diff options
| author | Uladzimir Pylinski <barthess@yandex.ru> | 2016-07-07 21:58:53 +0300 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2016-07-07 21:58:53 +0300 |
| commit | c7f7b70596d200afb76c3c8a24d4ddaaa61a2f1e (patch) | |
| tree | c3acb08835925efc056c106cffb586dd0434395b | |
| parent | 0131027151415075106a82984b441ebe26d90047 (diff) | |
| parent | 9c88423d66e9b4eafecc658058f25f79e08ff120 (diff) | |
| download | ChibiOS-Contrib-c7f7b70596d200afb76c3c8a24d4ddaaa61a2f1e.tar.gz ChibiOS-Contrib-c7f7b70596d200afb76c3c8a24d4ddaaa61a2f1e.tar.bz2 ChibiOS-Contrib-c7f7b70596d200afb76c3c8a24d4ddaaa61a2f1e.zip | |
Merge pull request #85 from sdalu/qei
Merged QEI driver for NRF51
| -rw-r--r-- | os/hal/include/hal_qei.h | 30 | ||||
| -rw-r--r-- | os/hal/ports/NRF51/NRF51822/hal_qei_lld.c | 308 | ||||
| -rw-r--r-- | os/hal/ports/NRF51/NRF51822/hal_qei_lld.h | 390 | ||||
| -rw-r--r-- | os/hal/ports/NRF51/NRF51822/platform.mk | 6 | ||||
| -rw-r--r-- | os/hal/src/hal_qei.c | 123 |
5 files changed, 856 insertions, 1 deletions
diff --git a/os/hal/include/hal_qei.h b/os/hal/include/hal_qei.h index 92f03fc..1032c84 100644 --- a/os/hal/include/hal_qei.h +++ b/os/hal/include/hal_qei.h @@ -65,8 +65,36 @@ typedef struct QEIDriver QEIDriver; */
typedef void (*qeicallback_t)(QEIDriver *qeip);
+/**
+ * @brief Driver possible handling of counter overflow/underflow.
+ *
+ * @details When counter is going to overflow, the new value is
+ * computed according to this mode in such a way that
+ * the counter will either wrap around, stay unchange
+ * or reach min/max
+ *
+ * @note All driver implementation should support the
+ * QEI_OVERFLOW_WRAP mode.
+ *
+ * @note Mode QEI_OVERFLOW_DISCARD and QEI_OVERFLOW_MINMAX are included
+ * if QEI_USE_OVERFLOW_DISCARD and QEI_USE_OVERFLOW_MINMAX are
+ * set to TRUE in halconf_community.h and are not necessary supported
+ * by all drivers
+ */
+typedef enum {
+ QEI_OVERFLOW_WRAP = 0, /**< Counter value will wrap around. */
+#if QEI_USE_OVERFLOW_DISCARD == TRUE
+ QEI_OVERFLOW_DISCARD = 1, /**< Counter doesn't change. */
+#endif
+#if QEI_USE_OVERFLOW_MINMAX == TRUE
+ QEI_OVERFLOW_MINMAX = 2, /**< Counter will be updated upto min or max.*/
+#endif
+} qeioverflow_t;
+
+
#include "hal_qei_lld.h"
+
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
@@ -119,6 +147,8 @@ 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);
#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 new file mode 100644 index 0000000..fbaf3aa --- /dev/null +++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c @@ -0,0 +1,308 @@ +/*
+ 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.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file NRF51/hal_qei_lld.c
+ * @brief NRF51 QEI subsystem low level driver.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#include "hal.h"
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief QEID1 driver identifier.
+ */
+#if NRF51_QEI_USE_QDEC0 || defined(__DOXYGEN__)
+QEIDriver QEID1;
+#endif
+
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Common IRQ handler.
