From f75abd1037a5c2eb119533eb2f4c7c16d874abf2 Mon Sep 17 00:00:00 2001
From: Stephane D'Alu <sdalu@sdalu.com>
Date: Thu, 7 Jul 2016 21:25:51 +0200
Subject: added qeiAdjustI. added new field and checking in STM32
---
os/hal/ports/NRF51/NRF51822/hal_qei_lld.c | 38 +----------------
os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c | 2 +
os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h | 67 ++++++++++++++++++++++++++++++
3 files changed, 70 insertions(+), 37 deletions(-)
(limited to 'os/hal/ports')
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. */
/*===========================================================================*/
--
cgit v1.2.3