added qeiAdjustI. added new field and checking in STM32

5 files changed, 114 insertions, 44 deletions

diff --git a/os/hal/include/hal_qei.h b/os/hal/include/hal_qei.h
index 1032c84..ce4a089 100644
--- a/os/hal/include/hal_qei.h
+++ b/os/hal/include/hal_qei.h
@@ -147,8 +147,7 @@ extern "C" {
   qeicnt_t qeiGetCount(QEIDriver *qeip);

   qeidelta_t qeiUpdate(QEIDriver *qeip);

   qeidelta_t qeiUpdateI(QEIDriver *qeip);

-  bool qei_adjust_count(qeicnt_t *count, qeidelta_t *delta,

-			qeicnt_t min, qeicnt_t max, qeioverflow_t mode);

+  qeidelta_t qeiAdjustI(QEIDriver *qeip, qeidelta_t delta);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
index fbaf3aa..0979551 100644
--- a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
+++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
@@ -85,7 +85,7 @@ static void serve_interrupt(QEIDriver *qeip) {
       acc = -acc; // acc is [-1024..+1023], its okay on int16_t

 

     /* Adjust counter */

-    qei_lld_adjust_count(qeip, acc);

+    qeiAdjustI(qeip, acc);

   }

 }

 

@@ -266,42 +266,6 @@ void qei_lld_disable(QEIDriver *qeip) {
   qeip->qdec->TASKS_STOP = 1;

 }

 

-/**

- * @brief   Adjust counter

- *

- * @param[in] qeip      pointer to the @p QEIDriver object

- * @param[in] delta     value to use for adjustement

- * @return              remaining adjustement that were not applied

- *

- * @notapi

- */

-qeidelta_t qei_lld_adjust_count(QEIDriver *qeip, qeidelta_t delta) {

-  /* Get boundaries */

-  qeicnt_t min = QEI_COUNT_MIN;

-  qeicnt_t max = QEI_COUNT_MAX;

-  if (qeip->config->min != qeip->config->max) {

-    min = qeip->config->min;

-    max = qeip->config->max;

-  }

-

-  /* Snapshot counter for later comparison */

-  qeicnt_t count = qeip->count;

-

-  /* Adjust counter value */

-  bool overflowed = qei_adjust_count(&qeip->count, &delta,

-				     min, max, qeip->config->overflow);

-

-  /* Notify for value change */

-  if ((qeip->count != count) && qeip->config->notify_cb)

-    qeip->config->notify_cb(qeip);

-

-  /* Notify for overflow (passing the remaining delta) */

-  if (overflowed && qeip->config->overflow_cb)

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

-

-  /* Remaining delta */

-  return delta;

-}

 

 #endif /* HAL_USE_QEI */

 

diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
index ea051f7..ffc4992 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
@@ -150,6 +150,8 @@ void qei_lld_init(void) {
  * @notapi

  */

 void qei_lld_start(QEIDriver *qeip) {

+  osalDbgAssert((qeip->config->min == 0) || (qeip->config->max == 0),

+		"only min/max set to 0 is supported");

 

   if (qeip->state == QEI_STOP) {

     /* Clock activation and timer reset.*/

diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
index d0cb683..c708b5e 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
@@ -33,6 +33,16 @@
 /* Driver constants.                                                         */

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

 

+/**

+ * @brief Mininum usable value for defining counter underflow

+ */

+#define QEI_COUNT_MIN (0)

+

+/**

+ * @brief Maximum usable value for defining counter overflow

+ */

+#define QEI_COUNT_MAX (65535)

+

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

 /* Driver pre-compile time settings.                                         */

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

@@ -202,6 +212,14 @@
 #error "Invalid IRQ priority assigned to TIM8"

 #endif

 

+#if QEI_USE_OVERFLOW_DISCARD

+#error "QEI_USE_OVERFLOW_DISCARD not supported by this driver"

+#endif

+

+#if QEI_USE_OVERFLOW_MINMAX

+#error "QEI_USE_OVERFLOW_MINMAX not supported by this driver"

+#endif

+

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

 /* Driver data structures and types.                                         */

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

@@ -257,6 +275,45 @@ typedef struct {
    * @brief   Direction inversion.