+ *
+ * @param[in] qeip pointer to an QEIDriver
+ */
+static void serve_interrupt(QEIDriver *qeip) {
+ NRF_QDEC_Type *qdec = qeip->qdec;
+
+#if NRF51_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ /* Accumulator overflowed
+ */
+ if (qdec->EVENTS_ACCOF) {
+ qdec->EVENTS_ACCOF = 0;
+
+ qeip->overflowed++;
+ if (qeip->config->overflowed_cb)
+ qeip->config->overflowed_cb(qeip);
+ }
+#endif
+
+ /* Report ready
+ */
+ if (qdec->EVENTS_REPORTRDY) {
+ qdec->EVENTS_REPORTRDY = 0;
+
+ /* 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 */
+ if (qeip->config->dirinv)
+ acc = -acc; // acc is [-1024..+1023], its okay on int16_t
+
+ /* Adjust counter */
+ qei_lld_adjust_count(qeip, acc);
+ }
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if NRF51_QEI_USE_QDEC0 == TRUE
+/**
+ * @brief Quadrature decoder vector (QDEC)
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector88) {
+
+ OSAL_IRQ_PROLOGUE();
+ serve_interrupt(&QEID1);
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level QEI driver initialization.
+ *
+ * @notapi
+ */
+void qei_lld_init(void) {
+
+#if NRF51_QEI_USE_QDEC0 == TRUE
+ /* Driver initialization.*/
+ qeiObjectInit(&QEID1);
+ QEID1.qdec = NRF_QDEC;
+#endif
+}
+
+/**
+ * @brief Configures and activates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_start(QEIDriver *qeip) {
+ NRF_QDEC_Type *qdec = qeip->qdec;
+ const QEIConfig *cfg = qeip->config;
+
+ if (qeip->state == QEI_STOP) {
+ /* Set Pins */
+ palSetLineMode(cfg->phase_a, PAL_MODE_INPUT);
+ palSetLineMode(cfg->phase_b, PAL_MODE_INPUT);
+#if NRF51_QEI_USE_LED == TRUE
+ if (cfg->led != PAL_NOLINE) {
+ palSetLineMode(cfg->led, PAL_MODE_INPUT);
+ }
+#endif
+
+ /* 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
+ qdec->INTENSET = QDEC_INTENSET_REPORTRDY_Msk;
+#endif
+#if NRF51_QEI_USE_QDEC0 == TRUE
+ if (&QEID1 == qeip) {
+ nvicEnableVector(QDEC_IRQn, NRF51_QEI_QDEC0_IRQ_PRIORITY);
+ }
+#endif
+
+ /* 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 */
+#if NRF51_QEI_USE_LED == TRUE
+ qdec->PSELLED = PAL_PAD(cfg->led);
+ qdec->LEDPOL = ((cfg->led_polarity == QEI_LED_POLARITY_LOW)
+ ? QDEC_LEDPOL_LEDPOL_ActiveLow
+ : QDEC_LEDPOL_LEDPOL_ActiveHigh)
+ << QDEC_LEDPOL_LEDPOL_Pos;
+ qdec->LEDPRE = cfg->led_warming;
+#else
+ qdec->PSELLED = (uint32_t)-1;
+#endif
+
+ /* 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 */
+ qdec->REPORTPER = cfg->report;
+ qdec->SHORTS = QDEC_SHORTS_REPORTRDY_READCLRACC_Msk;
+
+ /* Enable peripheric */
+ qdec->ENABLE = 1;
+ }
+
+ /* Initially state is stopped, events cleared */
+ qdec->TASKS_STOP = 1;
+ qdec->EVENTS_SAMPLERDY = 0;
+ qdec->EVENTS_REPORTRDY = 0;
+ qdec->EVENTS_ACCOF = 0;
+}
+
+/**
+ * @brief Deactivates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_stop(QEIDriver *qeip) {
+
+ NRF_QDEC_Type *qdec = qeip->qdec;
+ const QEIConfig *cfg = qeip->config;
+
+ 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_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 */
+ palSetLineMode(cfg->phase_a, PAL_MODE_RESET);
+ palSetLineMode(cfg->phase_b, PAL_MODE_RESET);
+#if NRF51_QEI_USE_LED == TRUE
+ if (cfg->led != PAL_NOLINE) {
+ palSetLineMode(cfg->led, PAL_MODE_RESET);
+ }
+#endif
+ }
+}
+
+/**
+ * @brief Enables the input capture.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_enable(QEIDriver *qeip) {
