conditionally add support for overflow variant

2 files changed, 39 insertions, 29 deletions

diff --git a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
index 595df89..069c362 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
+++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
@@ -47,14 +47,18 @@ bool qei_adjust_count(qeicnt_t *count, qeidelta_t *delta,
       *delta = 0;

       *count = (min + (_count - (max - _delta))) - 1;

       break;

+#if HAL_QEI_SUPPORT_OVERFLOW_DISCARD == TRUE

     case QEI_OVERFLOW_DISCARD:

       *delta = _delta;

       *count = _count;

       break;

+#endif

+#if HAL_QEI_SUPPORT_OVERFLOW_MINMAX == TRUE

     case QEI_OVERFLOW_MINMAX:

       *delta = _count - (max - _delta);

       *count = max;

       break;

+#endif

     }

     return true;

     

@@ -65,14 +69,18 @@ bool qei_adjust_count(qeicnt_t *count, qeidelta_t *delta,
       *delta = 0;

       *count = (max + (_count - (min - _delta))) + 1;

     break;

+#if HAL_QEI_SUPPORT_OVERFLOW_DISCARD == TRUE

     case QEI_OVERFLOW_DISCARD:

       *delta = _delta;

       *count = _count;

       break;

+#endif

+#if HAL_QEI_SUPPORT_OVERFLOW_MINMAX == TRUE

     case QEI_OVERFLOW_MINMAX:

       *delta = _count - (min - _delta);

       *count = min;

       break;

+#endif

     }

     return true;

 

@@ -249,7 +257,6 @@ void qei_lld_start(QEIDriver *qeip) {
 #else

     qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk;

 #endif

-    

 #if NRF51_QEI_USE_QDEC0 == TRUE

     if (&QEID1 == qeip) {

       nvicEnableVector(QDEC_IRQn, NRF51_QEI_QDEC0_IRQ_PRIORITY);

@@ -309,12 +316,13 @@ void qei_lld_stop(QEIDriver *qeip) {
   if (qeip->state == QEI_READY) {

     qdec->TASKS_STOP = 1;

     qdec->ENABLE     = 0;

+

+    // Unset interrupt masks and disable interrupt

 #if NRF51_QEI_USE_QDEC0 == TRUE

     if (&QEID1 == qeip) {

       nvicDisableVector(QDEC_IRQn);

     }

 #endif

-

 #if NRF51_QEI_USE_ACC_OVERFLOW_CB == TRUE

     qdec->INTENCLR = QDEC_INTENCLR_REPORTRDY_Msk |

 	             QDEC_INTENCLR_ACCOF_Msk;

@@ -362,7 +370,6 @@ void qei_lld_disable(QEIDriver *qeip) {
   qeip->qdec->TASKS_STOP = 1;

 }

 

-

 /**

  * @brief   Adjust counter

  *

@@ -399,8 +406,6 @@ qeidelta_t qei_lld_adjust_count(QEIDriver *qeip, qeidelta_t delta) {
   // Remaining delta

   return delta;

 }

-  

-

 

 #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 aba7b59..4de946e 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h
+++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h
@@ -41,6 +41,9 @@
 #define QEI_COUNT_MIN (-2147483648)

 #define QEI_COUNT_MAX (2147483647)

 

+#define HAL_QEI_SUPPORT_OVERFLOW_MINMAX  TRUE

+#define HAM_QEI_SUPPORT_OVERFLOW_DISCARD TRUE

+

 

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

 /* Driver pre-compile time settings.                                         */

@@ -105,8 +108,6 @@
 /* Driver data structures and types.                                         */

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

 

-

-

 /**

  * @brief   QEI count mode.

  */

@@ -118,41 +119,45 @@ typedef enum {
  * @brief   QEI resolution.