    */

   qeidirinv_t               dirinv;

+  /**

+   * @brief   Handling of counter overflow/underflow

+   *

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

+   *          according to:

+   *            - QEI_OVERFLOW_DISCARD:

+   *                discard the update value, counter doesn't change

+   */

+  qeioverflow_t             overflow;

+  /**

+   * @brief   Min count value.

+   * 

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

+   *

+   * @note    Only min set to 0 / QEI_COUNT_MIN is supported.

+   */

+  qeicnt_t                  min;

+  /**

+   * @brief   Max count value.

+   * 

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

+   *

+   * @note    Only max set to 0 / QEI_COUNT_MAX is supported.

+   */

+  qeicnt_t                  max;

+  /**

+    * @brief  Notify of value change

+    *

+    * @note   Called from ISR context.

+    */

+  qeicallback_t             notify_cb;

+  /**

+   * @brief   Notify of overflow

+   *

+   * @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.*/

 } QEIConfig;

 

@@ -300,6 +357,16 @@ struct QEIDriver {
  */

 #define qei_lld_get_count(qeip) ((qeip)->tim->CNT)

 

+/**

+ * @brief   Set the counter value.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object

+ * @param[in] qeip      counter value

+ *

+ * @notapi

+ */

+#define qei_lld_set_count(qeip, value) 

+

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

 /* External declarations.                                                    */

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

diff --git a/os/hal/src/hal_qei.c b/os/hal/src/hal_qei.c
index abecdf8..eb6223e 100644
--- a/os/hal/src/hal_qei.c
+++ b/os/hal/src/hal_qei.c
@@ -42,10 +42,6 @@
 /* Driver local functions.                                                   */

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

 

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

-/* Driver exported functions.                                                */

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

-

 /**

  * @brief   Helper for correclty handling overflow/underflow

  *

@@ -66,6 +62,7 @@
  *                was due to occur

  *

  */

+static inline

 bool qei_adjust_count(qeicnt_t *count, qeidelta_t *delta,

 		      qeicnt_t min, qeicnt_t max, qeioverflow_t mode) {

   /* For information on signed integer overflow see:

@@ -131,6 +128,10 @@ bool qei_adjust_count(qeicnt_t *count, qeidelta_t *delta,
   }

 }

 

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

+/* Driver exported functions.                                                */

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

+

 /**

  * @brief   QEI Driver initialization.

  * @note    This function is implicitly invoked by @p halInit(), there is

@@ -284,13 +285,50 @@ qeidelta_t qeiAdjust(QEIDriver *qeip, qeidelta_t delta) {
   osalDbgAssert((qeip->state == QEI_ACTIVE), "invalid state");

 

   osalSysLock();

-  delta = qei_lld_adjust_count(qeip, delta);

+  delta = qeiAdjustI(qeip, delta);

   osalSysUnlock();

 

   return delta;

 }

 

 /**

+ * @brief   Adjust the counter by delta.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object.

+ * @param[in] delta     the adjustement value.

+ * @return              the remaining delta (can occur during overflow).

+ *

+ * @api

+ */

+qeidelta_t qeiAdjustI(QEIDriver *qeip, qeidelta_t delta) {

+  /* Get boundaries */

+  qeicnt_t min = QEI_COUNT_MIN;

+  qeicnt_t max = QEI_COUNT_MAX;

+  if (qeip->config->min != qeip->config->max) {

+    min = qeip->config->min;

+    max = qeip->config->max;

+  }

+

+  /* Get counter */

+  qeicnt_t count = qei_lld_get_count(qeip);

+  

+  /* Adjust counter value */

+  bool overflowed = qei_adjust_count(&count, &delta,

+				     min, max, qeip->config->overflow);

+

+  /* Notify for value change */

+  qei_lld_set_count(qeip, count);

+

+  /* Notify for overflow (passing the remaining delta) */

+  if (overflowed && qeip->config->overflow_cb)

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

+

+  /* Remaining delta */

+  return delta;

+}

+

+

+/**

  * @brief   Returns the counter delta from last reading.

  *

  * @param[in] qeip      pointer to the @p QEIDriver object