+#if NRF51_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ qeip->overflowed = 0;
+#endif
+
+ qeip->qdec->EVENTS_SAMPLERDY = 0;
+ qeip->qdec->EVENTS_REPORTRDY = 0;
+ qeip->qdec->EVENTS_ACCOF = 0;
+ qeip->qdec->TASKS_START = 1;
+}
+
+/**
+ * @brief Disables the input capture.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+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/NRF51/NRF51822/hal_qei_lld.h b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h new file mode 100644 index 0000000..5037591 --- /dev/null +++ b/os/hal/ports/NRF51/NRF51822/hal_qei_lld.h @@ -0,0 +1,390 @@ +/*
+ 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.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file NRF51/hal_qei_lld.h
+ * @brief NRF51 QEI subsystem low level driver header.
+ *
+ * @note Not tested with LED pin
+ *
+ * @note Pins are configured as input with no pull.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#ifndef HAL_QEI_LLD_H
+#define HAL_QEI_LLD_H
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @brief For LED active on LOW
+ */
+#define QEI_LED_POLARITY_LOW 0
+
+/**
+ * @brief For LED active on HIGH
+ */
+#define QEI_LED_POLARITY_HIGH 1
+
+/**
+ * @brief Mininum usable value for defining counter underflow
+ */
+#define QEI_COUNT_MIN (-2147483648)
+
+/**
+ * @brief Maximum usable value for defining counter overflow
+ */
+#define QEI_COUNT_MAX ( 2147483647)
+
+
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief LED control enable switch.
+ * @details If set to @p TRUE the support for LED control
+ * is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(NRF51_QEI_USE_LED) || defined(__DOXYGEN__)
+#define NRF51_QEI_USE_LED FALSE
+#endif
+
+/**
+ * @brief Accumulator overflow notification enable switch.
+ * @details If set to @p TRUE the support for accumulator overflow
+ * is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(NRF51_QEI_USE_ACC_OVERFLOWED_CB) || defined(__DOXYGEN__)
+#define NRF51_QEI_USE_ACC_OVERFLOWED_CB FALSE
+#endif
+
+/**
+ * @brief QEID1 driver enable switch.
+ * @details If set to @p TRUE the support for QEID1 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(NRF51_QEI_USE_QDEC0) || defined(__DOXYGEN__)
+#define NRF51_QEI_USE_QDEC0 FALSE
+#endif
+
+/**
+ * @brief QEID interrupt priority level setting for QDEC0.
+ */
+#if !defined(NRF51_QEI_QDEC0_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define NRF51_QEI_QDEC0_IRQ_PRIORITY 2
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if NRF51_QEI_USE_QDEC0 && \
+ !OSAL_IRQ_IS_VALID_PRIORITY(NRF51_QEI_QDEC0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to QDEC0"
+#endif
+
+#if NRF51_QEI_USE_QDEC0 == FALSE
+#error "Requesting QEI driver, but no QDEC peripheric attached"
+#endif
+
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief QEI count mode.
+ */
+typedef enum {
+ QEI_MODE_QUADRATURE = 0, /**< Quadrature encoder mode. */
+} qeimode_t;
+
+/**
+ * @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. */
+} 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. */
+} qeireport_t;
+
+/**
+ * @brief QEI direction inversion.
+ */
+typedef enum {
+ QEI_DIRINV_FALSE = 0, /**< Do not invert counter direction. */
+ QEI_DIRINV_TRUE = 1, /**< Invert counter direction. */
+} qeidirinv_t;
+
+/**
+ * @brief QEI counter type.
