amiro-os / kernel / patches / QEI-driver.patch @ 20a4e01c
History | View | Annotate | Download (28 KB)
1 |
commit a23878ddb85bb8fd069f02042f15ad4be2a0d709
|
---|---|
2 |
Author: Marc Rothmann <mrothmann@techfak.uni-bielefeld.de>
|
3 |
Date: Mon Sep 17 11:40:39 2018 +0200
|
4 |
|
5 |
Added QEI driver to HAL. |
6 |
|
7 |
diff --git a/os/hal/hal.mk b/os/hal/hal.mk
|
8 |
index f177a3f..64d96d9 100644
|
9 |
--- a/os/hal/hal.mk
|
10 |
+++ b/os/hal/hal.mk
|
11 |
@@ -41,6 +41,9 @@ endif
|
12 |
ifneq ($(findstring HAL_USE_ICU TRUE,$(HALCONF)),) |
13 |
HALSRC += $(CHIBIOS)/os/hal/src/hal_icu.c |
14 |
endif |
15 |
+ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
|
16 |
+HALSRC += $(CHIBIOS)/os/hal/src/hal_qei.c
|
17 |
+endif
|
18 |
ifneq ($(findstring HAL_USE_MAC TRUE,$(HALCONF)),) |
19 |
HALSRC += $(CHIBIOS)/os/hal/src/hal_mac.c |
20 |
endif |
21 |
@@ -94,6 +97,7 @@ HALSRC = $(CHIBIOS)/os/hal/src/hal.c \
|
22 |
$(CHIBIOS)/os/hal/src/hal_i2c.c \ |
23 |
$(CHIBIOS)/os/hal/src/hal_i2s.c \ |
24 |
$(CHIBIOS)/os/hal/src/hal_icu.c \ |
25 |
+ $(CHIBIOS)/os/hal/src/hal_qei.c \
|
26 |
$(CHIBIOS)/os/hal/src/hal_mac.c \ |
27 |
$(CHIBIOS)/os/hal/src/hal_mmc_spi.c \ |
28 |
$(CHIBIOS)/os/hal/src/hal_pal.c \ |
29 |
diff --git a/os/hal/include/hal_qei.h b/os/hal/include/hal_qei.h
|
30 |
new file mode 100644
|
31 |
index 0000000..aef5e62
|
32 |
--- /dev/null
|
33 |
+++ b/os/hal/include/hal_qei.h
|
34 |
@@ -0,0 +1,148 @@
|
35 |
+/*
|
36 |
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
37 |
+Copyright (C) 2016..2018 Thomas Schöpping et al.
|
38 |
+
|
39 |
+This program is free software: you can redistribute it and/or modify
|
40 |
+it under the terms of the GNU General Public License as published by
|
41 |
+the Free Software Foundation, either version 3 of the License, or
|
42 |
+(at your option) any later version.
|
43 |
+
|
44 |
+This program is distributed in the hope that it will be useful,
|
45 |
+but WITHOUT ANY WARRANTY; without even the implied warranty of
|
46 |
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
47 |
+GNU General Public License for more details.
|
48 |
+
|
49 |
+You should have received a copy of the GNU General Public License
|
50 |
+along with this program. If not, see <http://www.gnu.org/licenses/>.
|
51 |
+*/
|
52 |
+
|
53 |
+/**
|
54 |
+ * @file hal_qei.h
|
55 |
+ * @brief QEI Driver macros and structures.
|
56 |
+ *
|
57 |
+ * @addtogroup QEI
|
58 |
+ * @{
|
59 |
+ */
|
60 |
+
|
61 |
+#ifndef _HAL_QEI_H_
|
62 |
+#define _HAL_QEI_H_
|
63 |
+
|
64 |
+#if HAL_USE_QEI || defined(__DOXYGEN__)
|
65 |
+
|
66 |
+/*===========================================================================*/
|
67 |
+/* Driver constants. */
|
68 |
+/*===========================================================================*/
|
69 |
+
|
70 |
+/*===========================================================================*/
|
71 |
+/* Driver pre-compile time settings. */
|
72 |
+/*===========================================================================*/
|
73 |
+
|
74 |
+/*===========================================================================*/
|
75 |
+/* Derived constants and error checks. */
|
76 |
+/*===========================================================================*/
|
77 |
+
|
78 |
+/*===========================================================================*/
|
79 |
+/* Driver data structures and types. */
|
80 |
+/*===========================================================================*/
|
81 |
+
|
82 |
+/**
|
83 |
+ * @brief Driver state machine possible states.
|
84 |
+ */
|
85 |
+typedef enum {
|
86 |
+ QEI_UNINIT = 0, /**< Not initialized. */
|
87 |
+ QEI_STOP = 1, /**< Stopped. */
|
88 |
+ QEI_READY = 2, /**< Ready. */
|
89 |
+ QEI_ACTIVE = 4, /**< Active. */
|
90 |
+} qeistate_t;
|
91 |
+
|
92 |
+/**
|
93 |
+ * @brief Type of a structure representing an QEI driver.
|
94 |
+ */
|
95 |
+typedef struct QEIDriver QEIDriver;
|
96 |
+
|
97 |
+#include "hal_qei_lld.h"
|
98 |
+
|
99 |
+/*===========================================================================*/
|
100 |
+/* Driver macros. */
|
101 |
+/*===========================================================================*/
|
102 |
+
|
103 |
+/**
|
104 |
+ * @name Macro Functions
|
105 |
+ * @{
|
106 |
+ */
|
107 |
+/**
|
108 |
+ * @brief Enables the quadrature encoder.
