rt-thread/bsp/hpmicro/libraries/hpm_sdk/drivers/inc/hpm_qeo_drv.h

/*
 * Copyright (c) 2023 HPMicro
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 */

#ifndef HPM_QEO_DRV_H
#define HPM_QEO_DRV_H

#include "hpm_common.h"
#include "hpm_qeo_regs.h"
/**
 * @brief QEO driver APIs
 * @defgroup qeo_interface QEO driver APIs
 * @ingroup qeo_interfaces
 * @{
 */

typedef enum {
    qeo_wave_cosine = 0,
    qeo_wave_saddle = 1,
    qeo_wave_abs_cosine = 2,
    qeo_wave_saw = 3,
} qeo_wave_type_t;

typedef enum {
    qeo_wave_above_max_limit_max_val = 0,
    qeo_wave_above_max_limit_zero = 1,
    qeo_wave_above_max_limit_max_level0_val = 2,

    qeo_wave_high_area_limit_max_val = 0,
    qeo_wave_high_area_limit_max_level0_val = 1,

    qeo_wave_low_area_limit_zero = 0,
    qeo_wave_low_area_limit_min_level1_val = 1,

    qeo_wave_below_min_limit_zero = 0,
    qeo_wave_below_min_limit_max_val = 1,
    qeo_wave_below_min_limit_min_level1_val = 2,
} qeo_wave_limit_t;

typedef struct {
    uint8_t above_max_limit;
    uint8_t high_area0_limit;
    uint8_t high_area1_limit;
    uint8_t low_area0_limit;
    uint8_t low_area1_limit;
    uint8_t below_min_limit;
} qeo_wave_limit_config_t;

typedef struct {
    qeo_wave_limit_config_t wave0;
    qeo_wave_limit_config_t wave1;
    qeo_wave_limit_config_t wave2;
    uint8_t wave_type;
    uint8_t saddle_type;
} qeo_wave_mode_t;

typedef enum {
    qeo_abz_output_abz = 0, /*< A and B are orthogonal signals, Z is zero pulse */
    qeo_abz_output_pulse_revise = 1, /*< A is speed pulse, B is directional pulse, Z not used */
    qeo_abz_output_up_down = 2, /*< A is forward pulse, B is reverse pusle, Z not used */
    qeo_abz_output_three_phase = 3, /*< A/B/Z are 3-phase orthogonal pulse */
} qeo_abz_type_t;

/* take effect when output type is qeo_abz_output_abz */
typedef enum {
    qeo_z_pulse_25_percent = 0,
    qeo_z_pulse_75_percent = 1,
    qeo_z_pulse_100_percent = 2,
} qeo_z_pulse_period_t;

typedef struct {
    bool z_inv_pol;
    bool b_inv_pol;
    bool a_inv_pol;
    uint8_t output_type; /*!< @ref qeo_abz_type_t */
    uint8_t z_pulse_period; /*!< @ref qeo_z_pulse_period_t */
} qeo_abz_mode_t;

typedef enum {
    qeo_pwm_output_force_0 = 2,
    qeo_pwm_output_force_1 = 3,
    qeo_pwm_output_not_force = 0,
} qeo_pwm_force_output_t;

typedef enum {
    qeo_pwm_safety_output_0 = 0,
    qeo_pwm_safety_output_1 = 1,
    qeo_pwm_safety_output_highz = 2,
} qeo_pwm_safety_output_t;

typedef struct {
    uint8_t pwm0_output; /*!< @ref qeo_pwm_force_output_t */
    uint8_t pwm1_output;
    uint8_t pwm2_output;
    uint8_t pwm3_output;
    uint8_t pwm4_output;
    uint8_t pwm5_output;
    uint8_t pwm6_output;
    uint8_t pwm7_output;
} qeo_pwm_phase_output_table_t;

typedef struct {
    uint8_t pwm0_output; /*!< @ref qeo_pwm_safety_output_t */
    uint8_t pwm1_output;
    uint8_t pwm2_output;
    uint8_t pwm3_output;
    uint8_t pwm4_output;
    uint8_t pwm5_output;
    uint8_t pwm6_output;
    uint8_t pwm7_output;
} qeo_pwm_safety_output_table_t;

typedef struct {
    uint8_t phase_num;
    bool shield_hardware_trig_safety;
    bool revise_pairs_output;
} qeo_pwm_mode_t;

