a922fd1b2f
`qdec_sam` driver supports currently only position measurement and does not support reading of the index signal. Unfortunately, the index signal was internally enabled in the driver. If the pin to which the index signal was connected was used by another driver it could lead to a false detection of the signal change. Detection of the index signal change resets the position measurement. Signed-off-by: Piotr Mienkowski <piotr.mienkowski@gmail.com>
139 lines
3.3 KiB
C
139 lines
3.3 KiB
C
/*
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* Copyright (c) 2021, Piotr Mienkowski
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT atmel_sam_tc_qdec
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/** @file
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* @brief Atmel SAM MCU family Quadrature Decoder (QDEC/TC) driver.
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*/
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#include <errno.h>
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#include <sys/__assert.h>
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#include <sys/util.h>
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#include <device.h>
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#include <init.h>
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#include <soc.h>
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#include <drivers/sensor.h>
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#include <logging/log.h>
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LOG_MODULE_REGISTER(qdec_sam, CONFIG_SENSOR_LOG_LEVEL);
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/* Device constant configuration parameters */
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struct qdec_sam_dev_cfg {
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Tc *regs;
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const struct soc_gpio_pin *pin_list;
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uint8_t pin_list_size;
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uint8_t periph_id[TCCHANNEL_NUMBER];
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};
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/* Device run time data */
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struct qdec_sam_dev_data {
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uint16_t position;
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};
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#define DEV_NAME(dev) ((dev)->name)
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static int qdec_sam_fetch(const struct device *dev, enum sensor_channel chan)
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{
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const struct qdec_sam_dev_cfg *const dev_cfg = dev->config;
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struct qdec_sam_dev_data *const dev_data = dev->data;
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Tc *const tc = dev_cfg->regs;
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TcChannel *tc_ch0 = &tc->TcChannel[0];
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/* Read position register content */
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dev_data->position = tc_ch0->TC_CV;
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return 0;
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}
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static int qdec_sam_get(const struct device *dev, enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct qdec_sam_dev_data *const dev_data = dev->data;
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if (chan == SENSOR_CHAN_ROTATION) {
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val->val1 = dev_data->position;
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val->val2 = 0;
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} else {
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return -ENOTSUP;
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}
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return 0;
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}
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static void qdec_sam_start(Tc *const tc)
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{
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TcChannel *tc_ch0 = &tc->TcChannel[0];
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/* Enable Channel 0 Clock and reset counter*/
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tc_ch0->TC_CCR = TC_CCR_CLKEN
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| TC_CCR_SWTRG;
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}
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static void qdec_sam_configure(const struct device *dev)
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{
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const struct qdec_sam_dev_cfg *const dev_cfg = dev->config;
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Tc *const tc = dev_cfg->regs;
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TcChannel *tc_ch0 = &tc->TcChannel[0];
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/* Clock, Trigger Edge, Trigger and Mode Selection */
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tc_ch0->TC_CMR = TC_CMR_TCCLKS_XC0
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| TC_CMR_ETRGEDG_NONE
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| TC_CMR_ABETRG;
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/* Enable QDEC in Position Mode*/
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tc->TC_BMR = TC_BMR_QDEN
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| TC_BMR_POSEN
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| TC_BMR_EDGPHA
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| TC_BMR_MAXFILT(1);
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qdec_sam_start(tc);
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}
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static int qdec_sam_initialize(const struct device *dev)
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{
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__ASSERT_NO_MSG(dev != NULL);
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const struct qdec_sam_dev_cfg *const dev_cfg = dev->config;
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/* Connect pins to the peripheral */
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soc_gpio_list_configure(dev_cfg->pin_list, dev_cfg->pin_list_size);
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for (int i = 0; i < ARRAY_SIZE(dev_cfg->periph_id); i++) {
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/* Enable module's clock */
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soc_pmc_peripheral_enable(dev_cfg->periph_id[i]);
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}
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qdec_sam_configure(dev);
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LOG_INF("Device %s initialized", DEV_NAME(dev));
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return 0;
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}
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static const struct sensor_driver_api qdec_sam_driver_api = {
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.sample_fetch = qdec_sam_fetch,
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.channel_get = qdec_sam_get,
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};
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#define QDEC_SAM_INIT(n) \
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static const struct soc_gpio_pin pins_tc##n[] = ATMEL_SAM_DT_INST_PINS(n); \
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\
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static const struct qdec_sam_dev_cfg qdec##n##_sam_config = { \
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.regs = (Tc *)DT_INST_REG_ADDR(n), \
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.pin_list = pins_tc##n, \
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.pin_list_size = ARRAY_SIZE(pins_tc##n), \
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.periph_id = DT_INST_PROP(n, peripheral_id), \
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}; \
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\
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static struct qdec_sam_dev_data qdec##n##_sam_data; \
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\
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DEVICE_DT_INST_DEFINE(n, qdec_sam_initialize, NULL, \
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&qdec##n##_sam_data, &qdec##n##_sam_config, \
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POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
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&qdec_sam_driver_api);
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DT_INST_FOREACH_STATUS_OKAY(QDEC_SAM_INIT)
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