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ChibiOS-Contrib
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cleanup

This commit is contained in:
Stephane D'Alu 2016-06-28 22:31:24 +02:00
parent 3cdd1360d4
commit 7cb533cd20
2 changed files with 61 additions and 63 deletions
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92
os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
View File

@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca
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.
@ -15,8 +15,8 @@
*/
/**
* @file TIMv1/hal_qei_lld.c
* @brief STM32 QEI subsystem low level driver header.
* @file NRF51/hal_qei_lld.c
* @brief NRF51 QEI subsystem low level driver header.
*
* @addtogroup QEI
* @{
@ -31,46 +31,14 @@
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief QEID1 driver identifier.
*/
#if NRF51_QEI_USE_QDEC1 || defined(__DOXYGEN__)
QEIDriver QEID1;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if NRF51_QEI_USE_QDEC1 == TRUE
/**
* @brief Quadrature decoder vector (QDEC)
* @brief Common IRQ handler.
*
* @isr
* @param[in] qeip pointer to an QEIDriver
*/
OSAL_IRQ_HANDLER(Vector88) {
QEIDriver *qeip = &QEID1;
static void serve_interrupt(QEIDriver *qeip) {
NRF_QDEC_Type *qdec = qeip->qdec;
OSAL_IRQ_PROLOGUE();
osalSysLockFromISR();
if (qdec->EVENTS_ACCOF) {
qdec->EVENTS_ACCOF = 0;
qeip->overflowed++;
@ -152,10 +120,43 @@ OSAL_IRQ_HANDLER(Vector88) {
if (overflowed && qeip->config->overflow_cb)
qeip->config->overflow_cb(qeip, delta);
}
}
osalSysUnlockFromISR();
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/**
* @brief QEID1 driver identifier.
*/
#if NRF51_QEI_USE_QDEC1 || defined(__DOXYGEN__)
QEIDriver QEID1;
#endif
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
#if NRF51_QEI_USE_QDEC1 == TRUE
/**
* @brief Quadrature decoder vector (QDEC)
*
* @isr
*/
OSAL_IRQ_HANDLER(Vector88) {
OSAL_IRQ_PROLOGUE();
serve_interrupt(&QEID1);
OSAL_IRQ_EPILOGUE();
}
#endif
@ -263,6 +264,13 @@ void qei_lld_stop(QEIDriver *qeip) {
#endif
qdec->INTENCLR = QDEC_INTENSET_REPORTRDY_Msk |
QDEC_INTENSET_ACCOF_Msk;
// Return pins to reset state
palSetLineMode(cfg->phase_a, PAL_MODE_RESET);
palSetLineMode(cfg->phase_b, PAL_MODE_RESET);
if (cfg->led != PAL_NOLINE) {
palSetLineMode(cfg->led, PAL_MODE_RESET);
}
}
}
@ -294,10 +302,6 @@ void qei_lld_disable(QEIDriver *qeip) {
}
#endif /* HAL_USE_QEI */
/** @} */

32
os/hal/ports/NRF51/NRF51822/hal_qei_lld.h
View File

@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca
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.
@ -15,8 +15,8 @@
*/
/**
* @file TIMv1/hal_qei_lld.h
* @brief STM32 QEI subsystem low level driver header.
* @file NRF51/hal_qei_lld.h
* @brief NRF51 QEI subsystem low level driver header.
*
* @addtogroup QEI
* @{
@ -28,7 +28,6 @@
#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
@ -40,8 +39,6 @@
#define QEI_COUNT_MAX 65535
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
@ -104,7 +101,7 @@ typedef enum {
} qeiresolution_t;
/**
*
* @brief Clusters of samples.
*/
typedef enum {
QEI_REPORT_10 = 0x00UL, /**< 10 samples per report. */
@ -117,9 +114,8 @@ typedef enum {
QEI_REPORT_280 = 0x07UL, /**< 280 samples per report. */
} qeireport_t;
/**
* @brief Handling of counter overflow/underflow
* @brief Handling of counter overflow/underflow.
*/
typedef enum {
QEI_OVERFLOW_WRAP = 0, /**< Counter value will wrap around. */
@ -167,11 +163,8 @@ typedef struct {
/**
* @brief Handling of counter overflow/underflow
*
* @details When overflow callback is called, the counter value
* is not updated, the decision on how to update is left
* to the callback.
*
* Three implementation are provided
* @details When overflow accours, the counter value is updated
* according to:
* - QEI_OVERFLOW_DISCARD:
* discard the update value, counter doesn't change
* - QEI_OVERFLOW_MINMAX
@ -183,17 +176,19 @@ typedef struct {
/**
* @brief Min count value.
*
* @note If min == max, the QEI_COUNT_MIN is used as default
* @note If min == max, then QEI_COUNT_MIN is used.
*/
qeicnt_t min;
/**
* @brief Max count value.
*
* @note If min == max, the QEI_COUNT_MAX is used as default
* @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;
/**
@ -201,6 +196,7 @@ typedef struct {
*
* @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.*/
@ -251,6 +247,7 @@ typedef struct {
* @brief Notify of internal accumulator overflowed
*
* @note MCU has discarded some of the samples.
* @note Called from ISR context.
*/
qeicallback_t overflowed_cb;
} QEIConfig;
@ -275,9 +272,6 @@ struct QEIDriver {
QEI_DRIVER_EXT_FIELDS
#endif
/* End of the mandatory fields.*/
/**
*/
qeidelta_t delta;
/**
*/
qeicnt_t count;