AMiRo-OS

commit a23878ddb85bb8fd069f02042f15ad4be2a0d709

Author: Marc Rothmann <mrothmann@techfak.uni-bielefeld.de>

Date:   Mon Sep 17 11:40:39 2018 +0200

    Added QEI driver to HAL.

diff --git a/os/hal/hal.mk b/os/hal/hal.mk

index f177a3f..64d96d9 100644

--- a/os/hal/hal.mk

+++ b/os/hal/hal.mk

@@ -41,6 +41,9 @@ endif

 ifneq ($(findstring HAL_USE_ICU TRUE,$(HALCONF)),)

 HALSRC += $(CHIBIOS)/os/hal/src/hal_icu.c

 endif

+ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)

+HALSRC += $(CHIBIOS)/os/hal/src/hal_qei.c

+endif

 ifneq ($(findstring HAL_USE_MAC TRUE,$(HALCONF)),)

 HALSRC += $(CHIBIOS)/os/hal/src/hal_mac.c

 endif

@@ -94,6 +97,7 @@ HALSRC = $(CHIBIOS)/os/hal/src/hal.c \

          $(CHIBIOS)/os/hal/src/hal_i2c.c \

          $(CHIBIOS)/os/hal/src/hal_i2s.c \

          $(CHIBIOS)/os/hal/src/hal_icu.c \

+         $(CHIBIOS)/os/hal/src/hal_qei.c \

          $(CHIBIOS)/os/hal/src/hal_mac.c \

          $(CHIBIOS)/os/hal/src/hal_mmc_spi.c \

          $(CHIBIOS)/os/hal/src/hal_pal.c \

diff --git a/os/hal/include/hal_qei.h b/os/hal/include/hal_qei.h

new file mode 100644

index 0000000..aef5e62

--- /dev/null

+++ b/os/hal/include/hal_qei.h

@@ -0,0 +1,148 @@

+/*

+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

+Copyright (C) 2016..2018  Thomas Schöpping et al.

+

+This program is free software: you can redistribute it and/or modify

+it under the terms of the GNU General Public License as published by

+the Free Software Foundation, either version 3 of the License, or

+(at your option) any later version.

+

+This program is distributed in the hope that it will be useful,

+but WITHOUT ANY WARRANTY; without even the implied warranty of

+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+GNU General Public License for more details.

+

+You should have received a copy of the GNU General Public License

+along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    hal_qei.h

+ * @brief   QEI Driver macros and structures.

+ *

+ * @addtogroup QEI

+ * @{

+ */

+

+#ifndef _HAL_QEI_H_

+#define _HAL_QEI_H_

+

+#if HAL_USE_QEI || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Driver state machine possible states.

+ */

+typedef enum {

+  QEI_UNINIT = 0,                   /**< Not initialized.                   */

+  QEI_STOP = 1,                     /**< Stopped.                           */

+  QEI_READY = 2,                    /**< Ready.                             */

+  QEI_ACTIVE = 4,                   /**< Active.                            */

+} qeistate_t;

+

+/**

+ * @brief   Type of a structure representing an QEI driver.

+ */

+typedef struct QEIDriver QEIDriver;

+

+#include "hal_qei_lld.h"

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/**

+ * @name    Macro Functions

+ * @{

+ */

+/**

+ * @brief   Enables the quadrature encoder.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object

+ *

+ * @iclass

+ */

+#define qeiEnableI(qeip) qei_lld_enable(qeip)

+

+/**

+ * @brief   Disables the quadrature encoder.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object

+ *

+ * @iclass

+ */

+#define qeiDisableI(qeip) qei_lld_disable(qeip)

+

+/**

+ * @brief   Returns the direction of the last transition.

+ * @details The direction is defined as boolean and is

+ *          calculated at each transition on any input.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object

+ * @return              The request direction.

+ * @retval FALSE        Position counted up.

+ * @retval TRUE         Position counted down.

+ * @iclass

+ */

+#define qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)

+

+/**

+ * @brief   Returns the position of the encoder.

+ * @details The position is defined as number of pulses since last reset.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object

+ * @return              The number of pulses.

+ *

+ * @iclass

+ */

+#define qeiGetPositionI(qeip) qei_lld_get_position(qeip)

+

+/**

+ * @brief   Returns the range of the encoder.

+ * @details The range is defined as number of maximum pulse count.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object

+ * @return              The number of pulses.