|
109 |
+ *
|
110 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
111 |
+ *
|
112 |
+ * @iclass
|
113 |
+ */
|
114 |
+#define qeiEnableI(qeip) qei_lld_enable(qeip)
|
115 |
+
|
116 |
+/**
|
117 |
+ * @brief Disables the quadrature encoder.
|
118 |
+ *
|
119 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
120 |
+ *
|
121 |
+ * @iclass
|
122 |
+ */
|
123 |
+#define qeiDisableI(qeip) qei_lld_disable(qeip)
|
124 |
+
|
125 |
+/**
|
126 |
+ * @brief Returns the direction of the last transition.
|
127 |
+ * @details The direction is defined as boolean and is
|
128 |
+ * calculated at each transition on any input.
|
129 |
+ *
|
130 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
131 |
+ * @return The request direction.
|
132 |
+ * @retval FALSE Position counted up.
|
133 |
+ * @retval TRUE Position counted down.
|
134 |
+ * @iclass
|
135 |
+ */
|
136 |
+#define qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)
|
137 |
+
|
138 |
+/**
|
139 |
+ * @brief Returns the position of the encoder.
|
140 |
+ * @details The position is defined as number of pulses since last reset.
|
141 |
+ *
|
142 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
143 |
+ * @return The number of pulses.
|
144 |
+ *
|
145 |
+ * @iclass
|
146 |
+ */
|
147 |
+#define qeiGetPositionI(qeip) qei_lld_get_position(qeip)
|
148 |
+
|
149 |
+/**
|
150 |
+ * @brief Returns the range of the encoder.
|
151 |
+ * @details The range is defined as number of maximum pulse count.
|
152 |
+ *
|
153 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
154 |
+ * @return The number of pulses.
|
155 |
+ *
|
156 |
+ * @iclass
|
157 |
+ */
|
158 |
+#define qeiGetRangeI(qeip) qei_lld_get_range(qeip)
|
159 |
+/** @} */
|
160 |
+
|
161 |
+/*===========================================================================*/
|
162 |
+/* External declarations. */
|
163 |
+/*===========================================================================*/
|
164 |
+
|
165 |
+#ifdef __cplusplus
|
166 |
+extern "C" {
|
167 |
+#endif
|
168 |
+ void qeiInit(void);
|
169 |
+ void qeiObjectInit(QEIDriver *qeip);
|
170 |
+ void qeiStart(QEIDriver *qeip, const QEIConfig *config);
|
171 |
+ void qeiStop(QEIDriver *qeip);
|
172 |
+ void qeiEnable(QEIDriver *qeip);
|
173 |
+ void qeiDisable(QEIDriver *qeip);
|
174 |
+#ifdef __cplusplus
|
175 |
+}
|
176 |
+#endif
|
177 |
+
|
178 |
+#endif /* HAL_USE_QEI */
|
179 |
+
|
180 |
+#endif /* _HAL_QEI_H_ */
|
181 |
+
|
182 |
+/** @} */
|
183 |
diff --git a/os/hal/ports/STM32/LLD/TIMv1/driver.mk b/os/hal/ports/STM32/LLD/TIMv1/driver.mk
|
184 |
index 032d75a..13e3571 100644
|
185 |
--- a/os/hal/ports/STM32/LLD/TIMv1/driver.mk
|
186 |
+++ b/os/hal/ports/STM32/LLD/TIMv1/driver.mk
|
187 |
@@ -10,10 +10,14 @@ endif
|
188 |
ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),) |
189 |
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c |
190 |
endif |
191 |
+ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
|
192 |
+PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
|
193 |
+endif
|
194 |
else |
195 |
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_gpt_lld.c |
196 |
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_icu_lld.c |
197 |
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c |
198 |
+PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
|
199 |
endif |
200 |
|
201 |
PLATFORMINC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1 |
202 |
diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
|
203 |
new file mode 100644
|
204 |
index 0000000..700704a
|
205 |
--- /dev/null
|
206 |
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
|
207 |
@@ -0,0 +1,302 @@
|
208 |
+/*
|
209 |
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
210 |
+Copyright (C) 2016..2018 Thomas Schöpping et al.
|
211 |
+
|
212 |
+This program is free software: you can redistribute it and/or modify
|
213 |
+it under the terms of the GNU General Public License as published by
|
214 |
+the Free Software Foundation, either version 3 of the License, or
|
215 |
+(at your option) any later version.
|
216 |
+
|
217 |
+This program is distributed in the hope that it will be useful,
|
218 |
+but WITHOUT ANY WARRANTY; without even the implied warranty of
|
219 |
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
220 |
+GNU General Public License for more details.
|
221 |
+
|
222 |
+You should have received a copy of the GNU General Public License
|
223 |
+along with this program. If not, see <http://www.gnu.org/licenses/>.
|
224 |
+*/
|
225 |
+
|
226 |
+/**
|
227 |
+ * @file STM32/hal_qei_lld.c
|
228 |
+ * @brief STM32 QEI subsystem low level driver.
|
229 |
+ *
|
230 |
+ * @addtogroup QEI
|
231 |
+ * @{
|
232 |
+ */
|
233 |
+
|
234 |
+#include "hal.h"
|
235 |
+
|
236 |
+#include "hal_qei.h"
|
237 |
+
|
238 |
+#if HAL_USE_QEI || defined(__DOXYGEN__)
|
239 |
+
|
240 |
+/*===========================================================================*/
|
241 |
+/* Driver exported variables. */
|
242 |
+/*===========================================================================*/
|
243 |
+
|
244 |
+/**
|
245 |
+ * @brief QEID1 driver identifier.
