drivers: sensors: qdec_nrfx: Add support for Nordic QDEC

Add a QDEC driver that utilizes Nordic's QDEC.

This closes issue #9364

Jira:DESK-259

Signed-off-by: Pawel Dunaj <pawel.dunaj@nordicsemi.no>

drivers/sensor/CMakeLists.txt

@@ -38,6 +38,7 @@ add_subdirectory_ifdef(CONFIG_MMA8451Q		mma8451q)
 add_subdirectory_ifdef(CONFIG_MPU6050		mpu6050)
 add_subdirectory_ifdef(CONFIG_MS5837		ms5837)
 add_subdirectory_ifdef(CONFIG_PMS7003		pms7003)
+add_subdirectory_ifdef(CONFIG_QDEC_NRFX		qdec_nrfx)
 add_subdirectory_ifdef(CONFIG_TEMP_NRF5		nrf5)
 add_subdirectory_ifdef(CONFIG_SHT3XD		sht3xd)
 add_subdirectory_ifdef(CONFIG_SX9500		sx9500)

drivers/sensor/Kconfig

@@ -107,6 +107,8 @@ source "drivers/sensor/nrf5/Kconfig"
 
 source "drivers/sensor/pms7003/Kconfig"
 
+source "drivers/sensor/qdec_nrfx/Kconfig"
+
 source "drivers/sensor/sht3xd/Kconfig"
 
 source "drivers/sensor/sx9500/Kconfig"

drivers/sensor/qdec_nrfx/CMakeLists.txt

@@ -0,0 +1,8 @@
+# Copyright (c) 2018, Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+zephyr_library()
+
+zephyr_library_sources(qdec_nrfx.c)

drivers/sensor/qdec_nrfx/Kconfig

@@ -0,0 +1,29 @@
+# Copyright (c) 2018, Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+menuconfig QDEC_NRFX
+	bool "Nordic QDEC nrfx driver"
+	depends on HAS_HW_NRF_QDEC
+	select NRFX_QDEC
+	select HAS_DTS_QDEC
+	help
+	  Enable support for nrfx QDEC driver for nRF MCU series.
+
+if QDEC_NRFX
+
+config SYS_LOG_QDEC_NRFX_LEVEL
+	int "QDEC log level"
+	depends on SYS_LOG
+	default 0
+	help
+	  Sets log level for QDEC driver.
+	  Levels are:
+	  - 0 OFF, do not write
+	  - 1 ERROR, only write SYS_LOG_ERR
+	  - 2 WARNING, write SYS_LOG_WRN in addition to previous level
+	  - 3 INFO, write SYS_LOG_INF in addition to previous levels
+	  - 4 DEBUG, write SYS_LOG_DBG in addition to previous levels
+
+endif

