AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    STM32/hal_qei_lld.c

 * @brief   STM32 QEI subsystem low level driver.

 *

 * @addtogroup QEI

 * @{

 */

#include "hal.h"

#include "hal_qei.h"

#if HAL_USE_QEI || defined(__DOXYGEN__)

/*===========================================================================*/

/* Driver exported variables.                                                */

/*===========================================================================*/

/**

 * @brief   QEID1 driver identifier.

 * @note    The driver QEID1 allocates the complex timer TIM1 when enabled.

 */

#if STM32_QEI_USE_TIM1 || defined(__DOXYGEN__)

QEIDriver QEID1;

#endif

/**

 * @brief   QEID2 driver identifier.

 * @note    The driver QEID1 allocates the timer TIM2 when enabled.

 */

#if STM32_QEI_USE_TIM2 || defined(__DOXYGEN__)

QEIDriver QEID2;

#endif

/**

 * @brief   QEID3 driver identifier.

 * @note    The driver QEID1 allocates the timer TIM3 when enabled.

 */

#if STM32_QEI_USE_TIM3 || defined(__DOXYGEN__)

QEIDriver QEID3;

#endif

/**

 * @brief   QEID4 driver identifier.

 * @note    The driver QEID4 allocates the timer TIM4 when enabled.

 */

#if STM32_QEI_USE_TIM4 || defined(__DOXYGEN__)

QEIDriver QEID4;

#endif

/**

 * @brief   QEID5 driver identifier.

 * @note    The driver QEID5 allocates the timer TIM5 when enabled.

 */

#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)

QEIDriver QEID5;

#endif

/**

 * @brief   QEID8 driver identifier.

 * @note    The driver QEID8 allocates the timer TIM8 when enabled.

 */

#if STM32_QEI_USE_TIM8 || defined(__DOXYGEN__)

QEIDriver QEID8;

#endif

/*===========================================================================*/

/* Driver local variables.                                                   */

/*===========================================================================*/

/*===========================================================================*/

/* Driver local functions.                                                   */

/*===========================================================================*/

/*===========================================================================*/

/* Driver interrupt handlers.                                                */

/*===========================================================================*/

/*===========================================================================*/

/* Driver exported functions.                                                */

/*===========================================================================*/

/**

 * @brief   Low level QEI driver initialization.

 *

 * @notapi

 */

void qei_lld_init(void) {

#if STM32_QEI_USE_TIM1

  /* Driver initialization.*/

  qeiObjectInit(&QEID1);

  QEID1.tim = STM32_TIM1;

#endif

#if STM32_QEI_USE_TIM2

  /* Driver initialization.*/

  qeiObjectInit(&QEID2);

  QEID2.tim = STM32_TIM2;

#endif

#if STM32_QEI_USE_TIM3

  /* Driver initialization.*/

  qeiObjectInit(&QEID3);

  QEID3.tim = STM32_TIM3;

#endif

#if STM32_QEI_USE_TIM4

  /* Driver initialization.*/

  qeiObjectInit(&QEID4);

  QEID4.tim = STM32_TIM4;

#endif

#if STM32_QEI_USE_TIM5

  /* Driver initialization.*/

  qeiObjectInit(&QEID5);

  QEID5.tim = STM32_TIM5;

#endif

#if STM32_QEI_USE_TIM8

  /* Driver initialization.*/

  qeiObjectInit(&QEID8);

  QEID8.tim = STM32_TIM8;

#endif

}

/**

 * @brief   Configures and activates the QEI peripheral.

 *

 * @param[in] qeip      pointer to the @p QEIDriver object

 *

 * @notapi

 */

void qei_lld_start(QEIDriver *qeip) {

  uint32_t arr, ccer;

  if (qeip->state == QEI_STOP) {

    /* Clock activation and timer reset.*/

#if STM32_QEI_USE_TIM1

    if (&QEID1 == qeip) {

      rccEnableTIM1();

      rccResetTIM1();

    }

#endif

#if STM32_QEI_USE_TIM2

    if (&QEID2 == qeip) {

      rccEnableTIM2();

      rccResetTIM2();