|
246 |
+ * @note The driver QEID1 allocates the complex timer TIM1 when enabled.
|
247 |
+ */
|
248 |
+#if STM32_QEI_USE_TIM1 || defined(__DOXYGEN__)
|
249 |
+QEIDriver QEID1;
|
250 |
+#endif
|
251 |
+
|
252 |
+/**
|
253 |
+ * @brief QEID2 driver identifier.
|
254 |
+ * @note The driver QEID1 allocates the timer TIM2 when enabled.
|
255 |
+ */
|
256 |
+#if STM32_QEI_USE_TIM2 || defined(__DOXYGEN__)
|
257 |
+QEIDriver QEID2;
|
258 |
+#endif
|
259 |
+
|
260 |
+/**
|
261 |
+ * @brief QEID3 driver identifier.
|
262 |
+ * @note The driver QEID1 allocates the timer TIM3 when enabled.
|
263 |
+ */
|
264 |
+#if STM32_QEI_USE_TIM3 || defined(__DOXYGEN__)
|
265 |
+QEIDriver QEID3;
|
266 |
+#endif
|
267 |
+
|
268 |
+/**
|
269 |
+ * @brief QEID4 driver identifier.
|
270 |
+ * @note The driver QEID4 allocates the timer TIM4 when enabled.
|
271 |
+ */
|
272 |
+#if STM32_QEI_USE_TIM4 || defined(__DOXYGEN__)
|
273 |
+QEIDriver QEID4;
|
274 |
+#endif
|
275 |
+
|
276 |
+/**
|
277 |
+ * @brief QEID5 driver identifier.
|
278 |
+ * @note The driver QEID5 allocates the timer TIM5 when enabled.
|
279 |
+ */
|
280 |
+#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)
|
281 |
+QEIDriver QEID5;
|
282 |
+#endif
|
283 |
+
|
284 |
+/**
|
285 |
+ * @brief QEID8 driver identifier.
|
286 |
+ * @note The driver QEID8 allocates the timer TIM8 when enabled.
|
287 |
+ */
|
288 |
+#if STM32_QEI_USE_TIM8 || defined(__DOXYGEN__)
|
289 |
+QEIDriver QEID8;
|
290 |
+#endif
|
291 |
+
|
292 |
+/*===========================================================================*/
|
293 |
+/* Driver local variables. */
|
294 |
+/*===========================================================================*/
|
295 |
+
|
296 |
+/*===========================================================================*/
|
297 |
+/* Driver local functions. */
|
298 |
+/*===========================================================================*/
|
299 |
+
|
300 |
+/*===========================================================================*/
|
301 |
+/* Driver interrupt handlers. */
|
302 |
+/*===========================================================================*/
|
303 |
+
|
304 |
+/*===========================================================================*/
|
305 |
+/* Driver exported functions. */
|
306 |
+/*===========================================================================*/
|
307 |
+
|
308 |
+/**
|
309 |
+ * @brief Low level QEI driver initialization.
|
310 |
+ *
|
311 |
+ * @notapi
|
312 |
+ */
|
313 |
+void qei_lld_init(void) {
|
314 |
+
|
315 |
+#if STM32_QEI_USE_TIM1
|
316 |
+ /* Driver initialization.*/
|
317 |
+ qeiObjectInit(&QEID1);
|
318 |
+ QEID1.tim = STM32_TIM1;
|
319 |
+#endif
|
320 |
+
|
321 |
+#if STM32_QEI_USE_TIM2
|
322 |
+ /* Driver initialization.*/
|
323 |
+ qeiObjectInit(&QEID2);
|
324 |
+ QEID2.tim = STM32_TIM2;
|
325 |
+#endif
|
326 |
+
|
327 |
+#if STM32_QEI_USE_TIM3
|
328 |
+ /* Driver initialization.*/
|
329 |
+ qeiObjectInit(&QEID3);
|
330 |
+ QEID3.tim = STM32_TIM3;
|
331 |
+#endif
|
332 |
+
|
333 |
+#if STM32_QEI_USE_TIM4
|
334 |
+ /* Driver initialization.*/
|
335 |
+ qeiObjectInit(&QEID4);
|
336 |
+ QEID4.tim = STM32_TIM4;
|
337 |
+#endif
|
338 |
+
|
339 |
+#if STM32_QEI_USE_TIM5
|
340 |
+ /* Driver initialization.*/
|
341 |
+ qeiObjectInit(&QEID5);
|
342 |
+ QEID5.tim = STM32_TIM5;
|
343 |
+#endif
|
344 |
+
|
345 |
+#if STM32_QEI_USE_TIM8
|
346 |
+ /* Driver initialization.*/
|
347 |
+ qeiObjectInit(&QEID8);
|
348 |
+ QEID8.tim = STM32_TIM8;
|
349 |
+#endif
|
350 |
+}
|
351 |
+
|
352 |
+/**
|
353 |
+ * @brief Configures and activates the QEI peripheral.
