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Merge pull request #85 from sdalu/qei 

Merged QEI driver for NRF51
This commit is contained in:
Uladzimir Pylinski 2016-07-07 21:58:53 +03:00 committed by GitHub
parent 0131027151 9c88423d66
commit c7f7b70596
5 changed files with 856 additions and 1 deletions
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30
os/hal/include/hal_qei.h
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@ -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

308
os/hal/ports/NRF51/NRF51822/hal_qei_lld.c Normal file
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@ -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 */
/** @} */

390
os/hal/ports/NRF51/NRF51822/hal_qei_lld.h Normal file
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@ -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 */
/** @} */

6
os/hal/ports/NRF51/NRF51822/platform.mk
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@ -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

123
os/hal/src/hal_qei.c
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@ -46,6 +46,91 @@
/* Driver exported functions. */
/*===========================================================================*/
/**
* @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
@ -167,6 +252,44 @@ qeicnt_t qeiGetCount(QEIDriver *qeip) {
return cnt;
}
/**
* @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.
*