diff options
Diffstat (limited to 'os/hal/ports/NRF51/NRF51822/hal_qei_lld.c')
| -rw-r--r-- | os/hal/ports/NRF51/NRF51822/hal_qei_lld.c | 154 |
1 files changed, 25 insertions, 129 deletions
diff --git a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c index 069c362..fbaf3aa 100644 --- a/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c +++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c @@ -16,7 +16,7 @@ /**
* @file NRF51/hal_qei_lld.c
- * @brief NRF51 QEI subsystem low level driver header.
+ * @brief NRF51 QEI subsystem low level driver.
*
* @addtogroup QEI
* @{
@@ -28,110 +28,6 @@ /*===========================================================================*/
-/* To be moved in hal_qei */
-/*===========================================================================*/
-
-static inline
-bool qei_adjust_count(qeicnt_t *count, qeidelta_t *delta,
- qeicnt_t min, qeicnt_t max, qeioverflow_t mode) {
- // See: https://www.securecoding.cert.org/confluence/display/c/INT32-C.+Ensure+that+operations+on+signed+integers+do+not+result+in+overflow
-
- // Get values
- const qeicnt_t _count = *count;
- const qeidelta_t _delta = *delta;
-
- // Overflow operation
- if ((_delta > 0) && (_count > (max - _delta))) {
- switch(mode) {
- case QEI_OVERFLOW_WRAP:
- *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;
-
- // Underflow operation
- } else if ((_delta < 0) && (_count < (min - _delta))) {
- switch(mode) {
- case QEI_OVERFLOW_WRAP:
- *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;
-
- // Normal operation
- } else {
- *delta = 0;
- *count = _count + _delta;
- return false;
- }
-}
-
-/**
- * @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 qeiAdjust(QEIDriver *qeip, qeidelta_t delta) {
- osalDbgCheck(qeip != NULL);
- osalDbgAssert((qeip->state == QEI_ACTIVE), "invalid state");
-
- osalSysLock();
- delta = qei_lld_adjust_count(qeip, delta);
- osalSysUnlock();
-
- return delta;
-}
-
-/**
- * @brief Set counter value
- *
- * @param[in] qeip pointer to the @p QEIDriver object
- * @param[in] value the counter value
- *
- * @api
- */
-void qeiSetCount(QEIDriver *qeip, qeicnt_t value) {
- osalDbgCheck(qeip != NULL);
- osalDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE),
- "invalid state");
-
- osalSysLock();
- qei_lld_set_count(qeip, value);
- osalSysUnlock();
-}
-
-
-/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
@@ -163,7 +59,7 @@ QEIDriver QEID1; static void serve_interrupt(QEIDriver *qeip) {
NRF_QDEC_Type *qdec = qeip->qdec;
-#if NRF51_QEI_USE_ACC_OVERFLOW_CB == TRUE
+#if NRF51_QEI_USE_ACC_OVERFLOWED_CB == TRUE
/* Accumulator overflowed
*/
if (qdec->EVENTS_ACCOF) {
@@ -180,15 +76,15 @@ static void serve_interrupt(QEIDriver *qeip) { if (qdec->EVENTS_REPORTRDY) {
qdec->EVENTS_REPORTRDY = 0;
- // Read (and clear counters due to shortcut)
+ /* Read (and clear counters due to shortcut) */
int16_t acc = ( int16_t)qdec->ACCREAD;
uint16_t accdbl = (uint16_t)qdec->ACCDBLREAD;
- // Inverse direction if requested
+ /* Inverse direction if requested */
if (qeip->config->dirinv)
acc = -acc; // acc is [-1024..+1023], its okay on int16_t
- // Adjust counter
+ /* Adjust counter */
qei_lld_adjust_count(qeip, acc);
}
}
@@ -241,7 +137,7 @@ void qei_lld_start(QEIDriver *qeip) { const QEIConfig *cfg = qeip->config;
if (qeip->state == QEI_STOP) {
- // Set Pins
+ /* Set Pins */
palSetLineMode(cfg->phase_a, PAL_MODE_INPUT);
palSetLineMode(cfg->phase_b, PAL_MODE_INPUT);
#if NRF51_QEI_USE_LED == TRUE
@@ -250,8 +146,8 @@ void qei_lld_start(QEIDriver *qeip) { }