|
354 |
+ *
|
355 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
356 |
+ *
|
357 |
+ * @notapi
|
358 |
+ */
|
359 |
+void qei_lld_start(QEIDriver *qeip) {
|
360 |
+ uint32_t arr, ccer;
|
361 |
+
|
362 |
+ if (qeip->state == QEI_STOP) {
|
363 |
+ /* Clock activation and timer reset.*/
|
364 |
+#if STM32_QEI_USE_TIM1
|
365 |
+ if (&QEID1 == qeip) {
|
366 |
+ rccEnableTIM1();
|
367 |
+ rccResetTIM1();
|
368 |
+ }
|
369 |
+#endif
|
370 |
+#if STM32_QEI_USE_TIM2
|
371 |
+ if (&QEID2 == qeip) {
|
372 |
+ rccEnableTIM2();
|
373 |
+ rccResetTIM2();
|
374 |
+ }
|
375 |
+#endif
|
376 |
+#if STM32_QEI_USE_TIM3
|
377 |
+ if (&QEID3 == qeip) {
|
378 |
+ rccEnableTIM3();
|
379 |
+ rccResetTIM3();
|
380 |
+ }
|
381 |
+#endif
|
382 |
+#if STM32_QEI_USE_TIM4
|
383 |
+ if (&QEID4 == qeip) {
|
384 |
+ rccEnableTIM4();
|
385 |
+ rccResetTIM4();
|
386 |
+ }
|
387 |
+#endif
|
388 |
+
|
389 |
+#if STM32_QEI_USE_TIM5
|
390 |
+ if (&QEID5 == qeip) {
|
391 |
+ rccEnableTIM5();
|
392 |
+ rccResetTIM5();
|
393 |
+ }
|
394 |
+#endif
|
395 |
+#if STM32_QEI_USE_TIM8
|
396 |
+ if (&QEID8 == qeip) {
|
397 |
+ rccEnableTIM8();
|
398 |
+ rccResetTIM8();
|
399 |
+ }
|
400 |
+#endif
|
401 |
+ }
|
402 |
+ else {
|
403 |
+ /* Driver re-configuration scenario, it must be stopped first.*/
|
404 |
+ qeip->tim->CR1 = 0; /* Timer disabled. */
|
405 |
+ qeip->tim->DIER = 0; /* All IRQs disabled. */
|
406 |
+ qeip->tim->SR = 0; /* Clear eventual pending IRQs. */
|
407 |
+ qeip->tim->CCR[0] = 0; /* Comparator 1 disabled. */
|
408 |
+ qeip->tim->CCR[1] = 0; /* Comparator 2 disabled. */
|
409 |
+ qeip->tim->CNT = 0; /* Counter reset to zero. */
|
410 |
+ }
|
411 |
+
|
412 |
+ /* Timer configuration.*/
|
413 |
+ qeip->tim->PSC = 0;
|
414 |
+ arr = qeip->config->range - 1;
|
415 |
+ osalDbgAssert((arr <= 0xFFFF), "qei_lld_start(), #1" /*, "invalid range"*/);
|
416 |
+ qeip->tim->ARR = arr & 0xFFFF;
|
417 |
+
|
418 |
+ /* CCMR1_CC1S = 01 - CH1 Input on TI1.
|
419 |
+ CCMR1_CC2S = 01 - CH2 Input on TI2.*/
|
420 |
+ qeip->tim->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
|
421 |
+
|
422 |
+ ccer = 0;
|
423 |
+ if (qeip->config->channels[0].mode == QEI_INPUT_INVERTED)
|
424 |
+ ccer |= TIM_CCER_CC1P;
|
425 |
+ if (qeip->config->channels[1].mode == QEI_INPUT_INVERTED)
|
426 |
+ ccer |= TIM_CCER_CC2P;
|
427 |
+ qeip->tim->CCER = ccer;
|
428 |
+
|
429 |
+ if (qeip->config->mode == QEI_COUNT_CH1)
|
430 |
+ qeip->tim->SMCR = TIM_SMCR_SMS_1;
|
431 |
+ else if (qeip->config->mode == QEI_COUNT_CH2)
|
432 |
+ qeip->tim->SMCR = TIM_SMCR_SMS_0;
|
433 |
+ else
|
434 |
+ qeip->tim->SMCR = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1;
|
435 |
+}
|
436 |
+
|
437 |
+/**
|
438 |
+ * @brief Deactivates the QEI peripheral.
|
439 |
+ *
|
440 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
441 |
+ *
|
442 |
+ * @notapi
|
443 |
+ */
|
444 |
+void qei_lld_stop(QEIDriver *qeip) {
|
445 |
+
|
446 |
+ if (qeip->state == QEI_READY) {
|
447 |
+ /* Clock deactivation.*/
|
448 |
+ qeip->tim->CR1 = 0; /* Timer disabled. */
|
449 |
+
|
450 |
+#if STM32_QEI_USE_TIM1
|
451 |
+ if (&QEID1 == qeip) {
|
452 |
+ rccDisableTIM1();
|
453 |
+ }
|
454 |
+#endif
|
455 |
+#if STM32_QEI_USE_TIM2
|
456 |
+ if (&QEID2 == qeip) {
|
457 |
+ rccDisableTIM2();
|
458 |
+ }
|
459 |
+#endif
|
460 |
+#if STM32_QEI_USE_TIM3
|
461 |
+ if (&QEID3 == qeip) {
|
462 |
+ rccDisableTIM3();
|
463 |
+ }
|
464 |
+#endif
|
465 |
+#if STM32_QEI_USE_TIM4
|
466 |
+ if (&QEID4 == qeip) {
|
467 |
+ rccDisableTIM4();
|
468 |
+ }
|
469 |
+#endif
|
470 |
+#if STM32_QEI_USE_TIM5
|
471 |
+ if (&QEID5 == qeip) {
|
472 |
+ rccDisableTIM5();
|
473 |
+ }
|
474 |
+#endif
|
475 |
+ }
|
476 |
+#if STM32_QEI_USE_TIM8
|
477 |
+ if (&QEID8 == qeip) {
|
478 |
+ rccDisableTIM8();
|
479 |
+ }
|
480 |
+#endif
|
481 |
+}
|
482 |
+
|
483 |
+/**
|
484 |
+ * @brief Enables the quadrature encoder.