+ *

+ * @iclass

+ */

+#define qeiGetRangeI(qeip) qei_lld_get_range(qeip)

+/** @} */

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void qeiInit(void);

+  void qeiObjectInit(QEIDriver *qeip);

+  void qeiStart(QEIDriver *qeip, const QEIConfig *config);

+  void qeiStop(QEIDriver *qeip);

+  void qeiEnable(QEIDriver *qeip);

+  void qeiDisable(QEIDriver *qeip);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_QEI */

+

+#endif /* _HAL_QEI_H_ */

+

+/** @} */

diff --git a/os/hal/ports/STM32/LLD/TIMv1/driver.mk b/os/hal/ports/STM32/LLD/TIMv1/driver.mk

index 032d75a..13e3571 100644

--- a/os/hal/ports/STM32/LLD/TIMv1/driver.mk

+++ b/os/hal/ports/STM32/LLD/TIMv1/driver.mk

@@ -10,10 +10,14 @@ endif

 ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),)

 PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c

 endif

+ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)

+PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c

+endif

 else

 PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_gpt_lld.c

 PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_icu_lld.c

 PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c

+PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c

 endif

 PLATFORMINC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1

diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c

new file mode 100644

index 0000000..700704a

--- /dev/null

+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c

@@ -0,0 +1,302 @@

+/*

+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

+Copyright (C) 2016..2018  Thomas Schöpping et al.

+

+This program is free software: you can redistribute it and/or modify

+it under the terms of the GNU General Public License as published by

+the Free Software Foundation, either version 3 of the License, or

+(at your option) any later version.

+

+This program is distributed in the hope that it will be useful,

+but WITHOUT ANY WARRANTY; without even the implied warranty of

+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+GNU General Public License for more details.

+

+You should have received a copy of the GNU General Public License

+along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    STM32/hal_qei_lld.c

+ * @brief   STM32 QEI subsystem low level driver.

+ *

+ * @addtogroup QEI

+ * @{

+ */

+

+#include "hal.h"

+

+#include "hal_qei.h"

+

+#if HAL_USE_QEI || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   QEID1 driver identifier.

+ * @note    The driver QEID1 allocates the complex timer TIM1 when enabled.

+ */

+#if STM32_QEI_USE_TIM1 || defined(__DOXYGEN__)

+QEIDriver QEID1;

+#endif

+

+/**

+ * @brief   QEID2 driver identifier.

+ * @note    The driver QEID1 allocates the timer TIM2 when enabled.

+ */

+#if STM32_QEI_USE_TIM2 || defined(__DOXYGEN__)

+QEIDriver QEID2;

+#endif

+

+/**

+ * @brief   QEID3 driver identifier.

+ * @note    The driver QEID1 allocates the timer TIM3 when enabled.

+ */

+#if STM32_QEI_USE_TIM3 || defined(__DOXYGEN__)

+QEIDriver QEID3;

+#endif

+

+/**

+ * @brief   QEID4 driver identifier.

+ * @note    The driver QEID4 allocates the timer TIM4 when enabled.

+ */

+#if STM32_QEI_USE_TIM4 || defined(__DOXYGEN__)

+QEIDriver QEID4;

+#endif

+

+/**

+ * @brief   QEID5 driver identifier.

+ * @note    The driver QEID5 allocates the timer TIM5 when enabled.

+ */

+#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)

+QEIDriver QEID5;

+#endif

+

+/**

+ * @brief   QEID8 driver identifier.

+ * @note    The driver QEID8 allocates the timer TIM8 when enabled.

+ */

+#if STM32_QEI_USE_TIM8 || defined(__DOXYGEN__)

+QEIDriver QEID8;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level QEI driver initialization.

+ *

+ * @notapi

+ */

+void qei_lld_init(void) {

+

+#if STM32_QEI_USE_TIM1

+  /* Driver initialization.*/

+  qeiObjectInit(&QEID1);

+  QEID1.tim = STM32_TIM1;

+#endif

+

+#if STM32_QEI_USE_TIM2

+  /* Driver initialization.*/

+  qeiObjectInit(&QEID2);

+  QEID2.tim = STM32_TIM2;

+#endif

+

+#if STM32_QEI_USE_TIM3

+  /* Driver initialization.*/

+  qeiObjectInit(&QEID3);

+  QEID3.tim = STM32_TIM3;

+#endif

+

+#if STM32_QEI_USE_TIM4

+  /* Driver initialization.*/

+  qeiObjectInit(&QEID4);

+  QEID4.tim = STM32_TIM4;

+#endif

+

+#if STM32_QEI_USE_TIM5

+  /* Driver initialization.*/

+  qeiObjectInit(&QEID5);

+  QEID5.tim = STM32_TIM5;

+#endif

+

+#if STM32_QEI_USE_TIM8

+  /* Driver initialization.*/

+  qeiObjectInit(&QEID8);

