/* * Copyright (c) 2015 - 2025, Nordic Semiconductor ASA * All rights reserved. * * SPDX-License-Identifier: BSD-3-Clause * * 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 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 the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from this * software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER 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 NRFX_QDEC_H__ #define NRFX_QDEC_H__ #include #include #ifdef __cplusplus extern "C" { #endif /* On devices with single instance (with no id) use instance 0. */ #if defined(NRF_QDEC) && defined(NRFX_QDEC_ENABLED) && !defined(NRFX_QDEC0_ENABLED) #define NRFX_QDEC0_ENABLED 1 #endif /** * @defgroup nrfx_qdec QDEC driver * @{ * @ingroup nrf_qdec * @brief Quadrature Decoder (QDEC) peripheral driver. */ /** @brief Data structure of the Quadrature Decoder (QDEC) driver instance. */ typedef struct { NRF_QDEC_Type * p_reg; ///< Pointer to a structure with QDEC registers. uint8_t drv_inst_idx; ///< Index of the driver instance. For internal use only. } nrfx_qdec_t; /** @brief QDEC driver instance configuration structure. */ typedef struct { nrf_qdec_reportper_t reportper; ///< Report period in samples. nrf_qdec_sampleper_t sampleper; ///< Sampling period in microseconds. uint32_t psela; ///< Pin number for A input. uint32_t pselb; ///< Pin number for B input. uint32_t pselled; ///< Pin number for LED output. uint32_t ledpre; ///< Time (in microseconds) how long LED is switched on before sampling. nrf_qdec_ledpol_t ledpol; ///< Active LED polarity. bool dbfen; ///< State of debouncing filter. bool sample_inten; ///< Enabling sample ready interrupt. bool reportper_inten; ///< Enabling report ready interrupt. uint8_t interrupt_priority; ///< QDEC interrupt priority. bool skip_gpio_cfg; ///< Skip GPIO configuration of pins. /**< When set to true, the driver does not modify * any GPIO parameters of the used pins. Those * parameters are supposed to be configured * externally before the driver is initialized. */ bool skip_psel_cfg; ///< Skip pin selection configuration. /**< When set to true, the driver does not modify * pin select registers in the peripheral. * Those registers are supposed to be set up * externally before the driver is initialized. * @note When both GPIO configuration and pin * selection are to be skipped, the structure * fields that specify pins can be omitted, * as they are ignored anyway. */ } nrfx_qdec_config_t; #ifndef __NRFX_DOXYGEN__ enum { /* List all enabled driver instances (in the format NRFX_\_INST_IDX). */ NRFX_INSTANCE_ENUM_LIST(QDEC) NRFX_QDEC_ENABLED_COUNT }; #endif /** @brief Macro for creating an instance of the QDEC driver. */ #define NRFX_QDEC_INSTANCE(id) \ { \ .p_reg = NRFX_CONCAT(NRF_, QDEC, id), \ .drv_inst_idx = NRFX_CONCAT(NRFX_QDEC, id, _INST_IDX), \ } /** * @brief QDEC driver default configuration. * * This configuration sets up QDEC with the following options: * - report period: 10 samples * - sampling period: 16384 us * - LED enabled for 500 us before sampling * - LED polarity: active high * - debouncing filter disabled * - sample ready interrupt disabled * * @param[in] _pin_a Pin for A encoder channel input. * @param[in] _pin_b Pin for B encoder channel input. * @param[in] _pin_led Pin for LED output. */ #define NRFX_QDEC_DEFAULT_CONFIG(_pin_a, _pin_b, _pin_led) \ { \ .reportper = NRF_QDEC_REPORTPER_10, \ .sampleper = NRF_QDEC_SAMPLEPER_16384US, \ .psela = _pin_a, \ .pselb = _pin_b, \ .pselled = _pin_led, \ .ledpre = 500, \ .ledpol = NRF_QDEC_LEPOL_ACTIVE_HIGH, \ .dbfen = NRF_QDEC_DBFEN_DISABLE, \ .sample_inten = false, \ .reportper_inten = true, \ .interrupt_priority = NRFX_QDEC_DEFAULT_CONFIG_IRQ_PRIORITY, \ } /** @brief QDEC sample event data. */ typedef struct { int8_t value; /**< Sample value. */ } nrfx_qdec_sample_data_evt_t; /** @brief QDEC report event data. */ typedef struct { int32_t acc; /**< Accumulated transitions. */ uint32_t accdbl; /**< Accumulated double transitions. */ } nrfx_qdec_report_data_evt_t; /** @brief QDEC event handler structure. */ typedef struct { nrf_qdec_event_t type; /**< Event type. */ union { nrfx_qdec_sample_data_evt_t sample; /**< Sample event data. */ nrfx_qdec_report_data_evt_t report; /**< Report event data. */ } data; /**< Union to store event data. */ } nrfx_qdec_event_t; /** * @brief QDEC event handler. * * @param[in] event QDEC event structure. * @param[in] p_context Context passed to