4  * SPDX-License-Identifier: Apache-2.0
13 #include <zephyr/drivers/gpio.h>
66 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_irq_setup()
71 		const struct gpio_dt_spec *gpio = &cfg->ab_gpio[i];  in gpio_qdec_irq_setup()  local
73 		ret = gpio_pin_interrupt_configure_dt(gpio, flags);  in gpio_qdec_irq_setup()
83 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_idle_polling_mode()
85 	if (cfg->idle_poll_time_us > 0) {  in gpio_qdec_idle_polling_mode()
94 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_poll_mode()
95 	struct gpio_qdec_data *data = dev->data;  in gpio_qdec_poll_mode()
101 	k_timer_start(&data->sample_timer, K_NO_WAIT,  in gpio_qdec_poll_mode()
102 		      K_USEC(cfg->sample_time_us));  in gpio_qdec_poll_mode()
104 	atomic_set(&data->polling, 1);  in gpio_qdec_poll_mode()
111 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_idle_mode()
112 	struct gpio_qdec_data *data = dev->data;  in gpio_qdec_idle_mode()
115 		k_timer_start(&data->sample_timer, K_NO_WAIT,  in gpio_qdec_idle_mode()
116 			      K_USEC(cfg->idle_poll_time_us));  in gpio_qdec_idle_mode()
118 		k_timer_stop(&data->sample_timer);  in gpio_qdec_idle_mode()
122 	atomic_set(&data->polling, 0);  in gpio_qdec_idle_mode()
129 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_get_step()
133 		for (int i = 0; i < cfg->led_gpio_count; i++) {  in gpio_qdec_get_step()
134 			gpio_pin_set_dt(&cfg->led_gpio[i], 1);  in gpio_qdec_get_step()
137 		k_busy_wait(cfg->led_pre_us);  in gpio_qdec_get_step()
140 	if (gpio_pin_get_dt(&cfg->ab_gpio[0])) {  in gpio_qdec_get_step()
143 	if (gpio_pin_get_dt(&cfg->ab_gpio[1])) {  in gpio_qdec_get_step()
148 		for (int i = 0; i < cfg->led_gpio_count; i++) {  in gpio_qdec_get_step()
149 			gpio_pin_set_dt(&cfg->led_gpio[i], 0);  in gpio_qdec_get_step()
159 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_sample_timer_timeout()
160 	struct gpio_qdec_data *data = dev->data;  in gpio_qdec_sample_timer_timeout()
166 	if (atomic_get(&data->suspended) == 1) {  in gpio_qdec_sample_timer_timeout()
173 	if (data->prev_step == step) {  in gpio_qdec_sample_timer_timeout()
178 	    atomic_get(&data->polling) == 0) {  in gpio_qdec_sample_timer_timeout()
182 	switch ((data->prev_step << 4U) | step) {  in gpio_qdec_sample_timer_timeout()
193 		delta = -1;  in gpio_qdec_sample_timer_timeout()
196 		LOG_WRN("%s: lost steps", dev->name);  in gpio_qdec_sample_timer_timeout()
199 	data->prev_step = step;  in gpio_qdec_sample_timer_timeout()
202 	data->acc += delta;  in gpio_qdec_sample_timer_timeout()
205 	if (abs(data->acc) >= cfg->steps_per_period) {  in gpio_qdec_sample_timer_timeout()
206 		k_work_submit(&data->event_work);  in gpio_qdec_sample_timer_timeout()
209 	k_work_reschedule(&data->idle_work, K_MSEC(cfg->idle_timeout_ms));  in gpio_qdec_sample_timer_timeout()
216 	const struct device *dev = data->dev;  in gpio_qdec_event_worker()
217 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_event_worker()
222 	acc = data->acc / cfg->steps_per_period;  in gpio_qdec_event_worker()
223 	data->acc -= acc * cfg->steps_per_period;  in gpio_qdec_event_worker()
227 		input_report_rel(data->dev, cfg->axis, acc, true, K_FOREVER);  in gpio_qdec_event_worker()
236 	const struct device *dev = data->dev;  in gpio_qdec_idle_worker()
246 	const struct device *dev = data->dev;  in gpio_qdec_cb()
253 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_init()
254 	struct gpio_qdec_data *data = dev->data;  in gpio_qdec_init()
257 	data->dev = dev;  in gpio_qdec_init()
259 	k_work_init(&data->event_work, gpio_qdec_event_worker);  in gpio_qdec_init()
260 	k_work_init_delayable(&data->idle_work, gpio_qdec_idle_worker);  in gpio_qdec_init()
262 	k_timer_init(&data->sample_timer, gpio_qdec_sample_timer_timeout, NULL);  in gpio_qdec_init()