+ */
+typedef int32_t qeicnt_t;
+
+/**
+ * @brief QEI delta type.
+ */
+typedef int16_t qeidelta_t;
+
+/**
+ * @brief Driver configuration structure.
+ * @note It could be empty on some architectures.
+ */
+typedef struct {
+ /**
+ * @brief Count mode.
+ */
+ qeimode_t mode;
+ /**
+ * @brief Resolution.
+ */
+ qeiresolution_t resolution;
+ /**
+ * @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
+ * - QEI_OVERFLOW_MINMAX
+ * counter will be updated to reach min or max
+ * - QEI_OVERFLOW_WRAP:
+ * counter value will wrap around
+ */
+ qeioverflow_t overflow;
+ /**
+ * @brief Min count value.
+ *
+ * @note If min == max, then QEI_COUNT_MIN is used.
+ */
+ qeicnt_t min;
+ /**
+ * @brief Max count value.
+ *
+ * @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;
+ /**
+ * @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.*/
+ /**
+ * @brief Line for reading Phase A
+ */
+ ioline_t phase_a;
+ /**
+ * @brief Line for reading Phase B
+ */
+ ioline_t phase_b;
+#if (NRF51_QEI_USE_LED == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief Line used to control LED
+ *
+ * @note If LED is not controlled by MCU, you need to use the
+ * PAL_NOLINE value.
+ */
+ ioline_t led;
+ /**
+ * @brief Period in µs the LED is switched on prior to sampling.
+ *
+ * @details LED warming is expressed in micro-seconds and value
+ * is [0..511]
+ *
+ * @note 31µs is the recommanded default.
+ *
+ * @note If debouncing is activated, LED is always on for the
+ * whole sampling period (aka: resolution)
+ */
+ uint16_t led_warming;
+ /**
+ * @brief LED polarity to used (when LED is controlled by MCU)
+ */
+ uint8_t led_polarity;
+#endif
+ /**
+ * @brief Activate debouncing filter
+ *
+ * @note If LED is controlled by MCU, the led_warming is ignored and,
+ * LED is always on for the whole sampling period (aka: resolution)
+ */
+ bool debouncing;
+ /**
+ * @brief Number of samples per report
+ *
+ * @details Default to QEI_REPORT_10
+ */
+ qeireport_t report;
+#if NRF51_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ /**
+ * @brief Notify of internal accumulator overflowed
+ * (ie: MCU discarding samples)
+ *
+ * @note Called from ISR context.
+ */
+ qeicallback_t overflowed_cb;
+#endif
+} QEIConfig;
+
+/**
+ * @brief Structure representing an QEI driver.
+ */
+struct QEIDriver {
+ /**
+ * @brief Driver state.
+ */
+ qeistate_t state;
+ /**
+ * @brief Last count value.
+ */
+ qeicnt_t last;
+ /**
+ * @brief Current configuration data.
+ */
+ const QEIConfig *config;
+#if defined(QEI_DRIVER_EXT_FIELDS)
+ QEI_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Counter
+ */
+ qeicnt_t count;
+#if NRF51_QEI_USE_ACC_OVERFLOWED_CB == TRUE
+ /**
+ * @brief Number of time the MCU discarded updates due to
+ * accumulator overflow
+ */
+ uint32_t overflowed;
+#endif
+ /**
+ * @brief Pointer to the QDECx registers block.
+ */
+ NRF_QDEC_Type *qdec;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Returns the counter value.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @return The current counter value.