drivers/sensor/qdec_nrfx/qdec_nrfx.c

@@ -0,0 +1,309 @@
+/*
+ * Copyright (c) 2018, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <sensor.h>
+
+#include <nrfx_qdec.h>
+#include <hal/nrf_gpio.h>
+
+#define SYS_LOG_DOMAIN "qdec_nrfx"
+#define SYS_LOG_LEVEL CONFIG_SYS_LOG_QDEC_NRFX_LEVEL
+#include <logging/sys_log.h>
+
+
+#define FULL_ANGLE 360
+
+/* limit range to avoid overflow when converting steps to degrees */
+#define ACC_MAX (INT_MAX / FULL_ANGLE)
+#define ACC_MIN (INT_MIN / FULL_ANGLE)
+
+
+struct qdec_nrfx_data {
+	s32_t                    acc;
+	sensor_trigger_handler_t data_ready_handler;
+#ifdef CONFIG_DEVICE_POWER_MANAGEMENT
+	u32_t                    pm_state;
+#endif
+};
+
+
+static struct qdec_nrfx_data qdec_nrfx_data;
+
+DEVICE_DECLARE(qdec_nrfx);
+
+
+static void accumulate(struct qdec_nrfx_data *data, int16_t acc)
+{
+	unsigned int key = irq_lock();
+
+	bool overflow = ((acc > 0) && (ACC_MAX - acc < data->acc)) ||
+			((acc < 0) && (ACC_MIN - acc > data->acc));
+
+	if (!overflow) {
+		data->acc += acc;
+	}
+
+	irq_unlock(key);
+}
+
+static int qdec_nrfx_sample_fetch(struct device *dev, enum sensor_channel chan)
+{
+	struct qdec_nrfx_data *data = &qdec_nrfx_data;
+
+	int16_t acc;
+	int16_t accdbl;
+
+	ARG_UNUSED(dev);
+
+	SYS_LOG_DBG("");
+
+	if ((chan != SENSOR_CHAN_ALL) && (chan != SENSOR_CHAN_ROTATION)) {
+		return -ENOTSUP;
+	}
+
+	nrfx_qdec_accumulators_read(&acc, &accdbl);
+
+	accumulate(data, acc);
+
+	return 0;
+}
+
+static int qdec_nrfx_channel_get(struct device       *dev,
+				 enum sensor_channel  chan,
+				 struct sensor_value *val)
+{
+	struct qdec_nrfx_data *data = &qdec_nrfx_data;
+	unsigned int key;
+	s32_t acc;
+
+	ARG_UNUSED(dev);
+
+	SYS_LOG_DBG("");
+
+	if (chan != SENSOR_CHAN_ROTATION) {
+		return -ENOTSUP;
+	}
+
+	key = irq_lock();
+	acc = data->acc;
+	data->acc = 0;
+	irq_unlock(key);
+
+	static_assert(CONFIG_QDEC_STEPS > 0, "only positive number valid");
+	static_assert(CONFIG_QDEC_STEPS <= 2148, "overflow possible");
+
+	val->val1 = (acc * FULL_ANGLE) / CONFIG_QDEC_STEPS;
+	val->val2 = (acc * FULL_ANGLE) - (val->val1 * CONFIG_QDEC_STEPS);
+	if (val->val2 != 0) {
+		val->val2 *= 1000000;
+		val->val2 /= CONFIG_QDEC_STEPS;
+	}
+
+	return 0;
+}
+
+static int qdec_nrfx_trigger_set(struct device               *dev,
+				 const struct sensor_trigger *trig,
+				 sensor_trigger_handler_t     handler)
+{
+	struct qdec_nrfx_data *data = &qdec_nrfx_data;
+	unsigned int key;
+
+	ARG_UNUSED(dev);
+
+	SYS_LOG_DBG("");
+
+	if (trig->type != SENSOR_TRIG_DATA_READY) {
+		return -ENOTSUP;
+	}
+
+	if ((trig->chan != SENSOR_CHAN_ALL) &&
+	    (trig->chan != SENSOR_CHAN_ROTATION)) {
+		return -ENOTSUP;
+	}
+
+	key = irq_lock();
+	data->data_ready_handler = handler;
+	irq_unlock(key);
+
+	return 0;
+}
+
+static void qdec_nrfx_event_handler(nrfx_qdec_event_t event)
+{
+	sensor_trigger_handler_t handler;
+	unsigned int key;
+
+	switch (event.type) {
+	case NRF_QDEC_EVENT_REPORTRDY:
+		accumulate(&qdec_nrfx_data, event.data.report.acc);
+
+		key = irq_lock();
+		handler = qdec_nrfx_data.data_ready_handler;
+		irq_unlock(key);
+
+		if (handler) {
+			struct sensor_trigger trig = {
+				.type = SENSOR_TRIG_DATA_READY,
+				.chan = SENSOR_CHAN_ROTATION,
+			};
+
+			handler(DEVICE_GET(qdec_nrfx), &trig);
+		}
+		break;
+
+	default:
+		SYS_LOG_ERR("unhandled event (0x%x)", event.type);
+		break;
+	};
+}
+
+static void qdec_nrfx_gpio_ctrl(bool enable)