|
485 |
+ *
|
486 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
487 |
+ *
|
488 |
+ * @notapi
|
489 |
+ */
|
490 |
+void qei_lld_enable(QEIDriver *qeip) {
|
491 |
+
|
492 |
+ qeip->tim->CR1 = TIM_CR1_CEN;
|
493 |
+}
|
494 |
+
|
495 |
+/**
|
496 |
+ * @brief Disables the quadrature encoder.
|
497 |
+ *
|
498 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
499 |
+ *
|
500 |
+ * @notapi
|
501 |
+ */
|
502 |
+void qei_lld_disable(QEIDriver *qeip) {
|
503 |
+
|
504 |
+ qeip->tim->CR1 = 0;
|
505 |
+}
|
506 |
+
|
507 |
+#endif /* HAL_USE_QEI */
|
508 |
+
|
509 |
+/** @} */
|
510 |
diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
|
511 |
new file mode 100644
|
512 |
index 0000000..d4b7acc
|
513 |
--- /dev/null
|
514 |
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
|
515 |
@@ -0,0 +1,302 @@
|
516 |
+/*
|
517 |
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
518 |
+Copyright (C) 2016..2018 Thomas Schöpping et al.
|
519 |
+
|
520 |
+This program is free software: you can redistribute it and/or modify
|
521 |
+it under the terms of the GNU General Public License as published by
|
522 |
+the Free Software Foundation, either version 3 of the License, or
|
523 |
+(at your option) any later version.
|
524 |
+
|
525 |
+This program is distributed in the hope that it will be useful,
|
526 |
+but WITHOUT ANY WARRANTY; without even the implied warranty of
|
527 |
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
528 |
+GNU General Public License for more details.
|
529 |
+
|
530 |
+You should have received a copy of the GNU General Public License
|
531 |
+along with this program. If not, see <http://www.gnu.org/licenses/>.
|
532 |
+*/
|
533 |
+
|
534 |
+/**
|
535 |
+ * @file STM32/hal_qei_lld.h
|
536 |
+ * @brief STM32 QEI subsystem low level driver header.
|
537 |
+ *
|
538 |
+ * @addtogroup QEI
|
539 |
+ * @{
|
540 |
+ */
|
541 |
+
|
542 |
+#ifndef _HAL_QEI_LLD_H_
|
543 |
+#define _HAL_QEI_LLD_H_
|
544 |
+
|
545 |
+#include "stm32_tim.h"
|
546 |
+
|
547 |
+#if HAL_USE_QEI || defined(__DOXYGEN__)
|
548 |
+
|
549 |
+/*===========================================================================*/
|
550 |
+/* Driver constants. */
|
551 |
+/*===========================================================================*/
|
552 |
+
|
553 |
+/**
|
554 |
+ * @brief Number of input channels per QEI driver.
|
555 |
+ */
|
556 |
+#define QEI_CHANNELS 2
|
557 |
+
|
558 |
+/*===========================================================================*/
|
559 |
+/* Driver pre-compile time settings. */
|
560 |
+/*===========================================================================*/
|
561 |
+
|
562 |
+/**
|
563 |
+ * @name Configuration options
|
564 |
+ * @{
|
565 |
+ */
|
566 |
+/**
|
567 |
+ * @brief QEID1 driver enable switch.
|
568 |
+ * @details If set to @p TRUE the support for QEID1 is included.
|
569 |
+ * @note The default is @p TRUE.
|
570 |
+ */
|
571 |
+#if !defined(STM32_QEI_USE_TIM1) || defined(__DOXYGEN__)
|
572 |
+#define STM32_QEI_USE_TIM1 TRUE
|
573 |
+#endif
|
574 |
+
|
575 |
+/**
|
576 |
+ * @brief QEID2 driver enable switch.
|
577 |
+ * @details If set to @p TRUE the support for QEID2 is included.
|
578 |
+ * @note The default is @p TRUE.
|
579 |
+ */
|
580 |
+#if !defined(STM32_QEI_USE_TIM2) || defined(__DOXYGEN__)
|
581 |
+#define STM32_QEI_USE_TIM2 TRUE
|
582 |
+#endif
|
583 |
+
|
584 |
+/**
|
585 |
+ * @brief QEID3 driver enable switch.
|
586 |
+ * @details If set to @p TRUE the support for QEID3 is included.
|
587 |
+ * @note The default is @p TRUE.
|
588 |
+ */
|
589 |
+#if !defined(STM32_QEI_USE_TIM3) || defined(__DOXYGEN__)
|
590 |
+#define STM32_QEI_USE_TIM3 TRUE
|
591 |
+#endif
|
592 |
+
|
593 |
+/**
|
594 |
+ * @brief QEID4 driver enable switch.
|
595 |
+ * @details If set to @p TRUE the support for QEID4 is included.
|
596 |
+ * @note The default is @p TRUE.
|
597 |
+ */
|
598 |
+#if !defined(STM32_QEI_USE_TIM4) || defined(__DOXYGEN__)
|
599 |
+#define STM32_QEI_USE_TIM4 TRUE
|
600 |
+#endif
|
601 |
+
|
602 |
+/**
|
603 |
+ * @brief QEID5 driver enable switch.
