/* ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. */ /* */ #ifndef HAL_ICU_LLD_H #define HAL_ICU_LLD_H #if (HAL_USE_ICU == TRUE) || defined(__DOXYGEN__) /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @brief Number of ICU channels per ICU driver. */ #define ICU_CHANNELS 2 /* max channels */ #define ICU_WAIT_TIMEOUT ( 0xFFFFFFFF ) /* first edge wait timeout */ #define ICU_FREQUENCY_16MHZ 16000000 /** @brief 16MHz */ #define ICU_FREQUENCY_8MHZ 8000000 /** @brief 8MHz */ #define ICU_FREQUENCY_4MHZ 4000000 /** @brief 4MHz */ #define ICU_FREQUENCY_2MHZ 2000000 /** @brief 2MHz */ #define ICU_FREQUENCY_1MHZ 1000000 /** @brief 1MHz */ #define ICU_FREQUENCY_500KHZ 500000 /** @brief 500kHz */ #define ICU_FREQUENCY_250KHZ 250000 /** @brief 250kHz */ #define ICU_FREQUENCY_125KHZ 125000 /** @brief 125kHz */ #define ICU_FREQUENCY_62500HZ 62500 /** @brief 62500Hz */ #define ICU_FREQUENCY_31250HZ 31250 /** @brief 31250Hz */ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief ICUD1 driver enable switch. * @details If set to @p TRUE the support for ICUD1 is included. * @note The default is @p TRUE. */ #if !defined(NRF5_ICU_USE_TIMER0) || defined(__DOXYGEN__) #define NRF5_ICU_USE_TIMER0 FALSE #endif /** * @brief ICUD2 driver enable switch. * @details If set to @p TRUE the support for ICUD2 is included. * @note The default is @p TRUE. */ #if !defined(NRF5_ICU_USE_TIMER1) || defined(__DOXYGEN__) #define NRF5_ICU_USE_TIMER1 FALSE #endif /** * @brief ICUD3 driver enable switch. * @details If set to @p TRUE the support for ICUD3 is included. * @note The default is @p TRUE. */ #if !defined(NRF5_ICU_USE_TIMER2) || defined(__DOXYGEN__) #define NRF5_ICU_USE_TIMER2 FALSE #endif /** * @brief ICUD4 driver enable switch. * @details If set to @p TRUE the support for ICUD4 is included. * @note The default is @p TRUE. */ #if !defined(NRF5_ICU_USE_TIMER3) || defined(__DOXYGEN__) #define NRF5_ICU_USE_TIMER3 FALSE #endif /** * @brief ICUD5 driver enable switch. * @details If set to @p TRUE the support for ICUD5 is included. * @note The default is @p TRUE. */ #if !defined(NRF5_ICU_USE_TIMER4) || defined(__DOXYGEN__) #define NRF5_ICU_USE_TIMER4 FALSE #endif /** * @brief ICUD1 interrupt priority level setting. */ #if !defined(NRF5_ICU_TIMER0_IRQ_PRIORITY) || defined(__DOXYGEN__) #define NRF5_ICU_TIMER0_IRQ_PRIORITY 3 #endif /** * @brief ICUD2 interrupt priority level setting. */ #if !defined(NRF5_ICU_TIMER1_IRQ_PRIORITY) || defined(__DOXYGEN__) #define NRF5_ICU_TIMER1_IRQ_PRIORITY 3 #endif /** * @brief ICUD3 interrupt priority level setting. */ #if !defined(NRF5_ICU_TIMER2_IRQ_PRIORITY) || defined(__DOXYGEN__) #define NRF5_ICU_TIMER2_IRQ_PRIORITY 3 #endif /** * @brief ICUD4 interrupt priority level setting. */ #if !defined(NRF5_ICU_TIMER3_IRQ_PRIORITY) || defined(__DOXYGEN__) #define NRF5_ICU_TIMER3_IRQ_PRIORITY 3 #endif /** * @brief ICUD5 interrupt priority level setting. */ #if !defined(NRF5_ICU_TIMER4_IRQ_PRIORITY) || defined(__DOXYGEN__) #define NRF5_ICU_TIMER4_IRQ_PRIORITY 3 #endif /** * @brief Allow driver to use GPIOTE/PPI to capture PAL line */ #if !defined(NRF5_ICU_USE_GPIOTE_PPI) #define NRF5_ICU_USE_GPIOTE_PPI TRUE #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !NRF5_ICU_USE_TIMER0 && !NRF5_ICU_USE_TIMER1 && \ !NRF5_ICU_USE_TIMER2 && !NRF5_ICU_USE_TIMER3 && \ !NRF5_ICU_USE_TIMER4 #error "ICU driver activated but no TIMER peripheral assigned" #endif #if NRF5_ICU_USE_TIMER0 && \ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER0_IRQ_PRIORITY) #error "Invalid IRQ priority assigned to TIMER0" #endif #if NRF5_ICU_USE_TIMER1 && \ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER1_IRQ_PRIORITY) #error "Invalid IRQ priority assigned to TIMER1" #endif #if NRF5_ICU_USE_TIMER2 && \ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER2_IRQ_PRIORITY) #error "Invalid IRQ priority assigned to TIMER2" #endif #if NRF5_ICU_USE_TIMER3 && \ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER3_IRQ_PRIORITY) #error "Invalid IRQ priority assigned to TIMER3" #endif #if NRF5_ICU_USE_TIMER4 && \ !OSAL_IRQ_IS_VALID_PRIORITY(NRF5_ICU_TIMER4_IRQ_PRIORITY) #error "Invalid IRQ priority assigned to TIMER4" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @brief Active level selector. */ typedef enum { ICU_INPUT_DISABLED, /**< Channel disabled . */ ICU_INPUT_ACTIVE_HIGH, /**< Trigger on rising edge. */ ICU_INPUT_ACTIVE_LOW, /**< Trigger on falling edge. */ } icumode_t; /** * @brief ICU channel state. */ typedef enum { ICU_CH_IDLE = 0, /**< Not initialized. */ ICU_CH_ACTIVE = 1 /**< First front detected. */ } icuchannelstate_t; /** * @brief ICU frequency type. */ typedef uint32_t icufreq_t; /** * @brief ICU channel