third_party/NordicSemiconductor/nrfx/drivers/include/nrfx_qdec.h

/*
 * Copyright (c) 2015 - 2019, Nordic Semiconductor ASA
 * All rights reserved.
 *
 * 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
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef NRFX_QDEC_H__
#define NRFX_QDEC_H__

#include <nrfx.h>
#include <hal/nrf_qdec.h>

#ifdef __cplusplus
extern "C" {
#endif

/**
 * @defgroup nrfx_qdec QDEC driver
 * @{
 * @ingroup nrf_qdec
 * @brief   Quadrature Decoder (QDEC) peripheral driver.
 */

/** @brief QDEC 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. */
    uint8_t              interrupt_priority; /**< QDEC interrupt priority. */
} nrfx_qdec_config_t;

/**@brief QDEC default configuration. */
#define NRFX_QDEC_DEFAULT_CONFIG                                            \
{                                                                           \
    .reportper          = (nrf_qdec_reportper_t)NRFX_QDEC_CONFIG_REPORTPER, \
    .sampleper          = (nrf_qdec_sampleper_t)NRFX_QDEC_CONFIG_SAMPLEPER, \
    .psela              = NRFX_QDEC_CONFIG_PIO_A,                           \
    .pselb              = NRFX_QDEC_CONFIG_PIO_B,                           \
    .pselled            = NRFX_QDEC_CONFIG_PIO_LED,                         \
    .ledpre             = NRFX_QDEC_CONFIG_LEDPRE,                          \
    .ledpol             = (nrf_qdec_ledpol_t)NRFX_QDEC_CONFIG_LEDPOL,       \
    .dbfen              = NRFX_QDEC_CONFIG_DBFEN,                           \
    .sample_inten       = NRFX_QDEC_CONFIG_SAMPLE_INTEN,                    \
    .interrupt_priority = NRFX_QDEC_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
{
    int16_t acc;     /**< Accumulated transitions. */
    uint16_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.
 */
typedef void (*nrfx_qdec_event_handler_t)(nrfx_qdec_event_t event);

/**
 * @brief Function for initializing QDEC.
 *
 * @param[in] p_config      Pointer to the structure with the initial configuration.
 * @param[in] event_handler Event handler provided by the user.
 *                          Must not be NULL.
 *
 * @retval NRFX_SUCCESS             Initialization was successful.
 * @retval NRFX_ERROR_INVALID_STATE The QDEC was already initialized.
 */
nrfx_err_t nrfx_qdec_init(nrfx_qdec_config_t const * p_config,
                          nrfx_qdec_event_handler_t  event_handler);

/**
 * @brief Function for uninitializing QDEC.
 *
 * @note Function asserts if module is uninitialized.
 */
void nrfx_qdec_uninit(void);

/**
 * @brief Function for enabling QDEC.
 *
 * @note Function asserts if module is uninitialized or enabled.
 */
void nrfx_qdec_enable(void);

/**
 * @brief Function for disabling QDEC.
 *
 * @note Function asserts if module is uninitialized or disabled.
 */
void nrfx_qdec_disable(void);

/**
 * @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[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(int16_t * p_acc, int16_t * p_accdbl);

/**
 * @brief Function for returning the address of the specified QDEC task.
 *
 * @param task QDEC task.
 *
 * @return Task address.
 */
__STATIC_INLINE uint32_t nrfx_qdec_task_address_get(nrf_qdec_task_t task)
{
    return (uint32_t)nrf_qdec_task_address_get(task);
}

/**
 * @brief Function for returning the address of the specified QDEC event.
 *
 * @param event QDEC event.
 *
 * @return Event address.
 */
__STATIC_INLINE uint32_t nrfx_qdec_event_address_get(nrf_qdec_event_t event)
{
    return (uint32_t)nrf_qdec_event_address_get(event);
}

/** @} */


void nrfx_qdec_irq_handler(void);


#ifdef __cplusplus
}
#endif

#endif // NRFX_QDEC_H__