263 	k_timer_user_data_set(&data->sample_timer, (void *)dev);  in gpio_qdec_init()
265 	gpio_init_callback(&data->gpio_cb, gpio_qdec_cb,  in gpio_qdec_init()
266 			   BIT(cfg->ab_gpio[0].pin) | BIT(cfg->ab_gpio[1].pin));  in gpio_qdec_init()
268 		const struct gpio_dt_spec *gpio = &cfg->ab_gpio[i];  in gpio_qdec_init()  local
270 		if (!gpio_is_ready_dt(gpio)) {  in gpio_qdec_init()
271 			LOG_ERR("%s is not ready", gpio->port->name);  in gpio_qdec_init()
272 			return -ENODEV;  in gpio_qdec_init()
275 		ret = gpio_pin_configure_dt(gpio, GPIO_INPUT);  in gpio_qdec_init()
285 		ret = gpio_add_callback_dt(gpio, &data->gpio_cb);  in gpio_qdec_init()
287 			LOG_ERR("Could not set gpio callback");  in gpio_qdec_init()
292 	for (int i = 0; i < cfg->led_gpio_count; i++) {  in gpio_qdec_init()
293 		const struct gpio_dt_spec *gpio = &cfg->led_gpio[i];  in gpio_qdec_init()  local
296 		if (!gpio_is_ready_dt(gpio)) {  in gpio_qdec_init()
297 			LOG_ERR("%s is not ready", gpio->port->name);  in gpio_qdec_init()
298 			return -ENODEV;  in gpio_qdec_init()
304 		ret = gpio_pin_configure_dt(gpio, mode);  in gpio_qdec_init()
311 	data->prev_step = gpio_qdec_get_step(dev);  in gpio_qdec_init()
321 	LOG_DBG("Device %s initialized", dev->name);  in gpio_qdec_init()
329 	const struct gpio_qdec_config *cfg = dev->config;  in gpio_qdec_pin_suspend()
334 		const struct gpio_dt_spec *gpio = &cfg->ab_gpio[i];  in gpio_qdec_pin_suspend()  local
336 		ret = gpio_pin_configure_dt(gpio, mode);  in gpio_qdec_pin_suspend()
343 	for (int i = 0; i < cfg->led_gpio_count; i++) {  in gpio_qdec_pin_suspend()
345 			gpio_pin_set_dt(&cfg->led_gpio[i], 0);  in gpio_qdec_pin_suspend()
347 			gpio_pin_set_dt(&cfg->led_gpio[i], 1);  in gpio_qdec_pin_suspend()
355 	struct gpio_qdec_data *data = dev->data;  in gpio_qdec_pm_action()
361 		atomic_set(&data->suspended, 1);  in gpio_qdec_pm_action()
363 		k_work_cancel_delayable_sync(&data->idle_work, &sync);  in gpio_qdec_pm_action()
369 		k_timer_stop(&data->sample_timer);  in gpio_qdec_pm_action()
375 		atomic_set(&data->suspended, 0);  in gpio_qdec_pm_action()
379 		data->prev_step = gpio_qdec_get_step(dev);  in gpio_qdec_pm_action()
380 		data->acc = 0;  in gpio_qdec_pm_action()
386 		return -ENOTSUP;  in gpio_qdec_pm_action()
393 #define QDEC_GPIO_INIT(n)							\  argument
394 	BUILD_ASSERT(DT_INST_PROP_LEN(n, gpios) == GPIO_QDEC_GPIO_NUM,		\
397 	BUILD_ASSERT(!(DT_INST_NODE_HAS_PROP(n, led_gpios) &&			\
398 		       DT_INST_NODE_HAS_PROP(n, idle_poll_time_us)) ||		\
399 		     DT_INST_NODE_HAS_PROP(n, led_pre_us),			\
400 		     "led-pre-us must be specified when setting led-gpios and "	\
401 		     "idle-poll-time-us");					\
403 	IF_ENABLED(DT_INST_NODE_HAS_PROP(n, led_gpios), (			\
404 	static const struct gpio_dt_spec gpio_qdec_led_gpio_##n[] = {		\
405 		DT_INST_FOREACH_PROP_ELEM_SEP(n, led_gpios,			\
410 	static const struct gpio_qdec_config gpio_qdec_cfg_##n = {		\
412 			GPIO_DT_SPEC_INST_GET_BY_IDX(n, gpios, 0),		\
413 			GPIO_DT_SPEC_INST_GET_BY_IDX(n, gpios, 1),		\
415 		IF_ENABLED(DT_INST_NODE_HAS_PROP(n, led_gpios), (		\
416 		.led_gpio = gpio_qdec_led_gpio_##n,				\
417 		.led_gpio_count = ARRAY_SIZE(gpio_qdec_led_gpio_##n),		\
418 		.led_pre_us = DT_INST_PROP_OR(n, led_pre_us, 0),		\
420 		.sample_time_us = DT_INST_PROP(n, sample_time_us),		\
421 		.idle_poll_time_us = DT_INST_PROP_OR(n, idle_poll_time_us, 0),	\
422 		.idle_timeout_ms = DT_INST_PROP(n, idle_timeout_ms),		\
423 		.steps_per_period = DT_INST_PROP(n, steps_per_period),		\
424 		.axis = DT_INST_PROP(n, zephyr_axis),				\
427 	static struct gpio_qdec_data gpio_qdec_data_##n;			\
429 	PM_DEVICE_DT_INST_DEFINE(n, gpio_qdec_pm_action);			\
431 	DEVICE_DT_INST_DEFINE(n, gpio_qdec_init, PM_DEVICE_DT_INST_GET(n),	\
432 			      &gpio_qdec_data_##n,				\
433 			      &gpio_qdec_cfg_##n,				\