile uint32_t dummy = *((volatile uint32_t *)((uint8_t *)NRF_QDEC + event)); (void)dummy; #endif } __STATIC_INLINE uint32_t nrf_qdec_event_check(nrf_qdec_event_t event) { return *(volatile uint32_t *)( (uint8_t *)NRF_QDEC + (uint32_t)event); } __STATIC_INLINE uint32_t * nrf_qdec_event_address_get(nrf_qdec_event_t event) { return (uint32_t *)( (uint8_t *)NRF_QDEC + (uint32_t)event); } __STATIC_INLINE void nrf_qdec_shorts_enable(uint32_t mask) { NRF_QDEC->SHORTS |= mask; } __STATIC_INLINE void nrf_qdec_shorts_disable(uint32_t mask) { NRF_QDEC->SHORTS &= ~mask; } __STATIC_INLINE int32_t nrf_qdec_sampleper_reg_get(void) { return NRF_QDEC->SAMPLEPER; } __STATIC_INLINE uint32_t nrf_qdec_sampleper_to_value(uint32_t sampleper) { return (1 << (7 + sampleper)); } __STATIC_INLINE void nrf_qdec_sampleper_set(nrf_qdec_sampleper_t sample_per) { NRF_QDEC->SAMPLEPER = sample_per; } __STATIC_INLINE int32_t nrf_qdec_sample_get(void) { return NRF_QDEC->SAMPLE; } __STATIC_INLINE int32_t nrf_qdec_acc_get(void) { return NRF_QDEC->ACC; } __STATIC_INLINE int32_t nrf_qdec_accread_get(void) { return NRF_QDEC->ACCREAD; } __STATIC_INLINE uint32_t nrf_qdec_accdbl_get(void) { return NRF_QDEC->ACCDBL; } __STATIC_INLINE uint32_t nrf_qdec_accdblread_get(void) { return NRF_QDEC->ACCDBLREAD; } __STATIC_INLINE void nrf_qdec_ledpre_set(uint32_t time_us) { NRF_QDEC->LEDPRE = time_us; } __STATIC_INLINE uint32_t nrf_qdec_ledpre_get(void) { return NRF_QDEC->LEDPRE; } __STATIC_INLINE void nrf_qdec_reportper_set(nrf_qdec_reportper_t reportper) { NRF_QDEC->REPORTPER = reportper; } __STATIC_INLINE uint32_t nrf_qdec_reportper_reg_get(void) { return NRF_QDEC->REPORTPER; } __STATIC_INLINE uint32_t nrf_qdec_reportper_to_value(uint32_t reportper) { return (reportper == NRF_QDEC_REPORTPER_10) ? 10 : reportper * 40; } __STATIC_INLINE void nrf_qdec_ledpol_set(nrf_qdec_ledpol_t pol) { NRF_QDEC->LEDPOL = pol; } __STATIC_INLINE uint32_t nrf_qdec_ledpol_get(void) { return NRF_QDEC->LEDPOL; } #endif // SUPPRESS_INLINE_IMPLEMENTATION /** @} */ #ifdef __cplusplus } #endif #endif // NRF_QDEC_H__