  */

 typedef enum {

-  QEI_RESOLUTION_128us   = 0x00UL, /**< 128us sample period. */

-  QEI_RESOLUTION_256us   = 0x01UL, /**< 256us sample period. */

-  QEI_RESOLUTION_512us   = 0x02UL, /**< 512us sample period. */

-  QEI_RESOLUTION_1024us  = 0x03UL, /**< 1024us sample period. */

-  QEI_RESOLUTION_2048us  = 0x04UL, /**< 2048us sample period. */

-  QEI_RESOLUTION_4096us  = 0x05UL, /**< 4096us sample period. */

-  QEI_RESOLUTION_8192us  = 0x06UL, /**< 8192us sample period. */

-  QEI_RESOLUTION_16384us = 0x07UL, /**< 16384us sample period. */

+  QEI_RESOLUTION_128us   = 0x00UL,  /**<   128us sample period. */

+  QEI_RESOLUTION_256us   = 0x01UL,  /**<   256us sample period. */

+  QEI_RESOLUTION_512us   = 0x02UL,  /**<   512us sample period. */

+  QEI_RESOLUTION_1024us  = 0x03UL,  /**<  1024us sample period. */

+  QEI_RESOLUTION_2048us  = 0x04UL,  /**<  2048us sample period. */

+  QEI_RESOLUTION_4096us  = 0x05UL,  /**<  4096us sample period. */

+  QEI_RESOLUTION_8192us  = 0x06UL,  /**<  8192us sample period. */

+  QEI_RESOLUTION_16384us = 0x07UL,  /**< 16384us sample period. */

 } qeiresolution_t;

 

 /**

  * @brief   Clusters of samples.

  */

 typedef enum {

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

-  QEI_REPORT_40          = 0x01UL, /**< 40 samples per report. */

-  QEI_REPORT_80          = 0x02UL, /**< 80 samples per report. */

-  QEI_REPORT_120         = 0x03UL, /**< 120 samples per report. */

-  QEI_REPORT_160         = 0x04UL, /**< 160 samples per report. */

-  QEI_REPORT_200         = 0x05UL, /**< 200 samples per report. */

-  QEI_REPORT_240         = 0x06UL, /**< 240 samples per report. */

-  QEI_REPORT_280         = 0x07UL, /**< 280 samples per report. */

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

+  QEI_REPORT_40          = 0x01UL,  /**<  40 samples per report. */

+  QEI_REPORT_80          = 0x02UL,  /**<  80 samples per report. */

+  QEI_REPORT_120         = 0x03UL,  /**< 120 samples per report. */

+  QEI_REPORT_160         = 0x04UL,  /**< 160 samples per report. */

+  QEI_REPORT_200         = 0x05UL,  /**< 200 samples per report. */

+  QEI_REPORT_240         = 0x06UL,  /**< 240 samples per report. */

+  QEI_REPORT_280         = 0x07UL,  /**< 280 samples per report. */

 } qeireport_t;

 

+

+// XXX: to be moved in hal_qei

 /**

  * @brief   Handling of counter overflow/underflow.

  */

 typedef enum {

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

-  QEI_OVERFLOW_DISCARD = 1, /**< Counter doesn't change.                */

-  QEI_OVERFLOW_MINMAX  = 2, /**< Counter will be updated to min or max. */

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

+#if HAL_QEI_SUPPORT_OVERFLOW_DISCARD == TRUE

+  QEI_OVERFLOW_DISCARD = 1,     /**< Counter doesn't change.                */

+#endif

+#if HAL_QEI_SUPPORT_OVERFLOW_MINMAX == TRUE

+  QEI_OVERFLOW_MINMAX  = 2,     /**< Counter will be updated to min or max. */

+#endif

 } qeioverflow_t;

 

-

-

 /**

  * @brief   QEI direction inversion.

  */

@@ -191,7 +196,7 @@ typedef struct {
   /**

    * @brief   Handling of counter overflow/underflow

    *

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

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

    *          according to:

    *            - QEI_OVERFLOW_DISCARD:

    *                discard the update value, counter doesn't change