You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
127 lines
2.9 KiB
127 lines
2.9 KiB
/* |
|
* Copyright (c) 2020 Peter Johanson |
|
* |
|
* SPDX-License-Identifier: MIT |
|
*/ |
|
|
|
#define DT_DRV_COMPAT alps_ec11 |
|
|
|
#include <device.h> |
|
#include <drivers/gpio.h> |
|
#include <sys/util.h> |
|
#include <kernel.h> |
|
#include <drivers/sensor.h> |
|
#include <sys/__assert.h> |
|
#include <logging/log.h> |
|
|
|
#include "ec11.h" |
|
|
|
LOG_MODULE_REGISTER(EC11, CONFIG_SENSOR_LOG_LEVEL); |
|
|
|
|
|
static int ec11_sample_fetch(struct device *dev, enum sensor_channel chan) |
|
{ |
|
struct ec11_data *drv_data = dev->driver_data; |
|
const struct ec11_config *drv_cfg = dev->config_info; |
|
u8_t val; |
|
s8_t delta; |
|
|
|
__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_ROTATION); |
|
|
|
val = (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin); |
|
|
|
LOG_DBG("prev: %d, new: %d", drv_data->ab_state, val); |
|
|
|
switch(val | (drv_data->ab_state << 2)) { |
|
case 0b0001: case 0b0111: case 0b1110: case 0b1000: |
|
delta = 1; |
|
break; |
|
case 0b0010: case 0b0100: case 0b1101: case 0b1011: |
|
delta = -1; |
|
break; |
|
default: |
|
delta = 0; |
|
break; |
|
} |
|
|
|
LOG_DBG("Delta: %d", delta); |
|
|
|
drv_data->pulses += delta; |
|
drv_data->ab_state = val; |
|
|
|
drv_data->ticks = drv_data->pulses / drv_cfg->resolution; |
|
drv_data->delta = delta; |
|
drv_data->pulses %= drv_cfg->resolution; |
|
|
|
return 0; |
|
} |
|
|
|
static int ec11_channel_get(struct device *dev, |
|
enum sensor_channel chan, |
|
struct sensor_value *val) |
|
{ |
|
struct ec11_data *drv_data = dev->driver_data; |
|
|
|
if (chan != SENSOR_CHAN_ROTATION) { |
|
return -ENOTSUP; |
|
} |
|
|
|
val->val1 = drv_data->ticks; |
|
val->val2 = drv_data->delta; |
|
|
|
return 0; |
|
} |
|
|
|
static const struct sensor_driver_api ec11_driver_api = { |
|
#ifdef CONFIG_EC11_TRIGGER |
|
.trigger_set = ec11_trigger_set, |
|
#endif |
|
.sample_fetch = ec11_sample_fetch, |
|
.channel_get = ec11_channel_get, |
|
}; |
|
|
|
int ec11_init(struct device *dev) |
|
{ |
|
struct ec11_data *drv_data = dev->driver_data; |
|
const struct ec11_config *drv_cfg = dev->config_info; |
|
|
|
LOG_DBG("resolution %d", drv_cfg->resolution); |
|
|
|
drv_data->a = device_get_binding(drv_cfg->a_label); |
|
if (drv_data->a == NULL) { |
|
LOG_ERR("Failed to get pointer to A GPIO device"); |
|
return -EINVAL; |
|
} |
|
|
|
drv_data->b = device_get_binding(drv_cfg->b_label); |
|
if (drv_data->b == NULL) { |
|
LOG_ERR("Failed to get pointer to B GPIO device"); |
|
return -EINVAL; |
|
} |
|
|
|
#ifdef CONFIG_EC11_TRIGGER |
|
if (ec11_init_interrupt(dev) < 0) { |
|
LOG_DBG("Failed to initialize interrupt!"); |
|
return -EIO; |
|
} |
|
#endif |
|
|
|
return 0; |
|
} |
|
|
|
struct ec11_data ec11_data; |
|
|
|
const struct ec11_config ec11_cfg = { |
|
.a_label = DT_INST_GPIO_LABEL(0, a_gpios), |
|
.a_pin = DT_INST_GPIO_PIN(0, a_gpios), |
|
.a_flags = DT_INST_GPIO_FLAGS(0, a_gpios), |
|
.b_label = DT_INST_GPIO_LABEL(0, b_gpios), |
|
.b_pin = DT_INST_GPIO_PIN(0, b_gpios), |
|
.b_flags = DT_INST_GPIO_FLAGS(0, b_gpios), |
|
COND_CODE_0(DT_INST_NODE_HAS_PROP(0, resolution), (1), (DT_INST_PROP(0, resolution))), |
|
}; |
|
|
|
DEVICE_AND_API_INIT(ec11, DT_INST_LABEL(0), ec11_init, |
|
&ec11_data, |
|
&ec11_cfg, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, |
|
&ec11_driver_api);
|
|
|