+  QEID8.tim = STM32_TIM8;

+#endif

+}

+

+/**

+ * @brief   Configures and activates the QEI peripheral.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object

+ *

+ * @notapi

+ */

+void qei_lld_start(QEIDriver *qeip) {

+  uint32_t arr, ccer;

+

+  if (qeip->state == QEI_STOP) {

+    /* Clock activation and timer reset.*/

+#if STM32_QEI_USE_TIM1

+    if (&QEID1 == qeip) {

+      rccEnableTIM1();

+      rccResetTIM1();

+    }

+#endif

+#if STM32_QEI_USE_TIM2

+    if (&QEID2 == qeip) {

+      rccEnableTIM2();

+      rccResetTIM2();

+    }

+#endif

+#if STM32_QEI_USE_TIM3

+    if (&QEID3 == qeip) {

+      rccEnableTIM3();

+      rccResetTIM3();

+    }

+#endif

+#if STM32_QEI_USE_TIM4

+    if (&QEID4 == qeip) {

+      rccEnableTIM4();

+      rccResetTIM4();

+    }

+#endif

+

+#if STM32_QEI_USE_TIM5

+    if (&QEID5 == qeip) {

+      rccEnableTIM5();

+      rccResetTIM5();

+    }

+#endif

+#if STM32_QEI_USE_TIM8

+    if (&QEID8 == qeip) {

+      rccEnableTIM8();

+      rccResetTIM8();

+    }

+#endif

+  }

+  else {

+    /* Driver re-configuration scenario, it must be stopped first.*/

+    qeip->tim->CR1    = 0;                  /* Timer disabled.              */

+    qeip->tim->DIER   = 0;                  /* All IRQs disabled.           */

+    qeip->tim->SR     = 0;                  /* Clear eventual pending IRQs. */

+    qeip->tim->CCR[0] = 0;                  /* Comparator 1 disabled.       */

+    qeip->tim->CCR[1] = 0;                  /* Comparator 2 disabled.       */

+    qeip->tim->CNT    = 0;                  /* Counter reset to zero.       */

+  }

+

+  /* Timer configuration.*/

+  qeip->tim->PSC  = 0;

+  arr = qeip->config->range - 1;

+  osalDbgAssert((arr <= 0xFFFF), "qei_lld_start(), #1" /*, "invalid range"*/);

+  qeip->tim->ARR  = arr & 0xFFFF;

+

+  /* CCMR1_CC1S = 01 - CH1 Input on TI1.

+     CCMR1_CC2S = 01 - CH2 Input on TI2.*/

+  qeip->tim->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;

+

+  ccer = 0;

+  if (qeip->config->channels[0].mode == QEI_INPUT_INVERTED)

+    ccer |= TIM_CCER_CC1P;

+  if (qeip->config->channels[1].mode == QEI_INPUT_INVERTED)

+    ccer |= TIM_CCER_CC2P;

+  qeip->tim->CCER = ccer;

+

+  if (qeip->config->mode == QEI_COUNT_CH1)

+    qeip->tim->SMCR  = TIM_SMCR_SMS_1;

+  else if (qeip->config->mode == QEI_COUNT_CH2)

+    qeip->tim->SMCR  = TIM_SMCR_SMS_0;

+  else

+    qeip->tim->SMCR  = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1;

+}

+

+/**

+ * @brief   Deactivates the QEI peripheral.

+ *

+ * @param[in] qeip      pointer to the @p QEIDriver object

+ *

+ * @notapi

+ */

+void qei_lld_stop(QEIDriver *qeip) {

+

+  if (qeip->state == QEI_READY) {

+    /* Clock deactivation.*/

+    qeip->tim->CR1  = 0;                    /* Timer disabled.              */

+

+#if STM32_QEI_USE_TIM1

+    if (&QEID1 == qeip) {

+      rccDisableTIM1();

+    }

+#endif

+#if STM32_QEI_USE_TIM2

+    if (&QEID2 == qeip) {

+      rccDisableTIM2();

+    }

+#endif

+#if STM32_QEI_USE_TIM3

+    if (&QEID3 == qeip) {

+      rccDisableTIM3();

+    }

+#endif

+#if STM32_QEI_USE_TIM4

+    if (&QEID4 == qeip) {

+      rccDisableTIM4();

+    }

+#endif

+#if STM32_QEI_USE_TIM5

+    if (&QEID5 == qeip) {

+      rccDisableTIM5();

+    }

+#endif

+  }

+#if STM32_QEI_USE_TIM8

+    if (&QEID8 == qeip) {

+      rccDisableTIM8();

+    }

+#endif