qdec_driver.c

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/* This file has been prepared for Doxygen automatic documentation generation. */
#include "qdec_driver.h"

bool QDEC_Total_Setup(PORT_t * qPort,
                      uint8_t qPin,
                      bool invIO,
                      uint8_t qEvMux,
                      EVSYS_CHMUX_t qPinInput,
                      bool useIndex,
                      EVSYS_QDIRM_t qIndexState,
                      TC0_t * qTimer,
                      TC_EVSEL_t qEventChannel,
                      uint8_t lineCount)
{
        if( !QDEC_Port_Setup(qPort, qPin, useIndex, invIO) )
                return false;
        if( !QDEC_EVSYS_Setup(qEvMux, qPinInput, useIndex, qIndexState ) )
                return false;
        QDEC_TC_Dec_Setup(qTimer, qEventChannel, lineCount);

        return true;
}


bool QDEC_Port_Setup(PORT_t * qPort, uint8_t qPin, bool useIndex, bool invIO)
{
        /* Make setup depending on if Index signal is used. */
        if(useIndex){
                if(qPin > 5){
                        return false;
                }
                qPort->DIRCLR = (0x07<<qPin);

                /* Configure Index signal sensing. */
                PORTCFG.MPCMASK = (0x04<<qPin);
                qPort->PIN0CTRL = (qPort->PIN0CTRL & ~PORT_ISC_gm) | PORT_ISC_BOTHEDGES_gc
                                  | (invIO ? PORT_INVEN_bm : 0);


        }else{
                if(qPin > 6){
                        return false;
                }
                qPort->DIRCLR = (0x03<<qPin);
        }

        /* Set QDPH0 and QDPH1 sensing level. */
        PORTCFG.MPCMASK = (0x03<<qPin);
        qPort->PIN0CTRL = (qPort->PIN0CTRL & ~PORT_ISC_gm) | PORT_ISC_LEVEL_gc
                          | (invIO ? PORT_INVEN_bm : 0);

        return true;
}


bool QDEC_EVSYS_Setup(uint8_t qEvMux,
                      EVSYS_CHMUX_t qPinInput,
                      bool useIndex,
                      EVSYS_QDIRM_t qIndexState )
{
        switch (qEvMux){
                case 0:
                    
                /* Configure event channel 0 for quadrature decoding of pins. */
                EVSYS.CH0MUX = qPinInput;
                EVSYS.CH0CTRL = EVSYS_QDEN_bm | EVSYS_DIGFILT_2SAMPLES_gc;
                if(useIndex){
                        /*  Configure event channel 1 as index channel. Note
                         *  that when enabling Index in channel n, the channel
                         *  n+1 must be configured for the index signal.*/
                        EVSYS.CH1MUX = qPinInput + 2;
                        EVSYS.CH1CTRL = EVSYS_DIGFILT_2SAMPLES_gc;
                        EVSYS.CH0CTRL |= (uint8_t) qIndexState | EVSYS_QDIEN_bm;

                }
                break;
                case 2:
                EVSYS.CH2MUX = qPinInput;
                EVSYS.CH2CTRL = EVSYS_QDEN_bm | EVSYS_DIGFILT_2SAMPLES_gc;
                if(useIndex){
                        EVSYS.CH3MUX = qPinInput + 2;
                        EVSYS.CH3CTRL = EVSYS_DIGFILT_2SAMPLES_gc;
                        EVSYS.CH2CTRL |= (uint8_t) qIndexState | EVSYS_QDIEN_bm;
                }
                break;
                case 4:
                EVSYS.CH4MUX = qPinInput;
                EVSYS.CH4CTRL = EVSYS_QDEN_bm | EVSYS_DIGFILT_2SAMPLES_gc;
                if(useIndex){
                        EVSYS.CH5MUX = qPinInput + 2;
                        EVSYS.CH5CTRL = EVSYS_DIGFILT_2SAMPLES_gc;
                        EVSYS.CH4CTRL |= (uint8_t) qIndexState | EVSYS_QDIEN_bm;
                }
                break;
                default:
                return false;
        }
        return true;
}

void QDEC_TC_Dec_Setup(TC0_t * qTimer, TC_EVSEL_t qEventChannel, uint8_t lineCount)
{
        /* Configure TC as a quadrature counter. */
        qTimer->CTRLD = (uint8_t) TC_EVACT_QDEC_gc | qEventChannel;
        qTimer->PER = (lineCount * 4) - 1;
        qTimer->CTRLA = TC_CLKSEL_DIV1_gc;
}


void QDEC_TC_Freq_Setup(TC0_t * qTimer,
                        TC_EVSEL_t qEventChannel,
                        EVSYS_CHMUX_t qPinInput,
                        TC_CLKSEL_t clksel)
{
        /* Configure channel 2 to input pin for freq calculation. */
        EVSYS.CH2MUX = qPinInput;
        EVSYS.CH2CTRL = EVSYS_DIGFILT_4SAMPLES_gc;

        /* Configure TC to capture frequency. */
        qTimer->CTRLD = (uint8_t) TC_EVACT_FRQ_gc | qEventChannel;
        qTimer->PER = 0xFFFF;
        qTimer->CTRLB = TC0_CCAEN_bm;
        qTimer->CTRLA = clksel;
}


uint8_t QDEC_Get_Direction(TC0_t * qTimer)
{
        if (qTimer->CTRLFSET & TC0_DIR_bm){
                return CW_DIR;
        }else{
                return CCW_DIR;
        }
}