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Diffstat (limited to 'thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/qenc_sim.c')
| -rw-r--r-- | thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/qenc_sim.c | 157 |
1 files changed, 157 insertions, 0 deletions
diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/qenc_sim.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/qenc_sim.c new file mode 100644 index 0000000..4f323b3 --- /dev/null +++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/examples/peripheral/qdec/qenc_sim.c @@ -0,0 +1,157 @@ +/** + * 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, 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. + * + */ +#include "nrf_gpio.h" +#include "nrf_drv_gpiote.h" +#include "nrf_error.h" +#include "nrf_qdec.h" +#include "qenc_sim.h" + + +/** + * @enum nrf_qdec_task_t + * @brief enumeration of QDEC tasks. + * coding is [A|B] i.e. B is LSB + */ + +#define _static + +typedef enum { + state_0 = 0, /**< AB=00 */ + state_1 = 1, /**< AB=01 */ + state_2 = 2, /**< AB=10 */ + state_3 = 3 /**< AB=11 */ +} qenc_state_t; + +const qenc_state_t next_pos[4] = { state_1, state_3, state_0, state_2 }; // change of state to get phase increment +const qenc_state_t next_neg[4] = { state_2, state_0, state_3, state_1 }; // change of state to get phase decrement +const qenc_state_t next_dbl[4] = { state_3, state_2, state_1, state_0 }; // change of state to get double transition + +_static volatile qenc_state_t qenc_state = state_0; +_static volatile int32_t qenc_count = 0; +_static volatile uint32_t qenc_dbl_count = 0; +_static volatile bool qenc_enable_flag = false; + +static void gpiote_event_handler(nrf_drv_gpiote_pin_t pin, nrf_gpiote_polarity_t action) +{ + if ((qenc_count > 0) && qenc_enable_flag) + { + qenc_count--; + qenc_state = next_pos[qenc_state]; + + } + else if ((qenc_count < 0 ) && qenc_enable_flag ) + { + qenc_count++; + qenc_state = next_neg[qenc_state]; + } + else if ((qenc_dbl_count > 0 ) && qenc_enable_flag) + { + qenc_dbl_count--; + qenc_state = next_dbl[qenc_state]; + } + else + { + qenc_enable_flag = false; + } + + if (qenc_state & 0x01) + { + nrf_drv_gpiote_out_set(QENC_CONFIG_PIO_B); + } + else + { + nrf_drv_gpiote_out_clear(QENC_CONFIG_PIO_B); + } + + if (qenc_state & 0x02) + { + nrf_drv_gpiote_out_set(QENC_CONFIG_PIO_A); + } + else + { + nrf_drv_gpiote_out_clear(QENC_CONFIG_PIO_A); + } +} + +static void qenc_init_gpiote(nrf_qdec_ledpol_t led_pol) +{ + nrf_drv_gpiote_in_config_t config = GPIOTE_CONFIG_IN_SENSE_HITOLO(true); + nrf_drv_gpiote_out_config_t out_config = GPIOTE_CONFIG_OUT_SIMPLE(false); + + config.pull = NRF_GPIO_PIN_PULLUP; + + if (!nrf_drv_gpiote_is_init()) + { + (void)nrf_drv_gpiote_init(); + } + + // change state on inactive edge of led pulse + if (led_pol == NRF_QDEC_LEPOL_ACTIVE_LOW) + { + config.sense = NRF_GPIOTE_POLARITY_HITOLO; + } + + (void)nrf_drv_gpiote_in_init(QENC_CONFIG_PIO_LED,&config,gpiote_event_handler); + nrf_drv_gpiote_in_event_enable(QENC_CONFIG_PIO_LED, true); + + //Configure output pins. + (void)nrf_drv_gpiote_out_init(QENC_CONFIG_PIO_A, &out_config); + (void)nrf_drv_gpiote_out_init(QENC_CONFIG_PIO_B, &out_config); +} + +void qenc_init(nrf_qdec_ledpol_t led_pol) +{ + qenc_init_gpiote(led_pol); +} + +// this function is used mainly in tests +void qenc_pulse_dblpulse_count_set(int32_t pulse_count, uint32_t dble_pulse_count) +{ + qenc_count = pulse_count; + qenc_dbl_count = dble_pulse_count; + qenc_enable_flag = true; +} + +// this function is used mainly in a example +void qenc_pulse_count_set(int32_t pulse_count) +{ + qenc_pulse_dblpulse_count_set(pulse_count, 0); +} + |