diff options
Diffstat (limited to 'app/drivers/zephyr/ec11.c')
| -rw-r--r-- | app/drivers/zephyr/ec11.c | 153 |
1 files changed, 153 insertions, 0 deletions
diff --git a/app/drivers/zephyr/ec11.c b/app/drivers/zephyr/ec11.c new file mode 100644 index 0000000..1bc5d6a --- /dev/null +++ b/app/drivers/zephyr/ec11.c @@ -0,0 +1,153 @@ +/* + * 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_get_ab_state(struct device *dev) +{ + struct ec11_data *drv_data = dev->driver_data; + const struct ec11_config *drv_cfg = dev->config_info; + + return (gpio_pin_get(drv_data->a, drv_cfg->a_pin) << 1) | gpio_pin_get(drv_data->b, drv_cfg->b_pin); +} + +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 = ec11_get_ab_state(dev); + + LOG_DBG("prev: %d, new: %d", drv_data->ab_state, val); + + switch(val | (drv_data->ab_state << 2)) { + case 0b0010: case 0b0100: case 0b1101: case 0b1011: + delta = -1; + break; + case 0b0001: case 0b0111: case 0b1110: case 0b1000: + 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("A: %s %d B: %s %d resolution %d", drv_cfg->a_label, drv_cfg->a_pin, drv_cfg->b_label, drv_cfg->b_pin, 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; + } + + if (gpio_pin_configure(drv_data->a, drv_cfg->a_pin, + drv_cfg->a_flags + | GPIO_INPUT)) { + LOG_DBG("Failed to configure A pin"); + return -EIO; + } + + if (gpio_pin_configure(drv_data->b, drv_cfg->b_pin, + drv_cfg->b_flags + | GPIO_INPUT)) { + LOG_DBG("Failed to configure B pin"); + return -EIO; + } + + + +#ifdef CONFIG_EC11_TRIGGER + if (ec11_init_interrupt(dev) < 0) { + LOG_DBG("Failed to initialize interrupt!"); + return -EIO; + } +#endif + + drv_data->ab_state = ec11_get_ab_state(dev); + + return 0; +} + +#define EC11_INST(n) \ + struct ec11_data ec11_data_##n; \ + const struct ec11_config ec11_cfg_##n = { \ + .a_label = DT_INST_GPIO_LABEL(n, a_gpios), \ + .a_pin = DT_INST_GPIO_PIN(n, a_gpios), \ + .a_flags = DT_INST_GPIO_FLAGS(n, a_gpios), \ + .b_label = DT_INST_GPIO_LABEL(n, b_gpios), \ + .b_pin = DT_INST_GPIO_PIN(n, b_gpios), \ + .b_flags = DT_INST_GPIO_FLAGS(n, b_gpios), \ + COND_CODE_0(DT_INST_NODE_HAS_PROP(n, resolution), (1), (DT_INST_PROP(n, resolution))), \ + }; \ + DEVICE_AND_API_INIT(ec11, DT_INST_LABEL(n), ec11_init, \ + &ec11_data_##n, \ + &ec11_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \ + &ec11_driver_api); + +DT_INST_FOREACH_STATUS_OKAY(EC11_INST)
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