#ifdef __cplusplus
extern "C" {
#endif

/* WAVE API */
/**
 * @brief QEO set resolution lines for wave mode
 * @param [in] base QEO base address
 * @param [in] lines resolution lines
 */
static inline void qeo_wave_set_resolution_lines(QEO_Type *base, uint32_t lines)
{
    base->WAVE.RESOLUTION = QEO_WAVE_RESOLUTION_LINES_SET(lines);
}

/**
 * @brief QEO set output type for wave mode
 * @param [in] base QEO base address
 * @param [in] type qeo_wave_type_t
 */
static inline void qeo_wave_set_output_type(QEO_Type *base, qeo_wave_type_t type)
{
    base->WAVE.MODE = (base->WAVE.MODE & ~QEO_WAVE_MODE_WAVES_OUTPUT_TYPE_MASK) | QEO_WAVE_MODE_WAVES_OUTPUT_TYPE_SET(type);
}

/**
 * @brief QEO set saddle type for wave mode
 * @param [in] base QEO base address
 * @param [in] standard true for standard saddle, false for triangular wave stacking
 */
static inline void qeo_wave_set_saddle_type(QEO_Type *base, bool standard)
{
    if (standard) {
        base->WAVE.MODE &= ~QEO_WAVE_MODE_SADDLE_TYPE_MASK;
    } else {
        base->WAVE.MODE |= QEO_WAVE_MODE_SADDLE_TYPE_MASK;
    }
}

/**
 * @brief QEO set phase shift for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 * @param [in] angle left shift angle
 */
static inline void qeo_wave_set_phase_shift(QEO_Type *base, uint8_t index, double angle)
{
    assert((angle >= 0) && (angle <= 360));
    uint32_t val = (uint32_t)(angle * 0x10000U / 360);
    base->WAVE.PHASE_SHIFT[index] = QEO_WAVE_PHASE_SHIFT_VAL_SET(val);
}

/**
 * @brief QEO enable vd vq inject for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 * @param [in] vd_val vd value
 * @param [in] vq_val vq value
 */
static inline void qeo_wave_enable_vd_vq_inject(QEO_Type *base, uint8_t index, int32_t vd_val, int32_t vq_val)
{
    (void) vd_val;
    assert(index < 3);
    base->WAVE.MODE |= (1U << (QEO_WAVE_MODE_EN_WAVE0_VD_VQ_INJECT_SHIFT + index));
    base->WAVE.VD_VQ_INJECT[index] = QEO_WAVE_VD_VQ_INJECT_VQ_VAL_SET(vq_val) | QEO_WAVE_VD_VQ_INJECT_VD_VAL_SET(vq_val);
}

/**
 * @brief QEO disable vd vq inject for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 */
static inline void qeo_wave_disable_vd_vq_inject(QEO_Type *base, uint8_t index)
{
    assert(index < 3);
    base->WAVE.MODE &= ~(1U << (QEO_WAVE_MODE_EN_WAVE0_VD_VQ_INJECT_SHIFT + index));
}

/**
 * @brief QEO load vd vq inject value for wave mode
 * @param [in] base QEO base address
 */
static inline void qeo_wave_load_vd_vq(QEO_Type *base)
{
    base->WAVE.VD_VQ_LOAD = QEO_WAVE_VD_VQ_LOAD_LOAD_MASK;
}

/**
 * @brief QEO enable amplitude for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 * @param [in] amp amplitude value
 */
static inline void qeo_wave_enable_amplitude(QEO_Type *base, uint8_t index, double amp)
{
    assert(amp > 0);
    uint32_t val = (uint32_t)(amp * (1U << 12U));
    base->WAVE.AMPLITUDE[index] = QEO_WAVE_AMPLITUDE_EN_SCAL_MASK | QEO_WAVE_AMPLITUDE_AMP_VAL_SET(val);
}

