Merge pull request #87 from sdalu/qei

qeiAdjustI

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,
+  qeidelta_t qeiAdjustI(QEIDriver *qeip, qeidelta_t delta);
-			qeicnt_t min, qeicnt_t max, qeioverflow_t mode);
 #ifdef __cplusplus
 }
 #endif

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 */
 

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.*/

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.                                                    */
 /*===========================================================================*/

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
@@ -284,12 +285,49 @@ 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.
  *

testhal/STM32/STM32F0xx/qei/Makefile

@@ -86,7 +86,7 @@ endif
 PROJECT = ch
 
 # Imported source files and paths
-CHIBIOS = ../../../../../ChibiOS-RT
+CHIBIOS = ../../../../../ChibiOS
 CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 # Startup files.
 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f0xx.mk

testhal/STM32/STM32F0xx/qei/halconf_community.h

@@ -100,6 +100,24 @@
  */
 #define ONEWIRE_USE_SEARCH_ROM      FALSE
 
+/*===========================================================================*/
+/* QEI driver related settings.                                              */
+/*===========================================================================*/
+
+/**
+ * @brief   Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD    FALSE
+#endif
+
+/**
+ * @brief   Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX     FALSE
+#endif
+
 #endif /* HALCONF_COMMUNITY_H */
 
 /** @} */