event handler. */ typedef void (*nrfx_qdec_event_handler_t)(nrfx_qdec_event_t event, void * p_context); /** * @brief Function for initializing QDEC. * * @param[in] p_instance Pointer to the driver instance structure. * @param[in] p_config Pointer to the structure with the initial configuration. * @param[in] handler Event handler provided by the user. Must not be NULL. * @param[in] p_context Context passed to event handler. * * @retval NRFX_SUCCESS Initialization was successful. * @retval NRFX_ERROR_ALREADY The driver is already initialized. * @retval NRFX_ERROR_INVALID_STATE The driver is already initialized. * Deprecated - use @ref NRFX_ERROR_ALREADY instead. */ nrfx_err_t nrfx_qdec_init(nrfx_qdec_t const * p_instance, nrfx_qdec_config_t const * p_config, nrfx_qdec_event_handler_t handler, void * p_context); /** * @brief Function for reconfiguring QDEC. * * @param[in] p_instance Pointer to the driver instance structure. * @param[in] p_config Pointer to the structure with the configuration. * * @retval NRFX_SUCCESS Reconfiguration was successful. * @retval NRFX_ERROR_BUSY The driver is enabled and cannot be reconfigured. * @retval NRFX_ERROR_INVALID_STATE The driver is uninitialized. */ nrfx_err_t nrfx_qdec_reconfigure(nrfx_qdec_t const * p_instance, nrfx_qdec_config_t const * p_config); /** * @brief Function for uninitializing QDEC. * * @note Function asserts if module is uninitialized. * * @param[in] p_instance Pointer to the driver instance structure. */ void nrfx_qdec_uninit(nrfx_qdec_t const * p_instance); /** * @brief Function for checking if the QDEC driver instance is initialized. * * @param[in] p_instance Pointer to the driver instance structure. * * @retval true Instance is already initialized. * @retval false Instance is not initialized. */ bool nrfx_qdec_init_check(nrfx_qdec_t const * p_instance); /** * @brief Function for enabling QDEC. * * @note Function asserts if module is uninitialized or enabled. * * @param[in] p_instance Pointer to the driver instance structure. */ void nrfx_qdec_enable(nrfx_qdec_t const * p_instance); /** * @brief Function for disabling QDEC. * * @note Function asserts if module is uninitialized or disabled. * * @param[in] p_instance Pointer to the driver instance structure. */ void nrfx_qdec_disable(nrfx_qdec_t const * p_instance); /** * @brief Function for reading accumulated transitions from the QDEC peripheral. * * @note Function asserts if module is not enabled. * @note Accumulators are cleared after reading. * * @param[in] p_instance Pointer to the driver instance structure. * @param[out] p_acc Pointer to store the accumulated transitions. * @param[out] p_accdbl Pointer to store the accumulated double transitions. */ void nrfx_qdec_accumulators_read(nrfx_qdec_t const * p_instance, int32_t * p_acc, uint32_t * p_accdbl); /** * @brief Function for returning the address of the specified QDEC task. * * @param[in] p_instance Pointer to the driver instance structure. * @param[in] task QDEC task. * * @return Task address. */ NRFX_STATIC_INLINE uint32_t nrfx_qdec_task_address_get(nrfx_qdec_t const * p_instance, nrf_qdec_task_t task); /** * @brief Function for returning the address of the specified QDEC event. * * @param[in] p_instance Pointer to the driver instance structure. * @param[in] event QDEC event. * * @return Event address. */ NRFX_STATIC_INLINE uint32_t nrfx_qdec_event_address_get(nrfx_qdec_t const * p_instance, nrf_qdec_event_t event); #ifndef NRFX_DECLARE_ONLY NRFX_STATIC_INLINE uint32_t nrfx_qdec_task_address_get(nrfx_qdec_t const * p_instance, nrf_qdec_task_t task) { return nrfy_qdec_task_address_get(p_instance->p_reg, task); } NRFX_STATIC_INLINE uint32_t nrfx_qdec_event_address_get(nrfx_qdec_t const * p_instance, nrf_qdec_event_t event) { return nrfy_qdec_event_address_get(p_instance->p_reg, event); } #endif // NRFX_DECLARE_ONLY /** @} */ /* * Declare interrupt handlers for all enabled driver instances in the following format: * nrfx_\_\_irq_handler (for example, nrfx_qdec_0_irq_handler). * * A specific interrupt handler for the driver instance can be retrieved by using * the NRFX_QDEC_INST_HANDLER_GET macro. * * Here is a sample of using the NRFX_QDEC_INST_HANDLER_GET macro to map an interrupt handler * in a Zephyr application: * * IRQ_CONNECT(NRFX_IRQ_NUMBER_GET(NRF_QDEC_INST_GET(\)), \, * NRFX_QDEC_INST_HANDLER_GET(\), 0, 0); */ NRFX_INSTANCE_IRQ_HANDLERS_DECLARE(QDEC, qdec) #ifdef __cplusplus } #endif #endif // NRFX_QDEC_H__