cleanup

2 files changed, 61 insertions, 63 deletions

diff --git a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
index 0f8043d..7d78f1d 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
+++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca

+    ChibiOS - Copyright (C) 2016..2016 Stéphane D'Alu

 

     Licensed under the Apache License, Version 2.0 (the "License");

     you may not use this file except in compliance with the License.

@@ -15,8 +15,8 @@
 */

 

 /**

- * @file    TIMv1/hal_qei_lld.c

- * @brief   STM32 QEI subsystem low level driver header.

+ * @file    NRF51/hal_qei_lld.c

+ * @brief   NRF51 QEI subsystem low level driver header.

  *

  * @addtogroup QEI

  * @{

@@ -31,46 +31,14 @@
 /* Driver local definitions.                                                 */

 /*===========================================================================*/

 

-

-/*===========================================================================*/

-/* Driver exported variables.                                                */

-/*===========================================================================*/

-

-/**

- * @brief   QEID1 driver identifier.

- */

-#if NRF51_QEI_USE_QDEC1 || defined(__DOXYGEN__)

-QEIDriver QEID1;

-#endif

-

-

-/*===========================================================================*/

-/* Driver local variables and types.                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver local functions.                                                   */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Driver interrupt handlers.                                                */

-/*===========================================================================*/

-

-#if NRF51_QEI_USE_QDEC1 == TRUE

 /**

- * @brief   Quadrature decoder vector (QDEC)

+ * @brief   Common IRQ handler.

  *

- * @isr

+ * @param[in] qeip         pointer to an QEIDriver

  */

-OSAL_IRQ_HANDLER(Vector88) {

-  QEIDriver *qeip = &QEID1;

+static void serve_interrupt(QEIDriver *qeip) {

   NRF_QDEC_Type *qdec = qeip->qdec;

 

-  OSAL_IRQ_PROLOGUE();

-

-

-  osalSysLockFromISR();

-  

   if (qdec->EVENTS_ACCOF) {

       qdec->EVENTS_ACCOF = 0;

       qeip->overflowed++;

@@ -152,10 +120,43 @@ OSAL_IRQ_HANDLER(Vector88) {
       if (overflowed && qeip->config->overflow_cb)

 	  qeip->config->overflow_cb(qeip, delta);

   }

+}

 

-  

-  osalSysUnlockFromISR();

 

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   QEID1 driver identifier.

+ */

+#if NRF51_QEI_USE_QDEC1 || defined(__DOXYGEN__)

+QEIDriver QEID1;

+#endif

+

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+#if NRF51_QEI_USE_QDEC1 == TRUE

+/**

+ * @brief   Quadrature decoder vector (QDEC)

+ *

+ * @isr

+ */

+OSAL_IRQ_HANDLER(Vector88) {

+

+  OSAL_IRQ_PROLOGUE();

+  serve_interrupt(&QEID1);

   OSAL_IRQ_EPILOGUE();

 }

 #endif

@@ -263,6 +264,13 @@ void qei_lld_stop(QEIDriver *qeip) {
 #endif

     qdec->INTENCLR = QDEC_INTENSET_REPORTRDY_Msk |

 	             QDEC_INTENSET_ACCOF_Msk;

+

+    // Return pins to reset state

+    palSetLineMode(cfg->phase_a, PAL_MODE_RESET);

+    palSetLineMode(cfg->phase_b, PAL_MODE_RESET);

+    if (cfg->led != PAL_NOLINE) {

+	palSetLineMode(cfg->led, PAL_MODE_RESET);

+    }

   }

 }

 

@@ -294,10 +302,6 @@ void qei_lld_disable(QEIDriver *qeip) {
 }

 

 

-

-

-

-

 #endif /* HAL_USE_QEI */

 

 /** @} */

diff --git a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h
index f07a60a..40c751c 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h
+++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca

+    ChibiOS - Copyright (C) 2016..2016 Stéphane D'Alu

 

     Licensed under the Apache License, Version 2.0 (the "License");

     you may not use this file except in compliance with the License.

@@ -15,8 +15,8 @@
 */

 

 /**

- * @file    TIMv1/hal_qei_lld.h

- * @brief   STM32 QEI subsystem low level driver header.

+ * @file    NRF51/hal_qei_lld.h

+ * @brief   NRF51 QEI subsystem low level driver header.

  *

  * @addtogroup QEI

  * @{

@@ -28,7 +28,6 @@
 #if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)

 

 

-

 /*===========================================================================*/

 /* Driver constants.                                                         */

 /*===========================================================================*/

@@ -40,8 +39,6 @@
 #define QEI_COUNT_MAX 65535

 

 

-

-

 /*===========================================================================*/

 /* Driver pre-compile time settings.                                         */

 /*===========================================================================*/

@@ -104,7 +101,7 @@ typedef enum {
 } qeiresolution_t;

 

 /**

- *

+ * @brief   Clusters of samples.

  */

 typedef enum {

   QEI_REPORT_10          = 0x00UL, /**< 10 samples per report. */

@@ -117,9 +114,8 @@ typedef enum {
   QEI_REPORT_280         = 0x07UL, /**< 280 samples per report. */

 } qeireport_t;

 

-

 /**

- * @brief   Handling of counter overflow/underflow

+ * @brief   Handling of counter overflow/underflow.

  */

 typedef enum {

   QEI_OVERFLOW_WRAP    = 0, /**< Counter value will wrap around.        */

@@ -167,11 +163,8 @@ typedef struct {
   /**

    * @brief   Handling of counter overflow/underflow

    *

-   * @details When overflow callback is called, the counter value

-   *          is not updated, the decision on how to update is left

-   *          to the callback.

-   *

-   *          Three implementation are provided

+   * @details When overflow accours, the counter value is updated

+   *          according to:

    *            - QEI_OVERFLOW_DISCARD:

    *                discard the update value, counter doesn't change

    *            - QEI_OVERFLOW_MINMAX

@@ -183,17 +176,19 @@ typedef struct {
   /**

    * @brief   Min count value.

    * 

-   * @note    If min == max, the QEI_COUNT_MIN is used as default

+   * @note    If min == max, then QEI_COUNT_MIN is used.

    */

   qeicnt_t                  min;

   /**

    * @brief   Max count value.

    * 

-   * @note    If min == max, the QEI_COUNT_MAX is used as default

+   * @note    If min == max, then QEI_COUNT_MAX is used.

    */

   qeicnt_t                  max;

   /**

     * @brief  Notify of value change

+    *

+    * @note   Called from ISR context.

     */

   qeicallback_t             notify_cb;

   /**

@@ -201,6 +196,7 @@ typedef struct {
    *

    * @note    Overflow notification is performed after 

    *          value changed notification.

+   * @note    Called from ISR context.

    */

   void (*overflow_cb)(QEIDriver *qeip, qeidelta_t delta);

   /* End of the mandatory fields.*/

@@ -251,6 +247,7 @@ typedef struct {
     * @brief  Notify of internal accumulator overflowed

     * 

     * @note   MCU has discarded some of the samples.

+    * @note   Called from ISR context.

     */

   qeicallback_t             overflowed_cb;

 } QEIConfig;

@@ -277,9 +274,6 @@ struct QEIDriver {
   /* End of the mandatory fields.*/

   /**

    */

-  qeidelta_t                 delta;

-  /**

-   */

   qeicnt_t                   count;

   /**

    * @brief Number of time the MCU discarded updates due to