|
604 |
+ * @details If set to @p TRUE the support for QEID5 is included.
|
605 |
+ * @note The default is @p TRUE.
|
606 |
+ */
|
607 |
+#if !defined(STM32_QEI_USE_TIM5) || defined(__DOXYGEN__)
|
608 |
+#define STM32_QEI_USE_TIM5 TRUE
|
609 |
+#endif
|
610 |
+
|
611 |
+/**
|
612 |
+ * @brief QEID8 driver enable switch.
|
613 |
+ * @details If set to @p TRUE the support for QEID8 is included.
|
614 |
+ * @note The default is @p TRUE.
|
615 |
+ */
|
616 |
+#if !defined(STM32_QEI_USE_TIM8) || defined(__DOXYGEN__)
|
617 |
+#define STM32_QEI_USE_TIM8 TRUE
|
618 |
+#endif
|
619 |
+/** @} */
|
620 |
+
|
621 |
+/*===========================================================================*/
|
622 |
+/* Derived constants and error checks. */
|
623 |
+/*===========================================================================*/
|
624 |
+
|
625 |
+#if STM32_QEI_USE_TIM1 && !STM32_HAS_TIM1
|
626 |
+#error "TIM1 not present in the selected device"
|
627 |
+#endif
|
628 |
+
|
629 |
+#if STM32_QEI_USE_TIM2 && !STM32_HAS_TIM2
|
630 |
+#error "TIM2 not present in the selected device"
|
631 |
+#endif
|
632 |
+
|
633 |
+#if STM32_QEI_USE_TIM3 && !STM32_HAS_TIM3
|
634 |
+#error "TIM3 not present in the selected device"
|
635 |
+#endif
|
636 |
+
|
637 |
+#if STM32_QEI_USE_TIM4 && !STM32_HAS_TIM4
|
638 |
+#error "TIM4 not present in the selected device"
|
639 |
+#endif
|
640 |
+
|
641 |
+#if STM32_QEI_USE_TIM5 && !STM32_HAS_TIM5
|
642 |
+#error "TIM5 not present in the selected device"
|
643 |
+#endif
|
644 |
+
|
645 |
+#if STM32_QEI_USE_TIM8 && !STM32_HAS_TIM8
|
646 |
+#error "TIM8 not present in the selected device"
|
647 |
+#endif
|
648 |
+
|
649 |
+#if !STM32_QEI_USE_TIM1 && !STM32_QEI_USE_TIM2 && \
|
650 |
+ !STM32_QEI_USE_TIM3 && !STM32_QEI_USE_TIM4 && \
|
651 |
+ !STM32_QEI_USE_TIM5 && !STM32_QEI_USE_TIM8
|
652 |
+#error "QEI driver activated but no TIM peripheral assigned"
|
653 |
+#endif
|
654 |
+
|
655 |
+/*===========================================================================*/
|
656 |
+/* Driver data structures and types. */
|
657 |
+/*===========================================================================*/
|
658 |
+
|
659 |
+/**
|
660 |
+ * @brief QEI driver mode.
|
661 |
+ */
|
662 |
+typedef enum {
|
663 |
+ QEI_COUNT_BOTH = 0,
|
664 |
+ QEI_COUNT_CH1 = 1,
|
665 |
+ QEI_COUNT_CH2 = 2,
|
666 |
+} qeimode_t;
|
667 |
+
|
668 |
+/**
|
669 |
+ * @brief QEI input mode.
|
670 |
+ */
|
671 |
+typedef enum {
|
672 |
+ QEI_INPUT_NONINVERTED = 0, /**< Input channel noninverted.*/
|
673 |
+ QEI_INPUT_INVERTED = 1, /**< Input channel inverted.*/
|
674 |
+} qeiinputmode_t;
|
675 |
+
|
676 |
+/**
|
677 |
+ * @brief QEI count type.
|
678 |
+ */
|
679 |
+typedef uint32_t qeicnt_t;
|
680 |
+
|
681 |
+/**
|
682 |
+ * @brief Driver channel configuration structure.
|
683 |
+ */
|
684 |
+typedef struct {
|
685 |
+ /**
|
686 |
+ * @brief Channel input logic.
|
687 |
+ */
|
688 |
+ qeiinputmode_t mode;
|
689 |
+ /* End of the mandatory fields.*/
|
690 |
+} QEIChannelConfig;
|
691 |
+
|
692 |
+/**
|
693 |
+ * @brief Driver configuration structure.
|
694 |
+ */
|
695 |
+typedef struct {
|
696 |
+ /**
|
697 |
+ * @brief Driver mode.
|
698 |
+ */
|
699 |
+ qeimode_t mode;
|
700 |
+ /**
|
701 |
+ * @brief Channels configurations.
|
702 |
+ */
|
703 |
+ QEIChannelConfig channels[QEI_CHANNELS];
|
704 |
+ /**
|
705 |
+ * @brief Range in pulses.
|
706 |
+ */
|
707 |
+ qeicnt_t range;
|
708 |
+ /* End of the mandatory fields.*/
|
709 |
+} QEIConfig;
|
710 |
+
|
711 |
+/**
|
712 |
+ * @brief Structure representing an QEI driver.
|
713 |
+ */
|
714 |
+struct QEIDriver {
|
715 |
+ /**
|
716 |
+ * @brief Driver state.
|
717 |
+ */
|
718 |
+ qeistate_t state;
|
719 |
+ /**
|
720 |
+ * @brief Current configuration data.