+{
+#if defined(CONFIG_QDEC_ENABLE_PIN)
+	uint32_t val = (enable)?(0):(1);
+
+	nrf_gpio_pin_write(CONFIG_QDEC_ENABLE_PIN, val);
+	nrf_gpio_cfg_output(CONFIG_QDEC_ENABLE_PIN);
+#endif
+}
+
+static int qdec_nrfx_init(struct device *dev)
+{
+	static const nrfx_qdec_config_t config = {
+		.reportper          = NRF_QDEC_REPORTPER_40,
+		.sampleper          = NRF_QDEC_SAMPLEPER_2048us,
+		.psela              = CONFIG_QDEC_A_PIN,
+		.pselb              = CONFIG_QDEC_B_PIN,
+#if defined(CONFIG_QDEC_LED_PIN)
+		.pselled            = CONFIG_QDEC_LED_PIN,
+#else
+		.pselled            = 0xFFFFFFFF, /* disabled */
+#endif
+		.ledpre             = CONFIG_QDEC_LED_PRE,
+		.ledpol             = NRF_QDEC_LEPOL_ACTIVE_HIGH,
+		.interrupt_priority = NRFX_QDEC_CONFIG_IRQ_PRIORITY,
+		.dbfen              = 0, /* disabled */
+		.sample_inten       = 0, /* disabled */
+	};
+
+	nrfx_err_t nerr;
+
+	SYS_LOG_DBG("");
+
+	IRQ_CONNECT(CONFIG_QDEC_IRQ, CONFIG_QDEC_IRQ_PRI,
+		    nrfx_isr, nrfx_qdec_irq_handler, 0);
+
+	nerr = nrfx_qdec_init(&config, qdec_nrfx_event_handler);
+	if (nerr == NRFX_ERROR_INVALID_STATE) {
+		SYS_LOG_ERR("qdec already in use");
+		return -EBUSY;
+	} else if (nerr != NRFX_SUCCESS) {
+		SYS_LOG_ERR("failed to initialize qdec");
+		return -EFAULT;
+	}
+
+	qdec_nrfx_gpio_ctrl(true);
+	nrfx_qdec_enable();
+
+#ifdef CONFIG_DEVICE_POWER_MANAGEMENT
+	struct qdec_nrfx_data *data = &qdec_nrfx_data;
+
+	data->pm_state = DEVICE_PM_ACTIVE_STATE;
+#endif
+
+	return 0;
+}
+
+#ifdef CONFIG_DEVICE_POWER_MANAGEMENT
+
+static int qdec_nrfx_pm_get_state(struct qdec_nrfx_data *data,
+				  u32_t                 *state)
+{
+	unsigned int key = irq_lock();
+	*state = data->pm_state;
+	irq_unlock(key);
+
+	return 0;
+}
+
+static int qdec_nrfx_pm_set_state(struct qdec_nrfx_data *data,
+				  u32_t                  new_state)
+{
+	u32_t old_state;
+	unsigned int key;
+
+	key = irq_lock();
+	old_state = data->pm_state;
+	irq_unlock(key);
+
+	if (old_state == new_state) {
+		/* leave unchanged */
+		return 0;
+	}
+
+	if (old_state == DEVICE_PM_ACTIVE_STATE) {
+		/* device must be suspended */
+		nrfx_qdec_disable();
+		qdec_nrfx_gpio_ctrl(false);
+	}
+
+	if (new_state == DEVICE_PM_OFF_STATE) {
+		/* device must be uninitialized */
+		nrfx_qdec_uninit();
+	}
+
+	if (new_state == DEVICE_PM_ACTIVE_STATE) {
+		qdec_nrfx_gpio_ctrl(true);
+		nrfx_qdec_enable();
+	}
+
+	/* record the new state */
+	key = irq_lock();
+	data->pm_state = new_state;
+	irq_unlock(key);
+
+	return 0;
+}
+
+static int qdec_nrfx_pm_control(struct device *dev,
+				u32_t          ctrl_command,
+				void          *context)
+{
+	struct qdec_nrfx_data *data = &qdec_nrfx_data;
+	int err;
+
+	SYS_LOG_DBG("");
+
+	switch (ctrl_command) {
+	case DEVICE_PM_GET_POWER_STATE:
+		err = qdec_nrfx_pm_get_state(data, context);
+		break;
+
+	case DEVICE_PM_SET_POWER_STATE:
+		err = qdec_nrfx_pm_set_state(data, *((u32_t *)context));
+		break;
+
+	default:
+		err = -ENOTSUP;
+		break;
+	}
+
+	return err;
+}
+
+#endif /* CONFIG_DEVICE_POWER_MANAGEMENT */
+
+
+static const struct sensor_driver_api qdec_nrfx_driver_api = {
+	.sample_fetch = qdec_nrfx_sample_fetch,
+	.channel_get  = qdec_nrfx_channel_get,
+	.trigger_set  = qdec_nrfx_trigger_set,
+};
+
+DEVICE_DEFINE(qdec_nrfx, CONFIG_QDEC_NAME, qdec_nrfx_init,
+		qdec_nrfx_pm_control, NULL, NULL, POST_KERNEL,
+		CONFIG_SENSOR_INIT_PRIORITY, &qdec_nrfx_driver_api);