blob: 1e9ebf6120c6b47de07e5ebcea3e19bf7592f038 [file] [log] [blame]
/*
* Copyright (c) 2022, Prevas A/S
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT nxp_mcux_qdec
#include <errno.h>
#include <stdint.h>
#include <fsl_enc.h>
#include <fsl_xbara.h>
#include <zephyr/drivers/pinctrl.h>
#include <zephyr/drivers/sensor.h>
#include <zephyr/drivers/sensor/qdec_mcux.h>
#include <zephyr/drivers/spi.h>
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(qdec_mcux, CONFIG_SENSOR_LOG_LEVEL);
struct qdec_mcux_config {
ENC_Type *base;
const struct pinctrl_dev_config *pincfg;
XBARA_Type *xbar;
size_t xbar_maps_len;
int xbar_maps[];
};
struct qdec_mcux_data {
enc_config_t qdec_config;
int32_t position;
uint16_t counts_per_revolution;
};
static enc_decoder_work_mode_t int_to_work_mode(int32_t val)
{
return val == 0 ? kENC_DecoderWorkAsNormalMode :
kENC_DecoderWorkAsSignalPhaseCountMode;
}
static int qdec_mcux_attr_set(const struct device *dev, enum sensor_channel ch,
enum sensor_attribute attr, const struct sensor_value *val)
{
struct qdec_mcux_data *data = dev->data;
if (ch != SENSOR_CHAN_ROTATION) {
return -ENOTSUP;
}
switch ((enum sensor_attribute_qdec_mcux) attr) {
case SENSOR_ATTR_QDEC_MOD_VAL:
if (!IN_RANGE(val->val1, 1, UINT16_MAX)) {
LOG_ERR("SENSOR_ATTR_QDEC_MOD_VAL value invalid");
return -EINVAL;
}
data->counts_per_revolution = val->val1;
return 0;
case SENSOR_ATTR_QDEC_ENABLE_SINGLE_PHASE:
data->qdec_config.decoderWorkMode =
int_to_work_mode(val->val1);
return 0;
default:
return -ENOTSUP;
}
}
static int qdec_mcux_attr_get(const struct device *dev, enum sensor_channel ch,
enum sensor_attribute attr, struct sensor_value *val)
{
struct qdec_mcux_data *data = dev->data;
if (ch != SENSOR_CHAN_ROTATION) {
return -ENOTSUP;
}
switch ((enum sensor_attribute_qdec_mcux) attr) {
case SENSOR_ATTR_QDEC_MOD_VAL:
val->val1 = data->counts_per_revolution;
return 0;
case SENSOR_ATTR_QDEC_ENABLE_SINGLE_PHASE:
val->val1 = data->qdec_config.decoderWorkMode ==
kENC_DecoderWorkAsNormalMode ? 0 : 1;
return 0;
default:
return -ENOTSUP;
}
}
static int qdec_mcux_fetch(const struct device *dev, enum sensor_channel ch)
{
const struct qdec_mcux_config *config = dev->config;
struct qdec_mcux_data *data = dev->data;
if (ch != SENSOR_CHAN_ALL) {
return -ENOTSUP;
}
/* Read position */
data->position = ENC_GetPositionValue(config->base);
LOG_DBG("pos %d", data->position);
return 0;
}
static int qdec_mcux_ch_get(const struct device *dev, enum sensor_channel ch,
struct sensor_value *val)
{
struct qdec_mcux_data *data = dev->data;
switch (ch) {
case SENSOR_CHAN_ROTATION:
val->val1 = ((int64_t)data->position * 360) /
data->counts_per_revolution;
val->val2 = 0;
break;
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api qdec_mcux_api = {
.attr_set = &qdec_mcux_attr_set,
.attr_get = &qdec_mcux_attr_get,
.sample_fetch = &qdec_mcux_fetch,
.channel_get = &qdec_mcux_ch_get,
};
static void init_inputs(const struct device *dev)
{
int i;
const struct qdec_mcux_config *config = dev->config;
i = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
assert(i == 0);
/* Quadrature Encoder inputs are only accessible via crossbar */
XBARA_Init(config->xbar);
for (i = 0; i < config->xbar_maps_len; i += 2) {
XBARA_SetSignalsConnection(config->xbar, config->xbar_maps[i],
config->xbar_maps[i + 1]);
}
}
#define XBAR_PHANDLE(n) DT_INST_PHANDLE(n, xbar)
#define QDEC_CHECK_COND(n, p, min, max) \
COND_CODE_1(DT_INST_NODE_HAS_PROP(n, p), ( \
BUILD_ASSERT(IN_RANGE(DT_INST_PROP(n, p), min, max), \
STRINGIFY(p) " value is out of range")), ())
#define QDEC_SET_COND(n, v, p) \
COND_CODE_1(DT_INST_NODE_HAS_PROP(n, p), (v = DT_INST_PROP(n, p)), ())
#define QDEC_MCUX_INIT(n) \
\
BUILD_ASSERT((DT_PROP_LEN(XBAR_PHANDLE(n), xbar_maps) % 2) == 0, \
"xbar_maps length must be an even number"); \
QDEC_CHECK_COND(n, counts_per_revolution, 1, UINT16_MAX); \
QDEC_CHECK_COND(n, filter_sample_period, 0, UINT8_MAX); \
\
static struct qdec_mcux_data qdec_mcux_##n##_data = { \
.counts_per_revolution = DT_INST_PROP(n, counts_per_revolution) \
}; \
\
PINCTRL_DT_INST_DEFINE(n); \
\
static const struct qdec_mcux_config qdec_mcux_##n##_config = { \
.base = (ENC_Type *)DT_INST_REG_ADDR(n), \
.xbar = (XBARA_Type *)DT_REG_ADDR(XBAR_PHANDLE(n)), \
.xbar_maps_len = DT_PROP_LEN(XBAR_PHANDLE(n), xbar_maps), \
.xbar_maps = DT_PROP(XBAR_PHANDLE(n), xbar_maps), \
.pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(n), \
}; \
\
static int qdec_mcux_##n##_init(const struct device *dev) \
{ \
const struct qdec_mcux_config *config = dev->config; \
struct qdec_mcux_data *data = dev->data; \
\
LOG_DBG("Initializing %s", dev->name); \
\
init_inputs(dev); \
\
ENC_GetDefaultConfig(&data->qdec_config); \
data->qdec_config.decoderWorkMode = int_to_work_mode( \
DT_INST_PROP(n, single_phase_mode)); \
QDEC_SET_COND(n, data->qdec_config.filterCount, filter_count); \
QDEC_SET_COND(n, data->qdec_config.filterSamplePeriod, \
filter_sample_period); \
LOG_DBG("Latency is %u filter clock cycles + 2 IPBus clock " \
"periods", data->qdec_config.filterSamplePeriod * \
(data->qdec_config.filterCount + 3)); \
ENC_Init(config->base, &data->qdec_config); \
\
/* Update the position counter with initial value. */ \
ENC_DoSoftwareLoadInitialPositionValue(config->base); \
\
return 0; \
} \
\
\
SENSOR_DEVICE_DT_INST_DEFINE(n, qdec_mcux_##n##_init, NULL, \
&qdec_mcux_##n##_data, &qdec_mcux_##n##_config, \
POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \
&qdec_mcux_api); \
\
DT_INST_FOREACH_STATUS_OKAY(QDEC_MCUX_INIT)