amiro-os / hal / platforms / STM32 / qei_lld.c @ 81b48c66
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/**
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* @file STM32/qei_lld.c
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* @brief STM32 QEI subsystem low level driver.
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*
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* @addtogroup QEI
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* @{
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*/
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#include "ch.h" |
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#include "hal.h" |
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#include "qei.h" |
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#if HAL_USE_QEI || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/**
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* @brief QEID1 driver identifier.
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* @note The driver QEID1 allocates the complex timer TIM1 when enabled.
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*/
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#if STM32_QEI_USE_TIM1 || defined(__DOXYGEN__)
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QEIDriver QEID1; |
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#endif
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/**
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* @brief QEID2 driver identifier.
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* @note The driver QEID1 allocates the timer TIM2 when enabled.
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*/
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#if STM32_QEI_USE_TIM2 || defined(__DOXYGEN__)
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QEIDriver QEID2; |
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#endif
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/**
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* @brief QEID3 driver identifier.
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* @note The driver QEID1 allocates the timer TIM3 when enabled.
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*/
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#if STM32_QEI_USE_TIM3 || defined(__DOXYGEN__)
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QEIDriver QEID3; |
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#endif
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/**
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* @brief QEID4 driver identifier.
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* @note The driver QEID4 allocates the timer TIM4 when enabled.
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*/
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#if STM32_QEI_USE_TIM4 || defined(__DOXYGEN__)
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QEIDriver QEID4; |
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#endif
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/**
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* @brief QEID5 driver identifier.
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* @note The driver QEID5 allocates the timer TIM5 when enabled.
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*/
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#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)
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QEIDriver QEID5; |
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#endif
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/**
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* @brief QEID8 driver identifier.
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* @note The driver QEID8 allocates the timer TIM8 when enabled.
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*/
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#if STM32_QEI_USE_TIM8 || defined(__DOXYGEN__)
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QEIDriver QEID8; |
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#endif
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/*===========================================================================*/
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/* Driver local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Low level QEI driver initialization.
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*
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* @notapi
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*/
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void qei_lld_init(void) { |
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#if STM32_QEI_USE_TIM1
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/* Driver initialization.*/
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qeiObjectInit(&QEID1); |
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QEID1.tim = STM32_TIM1; |
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#endif
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#if STM32_QEI_USE_TIM2
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/* Driver initialization.*/
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qeiObjectInit(&QEID2); |
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QEID2.tim = STM32_TIM2; |
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#endif
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#if STM32_QEI_USE_TIM3
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/* Driver initialization.*/
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qeiObjectInit(&QEID3); |
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QEID3.tim = STM32_TIM3; |
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#endif
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#if STM32_QEI_USE_TIM4
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/* Driver initialization.*/
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qeiObjectInit(&QEID4); |
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QEID4.tim = STM32_TIM4; |
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#endif
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#if STM32_QEI_USE_TIM5
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/* Driver initialization.*/
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qeiObjectInit(&QEID5); |
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QEID5.tim = STM32_TIM5; |
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#endif
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#if STM32_QEI_USE_TIM8
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/* Driver initialization.*/
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qeiObjectInit(&QEID8); |
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QEID8.tim = STM32_TIM8; |
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#endif
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} |
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/**
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* @brief Configures and activates the QEI peripheral.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @notapi
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*/
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void qei_lld_start(QEIDriver *qeip) {
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uint32_t arr, ccer; |
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if (qeip->state == QEI_STOP) {
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/* Clock activation and timer reset.*/
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#if STM32_QEI_USE_TIM1
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if (&QEID1 == qeip) {
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rccEnableTIM1(FALSE); |
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rccResetTIM1(); |
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} |
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#endif
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#if STM32_QEI_USE_TIM2
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if (&QEID2 == qeip) {
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rccEnableTIM2(FALSE); |
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rccResetTIM2(); |
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} |
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#endif