/**
 * @brief QEO disable amplitude for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 */
static inline void qeo_wave_disable_amplitude(QEO_Type *base, uint8_t index)
{
    base->WAVE.AMPLITUDE[index] &= ~QEO_WAVE_AMPLITUDE_EN_SCAL_MASK;
}

/**
 * @brief QEO set mid point shift for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 * @param [in] shift mid point shift value
 */
static inline void qeo_wave_set_mid_point_shift(QEO_Type *base, uint8_t index, double shift)
{
    int32_t val = (int32_t)(shift * (1U << 27U));
    base->WAVE.MID_POINT[index] = QEO_WAVE_MID_POINT_VAL_SET(val);
}

/**
 * @brief QEO set max limmit for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 * @param [in] limit0 limit0 value
 * @param [in] limit1 limit1 value
 */
static inline void qeo_wave_set_max_limit(QEO_Type *base, uint8_t index, uint32_t limit0, uint32_t limit1)
{
    base->WAVE.LIMIT[index].MAX = QEO_WAVE_LIMIT_MAX_LIMIT0_SET(limit0) | QEO_WAVE_LIMIT_MAX_LIMIT1_SET(limit1);
}

/**
 * @brief QEO set min limmit for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 * @param [in] limit0 limit0 value
 * @param [in] limit1 limit1 value
 */
static inline void qeo_wave_set_min_limit(QEO_Type *base, uint8_t index, uint32_t limit0, uint32_t limit1)
{
    base->WAVE.LIMIT[index].MIN = QEO_WAVE_LIMIT_MIN_LIMIT0_SET(limit0) | QEO_WAVE_LIMIT_MIN_LIMIT1_SET(limit1);
}

/**
 * @brief QEO set deadzone shift for wave mode
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 * @param [in] shift deadzone shift value
 */
static inline void qeo_wave_set_deadzone_shift(QEO_Type *base, uint8_t index, int16_t shift)
{
    base->WAVE.DEADZONE_SHIFT[index] = QEO_WAVE_DEADZONE_SHIFT_VAL_SET(shift);
}

/**
 * @brief QEO get wave output value
 * @param [in] base QEO base address
 * @param [in] index wave index(0/1/2)
 * @retval wave output value
 */
static inline uint16_t qeo_get_wave_output_val(QEO_Type *base, uint8_t index)
{
    if (index == 0) {
        return QEO_DEBUG0_WAVE0_GET(base->DEBUG0);
    } else if (index == 1) {
        return QEO_DEBUG0_WAVE1_GET(base->DEBUG0);
    } else if (index  == 2) {
        return QEO_DEBUG1_WAVE2_GET(base->DEBUG1);
    }
    return 0;
}

/**
 * @brief QEO wave get defalut mode config
 * @param [in] base QEO base address
 * @param [in] config qeo_wave_mode_t
 */
void qeo_wave_get_default_mode_config(QEO_Type *base, qeo_wave_mode_t *config);

/**
 * @brief QEO wave config mode
 * @param [in] base QEO base address
 * @param [in] config qeo_wave_mode_t
 */
void qeo_wave_config_mode(QEO_Type *base, qeo_wave_mode_t *config);

/* ABZ API */
/**
 * @brief QEO set resolution lines for ABZ mode
 * @param [in] base QEO base address
 * @param [in] lines resolution lines
 */
static inline void qeo_abz_set_resolution_lines(QEO_Type *base, uint32_t lines)
{
    base->ABZ.RESOLUTION = QEO_ABZ_RESOLUTION_LINES_SET(lines);
}

/**
 * @brief QEO set phase shift for ABZ mode
 * @param [in] base QEO base address
 * @param [in] index ABZ index(0/1/2)
 * @param [in] angle left shift angle
 */
static inline void qeo_abz_set_phase_shift(QEO_Type *base, uint8_t index, double angle)
{
    assert((angle >= 0) && (angle <= 360));
    uint32_t val = (uint32_t)(angle * 0x10000U / 360);
    base->ABZ.PHASE_SHIFT[index] = QEO_ABZ_PHASE_SHIFT_VAL_SET(val);
}

