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stm32/qenco: add support for QEIOC_SETPOSMAX

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raiden00pl
2021-08-07 14:27:41 +02:00
committed by Alan Carvalho de Assis
parent dca8c65331
commit 51b24c4bad
1 changed files with 45 additions and 5 deletions
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arch/arm/src/stm32/stm32_qencoder.c
+40
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@@ -354,6 +354,7 @@ static int stm32_setup(FAR struct qe_lowerhalf_s *lower);
static int stm32_shutdown(FAR struct qe_lowerhalf_s *lower);
static int stm32_position(FAR struct qe_lowerhalf_s *lower,
FAR int32_t *pos);
static int stm32_setposmax(FAR struct qe_lowerhalf_s *lower, uint32_t pos);
static int stm32_reset(FAR struct qe_lowerhalf_s *lower);
static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd,
unsigned long arg);
@@ -369,6 +370,7 @@ static const struct qe_ops_s g_qecallbacks =
.setup = stm32_setup,
.shutdown = stm32_shutdown,
.position = stm32_position,
.setposmax = stm32_setposmax,
.reset = stm32_reset,
.ioctl = stm32_ioctl,
};
@@ -1161,11 +1163,49 @@ static int stm32_position(FAR struct qe_lowerhalf_s *lower, FAR int32_t *pos)
#else
/* Return the counter value */
# if defined(HAVE_32BIT_TIMERS)
*pos = (int32_t)stm32_getreg32(priv, STM32_GTIM_CNT_OFFSET);
# else
*pos = (int32_t)stm32_getreg16(priv, STM32_GTIM_CNT_OFFSET);
# endif
#endif
return OK;
}
/****************************************************************************
* Name: stm32_setposmax
*
* Description:
* Set the maximum encoder position.
*
****************************************************************************/
static int stm32_setposmax(FAR struct qe_lowerhalf_s *lower, uint32_t pos)
{
#ifdef CONFIG_STM32_QENCODER_DISABLE_EXTEND16BTIMERS
FAR struct stm32_lowerhalf_s *priv = (FAR struct stm32_lowerhalf_s *)lower;
#if defined(HAVE_MIXEDWIDTH_TIMERS)
if (priv->config->width == 32)
{
stm32_putreg32(priv, STM32_GTIM_ARR_OFFSET, pos);
}
else
{
stm32_putreg16(priv, STM32_GTIM_ARR_OFFSET, pos);
}
#elif defined(HAVE_32BIT_TIMERS)
stm32_putreg32(priv, STM32_GTIM_ARR_OFFSET, pos);
#else
stm32_putreg16(priv, STM32_GTIM_ARR_OFFSET, pos);
#endif
return OK;
#else
return -ENOTTY;
#endif
}
/****************************************************************************
* Name: stm32_reset
*