|
721 |
+ */
|
722 |
+ const QEIConfig *config;
|
723 |
+#if defined(QEI_DRIVER_EXT_FIELDS)
|
724 |
+ QEI_DRIVER_EXT_FIELDS
|
725 |
+#endif
|
726 |
+ /* End of the mandatory fields.*/
|
727 |
+ /**
|
728 |
+ * @brief Pointer to the TIMx registers block.
|
729 |
+ */
|
730 |
+ stm32_tim_t *tim;
|
731 |
+};
|
732 |
+
|
733 |
+/*===========================================================================*/
|
734 |
+/* Driver macros. */
|
735 |
+/*===========================================================================*/
|
736 |
+
|
737 |
+/**
|
738 |
+ * @brief Returns the direction of the last transition.
|
739 |
+ * @details The direction is defined as boolean and is
|
740 |
+ * calculated at each transition on any input.
|
741 |
+ *
|
742 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
743 |
+ * @return The request direction.
|
744 |
+ * @retval FALSE Position counted up.
|
745 |
+ * @retval TRUE Position counted down.
|
746 |
+ *
|
747 |
+ * @iclass
|
748 |
+ */
|
749 |
+#define qei_lld_get_direction(qeip) !!((qeip)->tim->CR1 & TIM_CR1_DIR)
|
750 |
+
|
751 |
+/**
|
752 |
+ * @brief Returns the position of the encoder.
|
753 |
+ * @details The position is defined as number of pulses since last reset.
|
754 |
+ *
|
755 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
756 |
+ * @return The number of pulses.
|
757 |
+ *
|
758 |
+ * @iclass
|
759 |
+ */
|
760 |
+#define qei_lld_get_position(qeip) ((qeip)->tim->CNT)
|
761 |
+
|
762 |
+/**
|
763 |
+ * @brief Returns the range of the encoder.
|
764 |
+ * @details The range is defined as number of maximum pulse count.
|
765 |
+ *
|
766 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
767 |
+ * @return The number of pulses.
|
768 |
+ *
|
769 |
+ * @iclass
|
770 |
+ */
|
771 |
+#define qei_lld_get_range(qeip) ((qeip)->tim->ARR + 1)
|
772 |
+
|
773 |
+/*===========================================================================*/
|
774 |
+/* External declarations. */
|
775 |
+/*===========================================================================*/
|
776 |
+
|
777 |
+#if STM32_QEI_USE_TIM1 && !defined(__DOXYGEN__)
|
778 |
+extern QEIDriver QEID1;
|
779 |
+#endif
|
780 |
+
|
781 |
+#if STM32_QEI_USE_TIM2 && !defined(__DOXYGEN__)
|
782 |
+extern QEIDriver QEID2;
|
783 |
+#endif
|
784 |
+
|
785 |
+#if STM32_QEI_USE_TIM3 && !defined(__DOXYGEN__)
|
786 |
+extern QEIDriver QEID3;
|
787 |
+#endif
|
788 |
+
|
789 |
+#if STM32_QEI_USE_TIM4 && !defined(__DOXYGEN__)
|
790 |
+extern QEIDriver QEID4;
|
791 |
+#endif
|
792 |
+
|
793 |
+#if STM32_QEI_USE_TIM5 && !defined(__DOXYGEN__)
|
794 |
+extern QEIDriver QEID5;
|
795 |
+#endif
|
796 |
+
|
797 |
+#if STM32_QEI_USE_TIM8 && !defined(__DOXYGEN__)
|
798 |
+extern QEIDriver QEID8;
|
799 |
+#endif
|
800 |
+
|
801 |
+#ifdef __cplusplus
|
802 |
+extern "C" {
|
803 |
+#endif
|
804 |
+ void qei_lld_init(void);
|
805 |
+ void qei_lld_start(QEIDriver *qeip);
|
806 |
+ void qei_lld_stop(QEIDriver *qeip);
|
807 |
+ void qei_lld_enable(QEIDriver *qeip);
|
808 |
+ void qei_lld_disable(QEIDriver *qeip);
|
809 |
+#ifdef __cplusplus
|
810 |
+}
|
811 |
+#endif
|
812 |
+
|
813 |
+#endif /* HAL_USE_QEI */
|
814 |
+
|
815 |
+#endif /* _HAL_QEI_LLD_H_ */
|
816 |
+
|
817 |
+/** @} */
|
818 |
diff --git a/os/hal/src/hal_qei.c b/os/hal/src/hal_qei.c
|
819 |
new file mode 100644
|
820 |
index 0000000..c08d175
|
821 |
--- /dev/null
|
822 |
+++ b/os/hal/src/hal_qei.c
|
823 |
@@ -0,0 +1,156 @@
|
824 |
+/*
|
825 |
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
826 |
+Copyright (C) 2016..2018 Thomas Schöpping et al.
|
827 |
+
|
828 |
+This program is free software: you can redistribute it and/or modify
|
829 |
+it under the terms of the GNU General Public License as published by
|
830 |
+the Free Software Foundation, either version 3 of the License, or
|
831 |
+(at your option) any later version.
|
832 |
+
|
833 |
+This program is distributed in the hope that it will be useful,
|
834 |
+but WITHOUT ANY WARRANTY; without even the implied warranty of
|
835 |
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
836 |
+GNU General Public License for more details.
|
837 |
+
|
838 |
+You should have received a copy of the GNU General Public License
|
839 |
+along with this program. If not, see <http://www.gnu.org/licenses/>.
|
840 |
+*/
|
841 |
+
|
842 |
+/**
|
843 |
+ * @file hal_qei.c
|
844 |
+ * @brief QEI Driver code.
