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/**
 * @file qei_dspic30f.c
 * @author Sebastien CAUX (sebcaux)
 * @copyright Robotips 2016-2017
 *
 * @date April 18, 2016, 22:33 PM
 *
 * @brief Quadrature Encoder Interface support driver for dsPIC30F.
 * Only one QEI device could be present in this architecture.
 *
 * Implementation based on Microchip document DS70063D :
 *  http://ww1.microchip.com/downloads/en/DeviceDoc/70063D.pdf
 */

#include "qei.h"

#include <archi.h>

#if !defined (QEI_COUNT) || QEI_COUNT==0
  #warning No device QEI periph on the current device
#endif

uint8_t qei_state = 0;

/**
 * @brief Gives a free QEI device number and open it
 * @return QEI device number
 */
rt_dev_t qei_getFreeDevice()
{
#if QEI_COUNT>=1
    uint8_t i;
    rt_dev_t device;

    if (qei_state == 0)
    {
        return NULLDEV;
    }

    device = MKDEV(DEV_CLASS_QEI, 0);

    qei_open(device);

    return device;
#else
    return NULLDEV;
#endif
}

/**
 * @brief Open a QEI
 * @param device QEI device number
 * @return 0 if ok, -1 in case of error
 */
int qei_open(rt_dev_t device)
{
#if QEI_COUNT>=1
    uint8_t qei = MINOR(device);
    if (qei != 0)
    {
        return -1;
    }
    if (qei_state == 1)
    {
        return -1;
    }

    qei_state = 1;

    return 0;
#else
    return -1;
#endif
}

/**
 * @brief Close a QEI
 * @param device QEI device number
 * @return 0 if ok, -1 in case of error
 */
int qei_close(rt_dev_t device)
{
#if QEI_COUNT>=1
    uint8_t qei = MINOR(device);
    if (qei != 0)
    {
        return -1;
    }

    qei_disable(device);

    qei_state = 0;
    return 0;
#else
    return -1;
#endif
}

/**
 * @brief Enable the specified QEI device
 * @param device QEI device number
 * @return 0 if ok, -1 in case of error
 */
int qei_enable(rt_dev_t device)
{
#if QEI_COUNT>=1
    uint8_t qei = MINOR(device);
    if (qei != 0)
    {
        return -1;
    }
    QEICONbits.QEIM = 0b111; // TODO, review this taking care of setConfig
    return 0;
#else
    return -1;
#endif
}

/**
 * @brief Disable the specified QEI device
 * @param device QEI device number
 * @return 0 if ok, -1 in case of error
 */
int qei_disable(rt_dev_t device)
{
#if QEI_COUNT>=1
    uint8_t qei = MINOR(device);
    if (qei != 0)
    {
        return -1;
    }
    QEICONbits.QEIM = 0;
    return 0;
#else
    return -1;
#endif
}

/**
 * Configures the specified QEI device with bits in config
 * @param device QEI device number
 * @param config config bit
 * @return 0 if ok, -1 in case of error
 */
int qei_setConfig(rt_dev_t device, uint16_t config)
{
#if QEI_COUNT>=1
    uint8_t qei = MINOR(device);
    if (qei != 0)
    {
        return -1;
    }
    // TODO
    return 0;
#else
    return -1;
#endif
}

/**
 * Returns the actual position of the specified QEI
 * @param device QEI device number
 * @return position
 */
uint16_t qei_getValue(rt_dev_t device)
{
  #if QEI_COUNT>=1
    uint8_t qei = MINOR(device);
    if (qei != 0)
    {
        return -1;
    }
    return POSCNT;
#else
    return 0;
#endif
}

int qei_setHomeValue(rt_dev_t device, uint16_t home)
{
    // TODO implement me
    return 0;
}