type. */ typedef enum { ICU_CHANNEL_1 = 0, /**< Use TIMERx channel 0,2 */ ICU_CHANNEL_2 = 1, /**< Use TIMERx channel 1,3 */ } icuchannel_t; /** * @brief ICU counter type. */ typedef uint32_t icucnt_t; /** * @brief ICU captured width and (or) period. */ typedef struct { /** * @brief Pulse width. */ icucnt_t width; /** * @brief Pulse period. */ icucnt_t period; } icuresult_t; /** * @brief ICU Capture Channel Config structure definition. */ typedef struct { /** * @brief Specifies the channel capture mode. */ icumode_t mode; #if NRF5_ICU_USE_GPIOTE_PPI || defined(__DOXYGEN__) /** * @brief PAL line to capture. * @note When NRF5_ICU_USE_GPIOTE_PPI is used and channel enabled, * it wont be possible to access this PAL line using the PAL * driver. */ ioline_t ioline[2]; /** * @brief Unique GPIOTE channel to use. (2 channel) * @note Only 8 GPIOTE channels are available on nRF52. */ uint8_t gpiote_channel[2]; /** * @brief Unique PPI channels to use. (2 channels) * @note Only 20 PPI channels are available on nRF52 * (When Softdevice is enabled, only channels 0-7 are available) */ uint8_t ppi_channel[2]; #endif } ICUChannelConfig; /** * @brief ICU Capture Channel structure definition. */ typedef struct { /** * @brief Channel state for the internal state machine. */ icuchannelstate_t state; /** * @brief Cached value for pulse width calculation. */ icucnt_t last_active; /** * @brief Cached value for period calculation. */ icucnt_t last_idle; /** * @brief Pointer to Input Capture channel configuration. */ // const ICUChannelConfig *config; } ICUChannel; /** * @brief ICU Config structure definition. */ typedef struct { /** * @brief Specifies the Timer clock in Hz. */ icufreq_t frequency; /** * @brief Callback for pulse width measurement. */ icucallback_t width_cb; /** * @brief Callback for cycle period measurement. */ icucallback_t period_cb; /** * @brief Callback for timer overflow. */ icucallback_t overflow_cb; /** * @brief Pointer to each Input Capture channel configuration. * @note A NULL parameter indicates the channel as unused. * @note In ICU mode, only Channel 1 OR Channel 2 may be used. */ const ICUChannelConfig iccfgp[ICU_CHANNELS]; } ICUConfig; /** * @brief ICU Driver structure definition */ struct ICUDriver { /** * @brief NRF52 timer peripheral for Input Capture. */ NRF_TIMER_Type *timer; /** * @brief Driver state for the internal state machine. */ icustate_t state; /** * @brief Channels' data structures. */ ICUChannel channel[ICU_CHANNELS]; /** * @brief Timer base clock. */ uint32_t clock; /** * @brief Pointer to configuration for the driver. */ const ICUConfig *config; /** * @brief Period, width last value. */ icuresult_t result; #if defined(ICU_DRIVER_EXT_FIELDS) ICU_DRIVER_EXT_FIELDS #endif }; /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Returns the width of the latest pulse. * @details The pulse width is defined as number of ticks between the start * edge and the stop edge. * * @param[in] icup pointer to the @p ICUDriver object * @return The number of ticks. * * @notapi */ #define icu_lld_get_width(icup) ((uint32_t)((icup)->result.width)) /** * @brief Returns the width of the latest cycle. * @details The cycle width is defined as number of ticks between a start * edge and the next start edge. * * @param[in] icup pointer to the @p ICUDriver object * @return The number of ticks. * * @notapi */ #define icu_lld_get_period(icup) ((uint32_t)((icup)->result.period)) /** * @brief Check on notifications status. * * @param[in] icup pointer to the @p ICUDriver object * @return The notifications status. * @retval false if notifications are not enabled. * @retval true if notifications are enabled. * * @notapi */ #define icu_lld_are_notifications_enabled(icup) ( 1 ) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #if NRF5_ICU_USE_TIMER0 && !defined(__DOXYGEN__) extern ICUDriver ICUD1; #endif #if NRF5_ICU_USE_TIMER1 && !defined(__DOXYGEN__) extern ICUDriver ICUD2; #endif #if NRF5_ICU_USE_TIMER2 && !defined(__DOXYGEN__) extern ICUDriver ICUD3; #endif #if NRF5_ICU_USE_TIMER3 && !defined(__DOXYGEN__) extern ICUDriver ICUD4; #endif #if NRF5_ICU_USE_TIMER4 && !defined(__DOXYGEN__) extern ICUDriver ICUD5; #endif #ifdef __cplusplus extern "C" { #endif void icu_lld_init(void); void icu_lld_start(ICUDriver *icup); void icu_lld_stop(ICUDriver *icup); void icu_lld_start_capture(ICUDriver *icup); bool icu_lld_wait_capture(ICUDriver *icup); void icu_lld_stop_capture(ICUDriver *icup); void icu_lld_enable_notifications(ICUDriver *icup); void icu_lld_disable_notifications(ICUDriver *icup); void icu_lld_serve_interrupt(ICUDriver *icup); #ifdef __cplusplus } #endif #endif /* HAL_USE_ICU */ #endif /* HAL_ICU_LLD_H */