/**
 * @brief QEO set max frequency for ABZ mode
 * @param [in] base QEO base address
 * @param [in] src_freq QEO(MOTO system) frequency
 * @param [in] freq abz signal frequency (A pulse frequency)
 * @retval status_success or status_invalid_argument
 */
hpm_stat_t qeo_abz_set_max_frequency(QEO_Type *base, uint32_t src_freq, uint32_t freq);

/**
 * @brief QEO set wdog frequency for ABZ mode
 * @param [in] base QEO base address
 * @param [in] src_freq QEO(MOTO system) frequency
 * @param [in] freq wdog frequency
 * @retval status_success or status_invalid_argument
 */
hpm_stat_t qeo_abz_set_wdog_frequency(QEO_Type *base, uint32_t src_freq, uint32_t freq);

/**
 * @brief QEO disable wdog for ABZ mode
 * @param [in] base QEO base address
 */
static inline void qeo_abz_disable_wdog(QEO_Type *base)
{
    base->ABZ.MODE &= ~QEO_ABZ_MODE_EN_WDOG_MASK;
}

/**
 * @brief QEO config reverse edge for ABZ mode
 * @param [in] base QEO base address
 * @param [in] speed_pulse_negedge true for reverse edge point speed pulse's negedge
 * false for reverse edge point between speed pulse's posedge and negedge, min period dedicated by the num line_width
 *
 * @note take effect when ABZ work on qeo_abz_output_pulse_revise mode
 */
static inline void qeo_abz_config_reverse_edge(QEO_Type *base, bool speed_pulse_negedge)
{
    if (speed_pulse_negedge) {
        base->ABZ.MODE |= QEO_ABZ_MODE_REVERSE_EDGE_TYPE_MASK;
    } else {
        base->ABZ.MODE &= ~QEO_ABZ_MODE_REVERSE_EDGE_TYPE_MASK;
    }
}

/**
 * @brief QEO sync position for ABZ mode
 * @param [in] base QEO base address
 * @param [in] lines ABZ line counter
 * @param [in] sync_pos the position value to be synchronized
 */
void qeo_abz_position_sync(QEO_Type *base, uint32_t lines, uint32_t sync_pos);

/**
 * @brief QEO ABZ get default mode config
 * @param [in] base QEO base address
 * @param [in] config qeo_abz_mode_t
 */
void qeo_abz_get_default_mode_config(QEO_Type *base, qeo_abz_mode_t *config);

/**
 * @brief QEO ABZ config mode
 * @param [in] base QEO base address
 * @param [in] config qeo_abz_mode_t
 */
void qeo_abz_config_mode(QEO_Type *base, qeo_abz_mode_t *config);

/* PWM API */
/**
 * @brief QEO set resolution lines for PWM mode
 * @param [in] base QEO base address
 * @param [in] lines resolution lines
 */
static inline void qeo_pwm_set_resolution_lines(QEO_Type *base, uint32_t lines)
{
    base->PWM.RESOLUTION = QEO_PWM_RESOLUTION_LINES_SET(lines);
}

/**
 * @brief QEO set phase shift for PWM mode
 * @param [in] base QEO base address
 * @param [in] index PWM index(0/1/2/3)
 * @param [in] angle left shift angle
 */
static inline void qeo_pwm_set_phase_shift(QEO_Type *base, uint8_t index, double angle)
{
    assert((angle >= 0) && (angle <= 360));
    uint32_t val = (uint32_t)(angle * 0x10000U / 360);
    base->PWM.PHASE_SHIFT[index] = QEO_PWM_PHASE_SHIFT_VAL_SET(val);
}

/**
 * @brief QEO PWM check if it is triggered by hardware to enter safety mode
 *
 * @note This bit is only valid if the hardware trigger source has not been cleared
 *
 * @param [in] base QEO base address
 * @retval true or false
 */
static inline bool qeo_pwm_check_hardware_trig_safety(QEO_Type *base)
{
    return ((base->STATUS & QEO_STATUS_PWM_SAFETY_MASK) != 0) ? true : false;
}