+ *
+ * @notapi
+ */
+#define qei_lld_get_count(qeip) ((qeip)->count)
+
+
+/**
+ * @brief Set the counter value.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @param[in] value counter value
+ *
+ * @notapi
+ */
+#define qei_lld_set_count(qeip, value) \
+ if ((qeip)->count != ((qeicnt_t)value)) { \
+ (qeip)->count = value; \
+ if ((qeip)->config->notify_cb) \
+ (qeip)->config->notify_cb(qeip); \
+ } while(0)
+
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if NRF51_QEI_USE_QDEC0 && !defined(__DOXYGEN__)
+extern QEIDriver QEID1;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void qei_lld_init(void);
+ void qei_lld_start(QEIDriver *qeip);
+ void qei_lld_stop(QEIDriver *qeip);
+ void qei_lld_enable(QEIDriver *qeip);
+ void qei_lld_disable(QEIDriver *qeip);
+ qeidelta_t qei_lld_adjust_count(QEIDriver *qeip, qeidelta_t delta);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* To be moved in hal_qei */
+/*===========================================================================*/
+
+void qeiSetCount(QEIDriver *qeip, qeicnt_t value);
+qeidelta_t qeiAdjust(QEIDriver *qeip, qeidelta_t delta);
+
+#endif /* HAL_USE_QEI */
+
+#endif /* HAL_QEI_LLD_H */
+
+/** @} */
diff --git a/os/hal/ports/NRF51/NRF51822/platform.mk b/os/hal/ports/NRF51/NRF51822/platform.mk index b937e39..ad5b2c4 100644 --- a/os/hal/ports/NRF51/NRF51822/platform.mk +++ b/os/hal/ports/NRF51/NRF51822/platform.mk @@ -37,6 +37,9 @@ endif ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),) PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c endif +ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),) +PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c +endif else PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \ ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_lld.c \ @@ -51,7 +54,8 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \ ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_gpt_lld.c \ ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_wdg_lld.c \ ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_rng_lld.c \ - ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c + ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_pwm_lld.c \ + ${CHIBIOS_CONTRIB}/os/hal/ports/NRF51/NRF51822/hal_qei_lld.c endif # Required include directories diff --git a/os/hal/src/hal_qei.c b/os/hal/src/hal_qei.c index a2b7303..abecdf8 100644 --- a/os/hal/src/hal_qei.c +++ b/os/hal/src/hal_qei.c @@ -47,6 +47,91 @@ /*===========================================================================*/
/**
+ * @brief Helper for correclty handling overflow/underflow
+ *
+ * @details Underflow/overflow will be handled according to mode:
+ * QEI_OVERFLOW_WRAP: counter value will wrap around.
+ * QEI_OVERFLOW_DISCARD: counter will not change
+ * QEI_OVERFLOW_MINMAX: counter will be updated upto min or max.
+ *
+ * @note This function is for use by low level driver.
+ *
+ * @param[in,out] count counter value
+ * @param[in,out] delta adjustment value
+ * @param[in] min minimum allowed value for counter
+ * @param[in] max maximum allowed value for counter
+ * @param[in] mode how to handle overflow
+ *
+ * @return true if counter underflow/overflow occured or
+ * was due to occur
+ *
+ */
+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:
+ * https://www.securecoding.cert.org/confluence/x/RgE
+ */
+
+ /* 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 QEI_USE_OVERFLOW_DISCARD == TRUE
+ case QEI_OVERFLOW_DISCARD:
+ *delta = _delta;
+ *count = _count;
+ break;
+#endif
+#if QEI_USE_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 QEI_USE_OVERFLOW_DISCARD == TRUE
+ case QEI_OVERFLOW_DISCARD:
+ *delta = _delta;
+ *count = _count;
+ break;
+#endif
+#if QEI_USE_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 QEI Driver initialization.
* @note This function is implicitly invoked by @p halInit(), there is
* no need to explicitly initialize the driver.
@@ -168,6 +253,44 @@ qeicnt_t qeiGetCount(QEIDriver *qeip) { }
/**
+ * @brief Set counter value.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object.
+ * @param[in] value the new 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();
+}
+
+/**
+ * @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 Returns the counter delta from last reading.
*
* @param[in] qeip pointer to the @p QEIDriver object
|