    }

#endif

#if STM32_QEI_USE_TIM3

    if (&QEID3 == qeip) {

      rccEnableTIM3();

      rccResetTIM3();

    }

#endif

#if STM32_QEI_USE_TIM4

    if (&QEID4 == qeip) {

      rccEnableTIM4();

      rccResetTIM4();

    }

#endif

#if STM32_QEI_USE_TIM5

    if (&QEID5 == qeip) {

      rccEnableTIM5();

      rccResetTIM5();

    }

#endif

#if STM32_QEI_USE_TIM8

    if (&QEID8 == qeip) {

      rccEnableTIM8();

      rccResetTIM8();

    }

#endif

  }

  else {

    /* Driver re-configuration scenario, it must be stopped first.*/

    qeip->tim->CR1    = 0;                  /* Timer disabled.              */

    qeip->tim->DIER   = 0;                  /* All IRQs disabled.           */

    qeip->tim->SR     = 0;                  /* Clear eventual pending IRQs. */

    qeip->tim->CCR[0] = 0;                  /* Comparator 1 disabled.       */

    qeip->tim->CCR[1] = 0;                  /* Comparator 2 disabled.       */

    qeip->tim->CNT    = 0;                  /* Counter reset to zero.       */

  }

  /* Timer configuration.*/

  qeip->tim->PSC  = 0;

  arr = qeip->config->range - 1;

  osalDbgAssert((arr <= 0xFFFF), "qei_lld_start(), #1" /*, "invalid range"*/);

  qeip->tim->ARR  = arr & 0xFFFF;

  /* CCMR1_CC1S = 01 - CH1 Input on TI1.

     CCMR1_CC2S = 01 - CH2 Input on TI2.*/

  qeip->tim->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;

  ccer = 0;

  if (qeip->config->channels[0].mode == QEI_INPUT_INVERTED)

    ccer |= TIM_CCER_CC1P;

  if (qeip->config->channels[1].mode == QEI_INPUT_INVERTED)

    ccer |= TIM_CCER_CC2P;

  qeip->tim->CCER = ccer;

  if (qeip->config->mode == QEI_COUNT_CH1)

    qeip->tim->SMCR  = TIM_SMCR_SMS_1;

  else if (qeip->config->mode == QEI_COUNT_CH2)

    qeip->tim->SMCR  = TIM_SMCR_SMS_0;

  else

    qeip->tim->SMCR  = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1;

}

/**

 * @brief   Deactivates the QEI peripheral.

 *

 * @param[in] qeip      pointer to the @p QEIDriver object

 *

 * @notapi

 */

void qei_lld_stop(QEIDriver *qeip) {

  if (qeip->state == QEI_READY) {

    /* Clock deactivation.*/

    qeip->tim->CR1  = 0;                    /* Timer disabled.              */

#if STM32_QEI_USE_TIM1

    if (&QEID1 == qeip) {

      rccDisableTIM1();

    }

#endif

#if STM32_QEI_USE_TIM2

    if (&QEID2 == qeip) {

      rccDisableTIM2();

    }

#endif

#if STM32_QEI_USE_TIM3

    if (&QEID3 == qeip) {

      rccDisableTIM3();

    }

#endif

#if STM32_QEI_USE_TIM4

    if (&QEID4 == qeip) {

      rccDisableTIM4();

    }

#endif

#if STM32_QEI_USE_TIM5

    if (&QEID5 == qeip) {

      rccDisableTIM5();

    }

#endif

  }

#if STM32_QEI_USE_TIM8

    if (&QEID8 == qeip) {

      rccDisableTIM8();

    }

#endif

}

/**

 * @brief   Enables the quadrature encoder.

 *

 * @param[in] qeip      pointer to the @p QEIDriver object

 *

 * @notapi

 */

void qei_lld_enable(QEIDriver *qeip) {

  qeip->tim->CR1  = TIM_CR1_CEN;

}

/**

 * @brief   Disables the quadrature encoder.

 *

 * @param[in] qeip      pointer to the @p QEIDriver object

 *

 * @notapi

 */

void qei_lld_disable(QEIDriver *qeip) {

  qeip->tim->CR1  = 0;

}

#endif /* HAL_USE_QEI */

/** @} */