/**
 * @brief QEO PWM select phase table
 * @param [in] base QEO base address
 * @param [in] positive true for using positive phase table, false for using negative phase table
 */
static inline void qeo_pwm_select_phase_table(QEO_Type *base, bool positive)
{
    if (positive) {
        base->PWM.MODE &= ~QEO_PWM_MODE_REVISE_UP_DN_MASK;
    } else {
        base->PWM.MODE |= QEO_PWM_MODE_REVISE_UP_DN_MASK;
    }
}

/**
 * @brief QEO PWM enter safety mode by software
 *
 * @note call qeo_pwm_software_exit_safety to exit safety mode
 *
 * @param [in] base QEO base address
 */
static inline void qeo_pwm_software_enter_safety(QEO_Type *base)
{
    base->PWM.MODE |= QEO_PWM_MODE_PWM_ENTER_SAFETY_MODE_MASK;
}

/**
 * @brief QEO PWM exit safety mode by software
 * @param [in] base QEO base address
 */
static inline void qeo_pwm_software_exit_safety(QEO_Type *base)
{
    base->PWM.MODE &= ~QEO_PWM_MODE_PWM_ENTER_SAFETY_MODE_MASK;
}

/**
 * @brief QEO PWM get default mode config
 * @param [in] base QEO base address
 * @param [in] config qeo_pwm_mode_t
 */
void qeo_pwm_get_default_mode_config(QEO_Type *base, qeo_pwm_mode_t *config);

/**
 * @brief QEO PWM config mode
 * @param [in] base QEO base address
 * @param [in] config qeo_pwm_mode_t
 */
void qeo_pwm_config_mode(QEO_Type *base, qeo_pwm_mode_t *config);

/**
 * @brief QEO PWM get default safety table
 * @param [in] base QEO base address
 * @param [in] table qeo_pwm_safety_output_table_t
 */
void qeo_pwm_get_default_safety_table_config(QEO_Type *base, qeo_pwm_safety_output_table_t *table);

/**
 * @brief QEO PWM get default phase table
 * @param [in] base QEO base address
 * @param [in] table qeo_pwm_phase_output_table_t
 */
void qeo_pwm_get_default_phase_table_config(QEO_Type *base, qeo_pwm_phase_output_table_t *table);

/**
 * @brief QEO PWM config safety table
 * @param [in] base QEO base address
 * @param [in] table qeo_pwm_safety_output_table_t
 */
void qeo_pwm_config_safety_table(QEO_Type *base, qeo_pwm_safety_output_table_t *table);

/**
 * @brief QEO PWM onfig phase table
 * @param [in] base QEO base address
 * @param [in] index phase table index
 * @param [in] table qeo_pwm_phase_output_table_t
 */
void qeo_pwm_config_phase_table(QEO_Type *base, uint8_t index, qeo_pwm_phase_output_table_t *table);

/**
 * @brief QEO enable software position inject
 * @param [in] base QEO base address
 */
static inline void qeo_enable_software_position_inject(QEO_Type *base)
{
    base->POSTION_SEL |= QEO_POSTION_SEL_POSTION_SEL_MASK;
}

/**
 * @brief QEO software inject position
 * @param [in] base QEO base address
 * @param [in] position position value
 */
static inline void qeo_software_position_inject(QEO_Type *base, uint32_t position)
{
    base->POSTION_SOFTWARE = QEO_POSTION_SOFTWARE_POSTION_SOFTWAVE_SET(position);
}

/**
 * @brief QEO disable software position inject, QEO will using position from hardware
 * @param [in] base QEO base address
 */
static inline void qeo_disable_software_position_inject(QEO_Type *base)
{
    base->POSTION_SEL &= ~QEO_POSTION_SEL_POSTION_SEL_MASK;
}

/**
 * @brief QEO check calculate finish status
 * @param [in] base QEO base address
 * @retval true or false
 */
static inline bool qeo_check_calculate_finish(QEO_Type *base)
{
    return (QEO_DEBUG1_QEO_FINISH_GET(base->DEBUG1) != 0) ? true : false;
}

#ifdef __cplusplus
}
#endif
/**
 * @}
 */
#endif /* HPM_QEO_DRV_H */