#endif
- // Set interrupt masks and enable interrupt
-#if NRF51_QEI_USE_ACC_OVERFLOW_CB == TRUE
+ /* Set interrupt masks and enable interrupt */
+#if NRF51_QEI_USE_ACC_OVERFLOWED_CB == TRUE
qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk |
QDEC_INTENSET_ACCOF_Msk;
#else
@@ -263,11 +159,11 @@ void qei_lld_start(QEIDriver *qeip) { }
#endif
- // Select pin for Phase A and Phase B
+ /* Select pin for Phase A and Phase B */
qdec->PSELA = PAL_PAD(cfg->phase_a);
qdec->PSELB = PAL_PAD(cfg->phase_b);
- // Select (optional) pin for LED, and configure it
+ /* Select (optional) pin for LED, and configure it */
#if NRF51_QEI_USE_LED == TRUE
qdec->PSELLED = PAL_PAD(cfg->led);
qdec->LEDPOL = ((cfg->led_polarity == QEI_LED_POLARITY_LOW)
@@ -279,22 +175,22 @@ void qei_lld_start(QEIDriver *qeip) { qdec->PSELLED = (uint32_t)-1;
#endif
- // Set sampling resolution and debouncing
+ /* Set sampling resolution and debouncing */
qdec->SAMPLEPER = cfg->resolution;
qdec->DBFEN = (cfg->debouncing ? QDEC_DBFEN_DBFEN_Enabled
: QDEC_DBFEN_DBFEN_Disabled)
<< QDEC_DBFEN_DBFEN_Pos;
- // Define minimum sampling before reporting
- // and create shortcut to clear accumulation
+ /* Define minimum sampling before reporting
+ and create shortcut to clear accumulation */
qdec->REPORTPER = cfg->report;
qdec->SHORTS = QDEC_SHORTS_REPORTRDY_READCLRACC_Msk;
- // Enable peripheric
+ /* Enable peripheric */
qdec->ENABLE = 1;
}
- // Initially state is stopped, events cleared
+ /* Initially state is stopped, events cleared */
qdec->TASKS_STOP = 1;
qdec->EVENTS_SAMPLERDY = 0;
qdec->EVENTS_REPORTRDY = 0;
@@ -317,20 +213,20 @@ void qei_lld_stop(QEIDriver *qeip) { qdec->TASKS_STOP = 1;
qdec->ENABLE = 0;
- // Unset interrupt masks and disable interrupt
+ /* 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
+#if NRF51_QEI_USE_ACC_OVERFLOWED_CB == TRUE
qdec->INTENCLR = QDEC_INTENCLR_REPORTRDY_Msk |
QDEC_INTENCLR_ACCOF_Msk;
#else
qdec->INTENCLR = QDEC_INTENCLR_REPORTRDY_Msk;
#endif
- // Return pins to reset state
+ /* Return pins to reset state */
palSetLineMode(cfg->phase_a, PAL_MODE_RESET);
palSetLineMode(cfg->phase_b, PAL_MODE_RESET);
#if NRF51_QEI_USE_LED == TRUE
@@ -349,7 +245,7 @@ void qei_lld_stop(QEIDriver *qeip) { * @notapi
*/
void qei_lld_enable(QEIDriver *qeip) {
-#if NRF51_QEI_USE_ACC_OVERFLOW_CB == TRUE
+#if NRF51_QEI_USE_ACC_OVERFLOWED_CB == TRUE
qeip->overflowed = 0;
#endif
@@ -380,7 +276,7 @@ void qei_lld_disable(QEIDriver *qeip) { * @notapi
*/
qeidelta_t qei_lld_adjust_count(QEIDriver *qeip, qeidelta_t delta) {
- // Get boundaries
+ /* Get boundaries */
qeicnt_t min = QEI_COUNT_MIN;
qeicnt_t max = QEI_COUNT_MAX;
if (qeip->config->min != qeip->config->max) {
@@ -388,22 +284,22 @@ qeidelta_t qei_lld_adjust_count(QEIDriver *qeip, qeidelta_t delta) { max = qeip->config->max;
}
- // Snapshot counter for later comparison
+ /* Snapshot counter for later comparison */
qeicnt_t count = qeip->count;
- // Adjust counter value
+ /* Adjust counter value */
bool overflowed = qei_adjust_count(&qeip->count, &delta,
min, max, qeip->config->overflow);
- // Notify for value change
+ /* Notify for value change */
if ((qeip->count != count) && qeip->config->notify_cb)
qeip->config->notify_cb(qeip);
- // Notify for overflow (passing the remaining delta)
+ /* Notify for overflow (passing the remaining delta) */
if (overflowed && qeip->config->overflow_cb)
qeip->config->overflow_cb(qeip, delta);
- // Remaining delta
+ /* Remaining delta */
return delta;
}
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