|
845 |
+ *
|
846 |
+ * @addtogroup QEI
|
847 |
+ * @{
|
848 |
+ */
|
849 |
+
|
850 |
+#include "hal.h"
|
851 |
+#include "hal_qei.h"
|
852 |
+
|
853 |
+#if HAL_USE_QEI || defined(__DOXYGEN__)
|
854 |
+
|
855 |
+/*===========================================================================*/
|
856 |
+/* Driver local definitions. */
|
857 |
+/*===========================================================================*/
|
858 |
+
|
859 |
+/*===========================================================================*/
|
860 |
+/* Driver exported variables. */
|
861 |
+/*===========================================================================*/
|
862 |
+
|
863 |
+/*===========================================================================*/
|
864 |
+/* Driver local variables. */
|
865 |
+/*===========================================================================*/
|
866 |
+
|
867 |
+/*===========================================================================*/
|
868 |
+/* Driver local functions. */
|
869 |
+/*===========================================================================*/
|
870 |
+
|
871 |
+/*===========================================================================*/
|
872 |
+/* Driver exported functions. */
|
873 |
+/*===========================================================================*/
|
874 |
+
|
875 |
+/**
|
876 |
+ * @brief QEI Driver initialization.
|
877 |
+ * @note This function is implicitly invoked by @p halInit(), there is
|
878 |
+ * no need to explicitly initialize the driver.
|
879 |
+ *
|
880 |
+ * @init
|
881 |
+ */
|
882 |
+void qeiInit(void) {
|
883 |
+
|
884 |
+ qei_lld_init();
|
885 |
+}
|
886 |
+
|
887 |
+/**
|
888 |
+ * @brief Initializes the standard part of a @p QEIDriver structure.
|
889 |
+ *
|
890 |
+ * @param[out] qeip pointer to the @p QEIDriver object
|
891 |
+ *
|
892 |
+ * @init
|
893 |
+ */
|
894 |
+void qeiObjectInit(QEIDriver *qeip) {
|
895 |
+
|
896 |
+ qeip->state = QEI_STOP;
|
897 |
+ qeip->config = NULL;
|
898 |
+}
|
899 |
+
|
900 |
+/**
|
901 |
+ * @brief Configures and activates the QEI peripheral.
|
902 |
+ *
|
903 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
904 |
+ * @param[in] config pointer to the @p QEIConfig object
|
905 |
+ *
|
906 |
+ * @api
|
907 |
+ */
|
908 |
+void qeiStart(QEIDriver *qeip, const QEIConfig *config) {
|
909 |
+
|
910 |
+ chDbgCheck((qeip != NULL) && (config != NULL) /*, "qeiStart"*/);
|
911 |
+
|
912 |
+ chSysLock();
|
913 |
+ chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY),
|
914 |
+ "qeiStart(), #1" /*, "invalid state"*/);
|
915 |
+ qeip->config = config;
|
916 |
+ qei_lld_start(qeip);
|
917 |
+ qeip->state = QEI_READY;
|
918 |
+ chSysUnlock();
|
919 |
+}
|
920 |
+
|
921 |
+/**
|
922 |
+ * @brief Deactivates the QEI peripheral.
|
923 |
+ *
|
924 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
925 |
+ *
|
926 |
+ * @api
|
927 |
+ */
|
928 |
+void qeiStop(QEIDriver *qeip) {
|
929 |
+
|
930 |
+ chDbgCheck(qeip != NULL /*, "qeiStop"*/);
|
931 |
+
|
932 |
+ chSysLock();
|
933 |
+ chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY),
|
934 |
+ "qeiStop(), #1" /*, "invalid state"*/);
|
935 |
+ qei_lld_stop(qeip);
|
936 |
+ qeip->state = QEI_STOP;
|
937 |
+ chSysUnlock();
|
938 |
+}
|
939 |
+
|
940 |
+/**
|
941 |
+ * @brief Enables the quadrature encoder.
|
942 |
+ *
|
943 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
944 |
+ *
|
945 |
+ * @api
|
946 |
+ */
|
947 |
+void qeiEnable(QEIDriver *qeip) {
|
948 |
+
|
949 |
+ chDbgCheck(qeip != NULL /*, "qeiEnable"*/);
|
950 |
+
|
951 |
+ chSysLock();
|
952 |
+ chDbgAssert(qeip->state == QEI_READY, "qeiEnable(), #1" /*, "invalid state"*/);
|
953 |
+ qei_lld_enable(qeip);
|
954 |
+ qeip->state = QEI_ACTIVE;
|
955 |
+ chSysUnlock();
|
956 |
+}
|
957 |
+
|
958 |
+/**
|
959 |
+ * @brief Disables the quadrature encoder.
|
960 |
+ *
|
961 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
962 |
+ *
|
963 |
+ * @api
|
964 |
+ */
|
965 |
+void qeiDisable(QEIDriver *qeip) {
|
966 |
+
|
967 |
+ chDbgCheck(qeip != NULL /*, "qeiDisable"*/);
|
968 |
+
|
969 |
+ chSysLock();
|
970 |
+ chDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE),
|
971 |
+ "qeiDisable(), #1" /*, "invalid state"*/);
|
972 |
+ qei_lld_disable(qeip);
|
973 |
+ qeip->state = QEI_READY;
|
974 |
+ chSysUnlock();
|
975 |
+}
|
976 |
+
|
977 |
+#endif /* HAL_USE_QEI */
|
978 |
+
|
979 |
+/** @} */
|