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#if STM32_QEI_USE_TIM3
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if (&QEID3 == qeip) {
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rccEnableTIM3(FALSE); |
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rccResetTIM3(); |
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} |
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#endif
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#if STM32_QEI_USE_TIM4
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if (&QEID4 == qeip) {
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rccEnableTIM4(FALSE); |
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rccResetTIM4(); |
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} |
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#endif
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#if STM32_QEI_USE_TIM5
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if (&QEID5 == qeip) {
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rccEnableTIM5(FALSE); |
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rccResetTIM5(); |
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} |
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#endif
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#if STM32_QEI_USE_TIM8
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if (&QEID8 == qeip) {
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rccEnableTIM8(FALSE); |
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rccResetTIM8(); |
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} |
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#endif
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} |
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else {
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/* Driver re-configuration scenario, it must be stopped first.*/
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qeip->tim->CR1 = 0; /* Timer disabled. */ |
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qeip->tim->DIER = 0; /* All IRQs disabled. */ |
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qeip->tim->SR = 0; /* Clear eventual pending IRQs. */ |
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qeip->tim->CCR[0] = 0; /* Comparator 1 disabled. */ |
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qeip->tim->CCR[1] = 0; /* Comparator 2 disabled. */ |
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qeip->tim->CNT = 0; /* Counter reset to zero. */ |
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} |
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/* Timer configuration.*/
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qeip->tim->PSC = 0;
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arr = qeip->config->range - 1;
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chDbgAssert((arr <= 0xFFFF), "qei_lld_start(), #1", "invalid range"); |
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qeip->tim->ARR = arr & 0xFFFF;
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/* CCMR1_CC1S = 01 - CH1 Input on TI1.
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CCMR1_CC2S = 01 - CH2 Input on TI2.*/
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qeip->tim->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0; |
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ccer = 0;
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if (qeip->config->channels[0].mode == QEI_INPUT_INVERTED) |
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ccer |= TIM_CCER_CC1P; |
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if (qeip->config->channels[1].mode == QEI_INPUT_INVERTED) |
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ccer |= TIM_CCER_CC2P; |
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qeip->tim->CCER = ccer; |
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if (qeip->config->mode == QEI_COUNT_CH1)
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qeip->tim->SMCR = TIM_SMCR_SMS_1; |
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else if (qeip->config->mode == QEI_COUNT_CH2) |
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qeip->tim->SMCR = TIM_SMCR_SMS_0; |
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else
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qeip->tim->SMCR = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1; |
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} |
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/**
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* @brief Deactivates the QEI peripheral.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @notapi
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*/
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void qei_lld_stop(QEIDriver *qeip) {
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if (qeip->state == QEI_READY) {
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/* Clock deactivation.*/
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qeip->tim->CR1 = 0; /* Timer disabled. */ |
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#if STM32_QEI_USE_TIM1
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if (&QEID1 == qeip) {
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rccDisableTIM1(FALSE); |
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} |
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#endif
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#if STM32_QEI_USE_TIM2
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if (&QEID2 == qeip) {
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rccDisableTIM2(FALSE); |
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} |
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#endif
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#if STM32_QEI_USE_TIM3
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if (&QEID3 == qeip) {
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rccDisableTIM3(FALSE); |
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} |
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#endif
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#if STM32_QEI_USE_TIM4
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if (&QEID4 == qeip) {
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rccDisableTIM4(FALSE); |
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} |
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#endif
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#if STM32_QEI_USE_TIM5
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if (&QEID5 == qeip) {
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rccDisableTIM5(FALSE); |
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} |
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#endif
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} |
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#if STM32_QEI_USE_TIM8
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if (&QEID8 == qeip) {
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rccDisableTIM8(FALSE); |
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} |
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#endif
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} |
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/**
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* @brief Enables the quadrature encoder.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @notapi
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*/
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void qei_lld_enable(QEIDriver *qeip) {
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qeip->tim->CR1 = TIM_CR1_CEN; |
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} |
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/**
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* @brief Disables the quadrature encoder.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @notapi
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*/
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void qei_lld_disable(QEIDriver *qeip) {
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qeip->tim->CR1 = 0;
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} |
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#endif /* HAL_USE_QEI */ |
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/** @} */
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