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added qeiAdjustI. added new field and checking in STM32

This commit is contained in:
Stephane D'Alu 2016-07-07 21:25:51 +02:00
parent 9c88423d66
commit f75abd1037
7 changed files with 133 additions and 45 deletions
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3
os/hal/include/hal_qei.h
View File

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

38
os/hal/ports/NRF51/NRF51822/hal_qei_lld.c
View File

@ -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 */

2
os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
View File

@ -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.*/

67
os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
View File

@ -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. */
/*===========================================================================*/

48
os/hal/src/hal_qei.c
View File

@ -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.
*

2
testhal/STM32/STM32F0xx/qei/Makefile
View File

@ -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

18
testhal/STM32/STM32F0xx/qei/halconf_community.h
View File

@ -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 */
/** @} */