knob: Move position limit out of damped profile

Should be common to all profiles
xingrz · Oct 12, 2023 · 572afb0 · 572afb0
1 parent 85fe36d
commit 572afb0
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Showing 4 changed files with 46 additions and 44 deletions.
diff --git a/config/app/usb_comm/handler/handler_knob.c b/config/app/usb_comm/handler/handler_knob.c
@@ -3,6 +3,8 @@
  * SPDX-License-Identifier: MIT
  */
 
+#include <arm_math.h>
+
 #include "handler.h"
 #include "usb_comm.pb.h"
 
@@ -17,6 +19,8 @@
 #define KNOB_NODE DT_ALIAS(knob)
 #define MOTOR_NODE DT_PHANDLE(KNOB_NODE, motor)
 
+#define DEG(deg) (deg / 360.0f * (PI * 2.0f))
+
 #define PROFILE_TORQUE_LIMIT(node) (float)DT_PROP_OR(node, torque_limit_mv, 0) / 1000.0f,
 
 static const struct device *knob = DEVICE_DT_GET(KNOB_NODE);
@@ -125,7 +129,13 @@ static bool handle_knob_set_config(const usb_comm_MessageH2D *h2d, usb_comm_Mess
 	if (req->demo) {
 		knob_app_set_demo(true);
 		knob_set_mode(knob, (enum knob_mode)req->mode);
+		if (req->mode == usb_comm_KnobConfig_Mode_DAMPED) {
+			knob_set_position_limit(knob, DEG(110.0f), DEG(250.0f));
+		} else {
+			knob_set_position_limit(knob, 0.0f, 0.0f);
+		}
 	} else {
+		knob_set_position_limit(knob, 0.0f, 0.0f);
 		knob_app_set_demo(false);
 	}
 

diff --git a/config/drivers/sensor/knob/include/knob/drivers/knob.h b/config/drivers/sensor/knob/include/knob/drivers/knob.h
@@ -31,8 +31,6 @@ enum knob_mode {
 
 struct knob_params {
 	int ppr;
-	float position_min;
-	float position_max;
 };
 
 void knob_set_mode(const struct device *dev, enum knob_mode mode);

diff --git a/config/drivers/sensor/knob/knob.c b/config/drivers/sensor/knob/knob.c
@@ -36,6 +36,9 @@ struct knob_data {
 
 	struct knob_params params;
 
+	float position_min;
+	float position_max;
+
 	bool encoder_report;
 	int encoder_ppr;
 };
@@ -153,20 +156,15 @@ int knob_get_encoder_ppr(const struct device *dev)
 void knob_set_position_limit(const struct device *dev, float min, float max)
 {
 	struct knob_data *data = dev->data;
-
-	data->params.position_min = min;
-	data->params.position_max = max;
-
-	if (data->profile != NULL) {
-		knob_profile_update_params(data->profile, data->params);
-	}
+	data->position_min = min;
+	data->position_max = max;
 }
 
 void knob_get_position_limit(const struct device *dev, float *min, float *max)
 {
 	struct knob_data *data = dev->data;
-	*min = data->params.position_min;
-	*max = data->params.position_max;
+	*min = data->position_min;
+	*max = data->position_max;
 }
 
 float knob_get_position(const struct device *dev)
@@ -200,9 +198,28 @@ static void knob_thread(void *p1, void *p2, void *p3)
 	struct knob_data *data = dev->data;
 	const struct knob_config *config = dev->config;
 
+	float p;
+	bool limited = false;
+
 	while (1) {
 		if (data->profile != NULL) {
-			knob_profile_tick(data->profile, data->mc);
+			limited = false;
+			if (data->position_min != data->position_max) {
+				p = knob_get_position(dev);
+				if (p > data->position_max) {
+					data->mc->mode = ANGLE;
+					data->mc->target = data->position_max;
+					limited = true;
+				} else if (p < data->position_min) {
+					data->mc->mode = ANGLE;
+					data->mc->target = data->position_min;
+					limited = true;
+				}
+			}
+			if (!limited) {
+				knob_profile_tick(data->profile, data->mc);
+			}
+
 			motor_tick(config->motor);
 
 			data->delta = 0;
@@ -236,8 +253,6 @@ int knob_init(const struct device *dev)
 	data->mc = motor_get_control(config->motor);
 
 	data->params.ppr = data->encoder_ppr;
-	data->params.position_min = deg_to_rad(110);
-	data->params.position_max = deg_to_rad(250);
 
 	k_thread_create(&data->thread, data->thread_stack, CONFIG_KNOB_THREAD_STACK_SIZE,
 			(k_thread_entry_t)knob_thread, (void *)dev, 0, NULL,
@@ -253,6 +268,8 @@ int knob_init(const struct device *dev)
 #define KNOB_INST(n)                                                                               \
 	static struct knob_data knob_data_##n = {                                                  \
 		.mode = KNOB_DISABLE,                                                              \
+		.position_min = 0,                                                                 \
+		.position_max = 0,                                                                 \
 		.encoder_report = false,                                                           \
 		.encoder_ppr = DT_INST_PROP(n, ppr),                                               \
 	};                                                                                         \

diff --git a/config/drivers/sensor/knob/profile/damped.c b/config/drivers/sensor/knob/profile/damped.c
@@ -20,11 +20,6 @@ struct knob_damped_config {
 	KNOB_PROFILE_CFG_ROM;
 };
 
-struct knob_damped_data {
-	float position_min;
-	float position_max;
-};
-
 static int knob_damped_enable(const struct device *dev)
 {
 	const struct knob_damped_config *cfg = dev->config;
@@ -44,34 +39,18 @@ static int knob_damped_enable(const struct device *dev)
 
 static int knob_damped_update_params(const struct device *dev, struct knob_params params)
 {
-	struct knob_damped_data *data = dev->data;
-
-	data->position_min = params.position_min;
-	data->position_max = params.position_max;
+	ARG_UNUSED(dev);
+	ARG_UNUSED(params);
 
 	return 0;
 }
 
 static int knob_damped_tick(const struct device *dev, struct motor_control *mc)
 {
-	const struct knob_damped_config *cfg = dev->config;
-	struct knob_damped_data *data = dev->data;
-
-	if (data->position_min == data->position_max) {
-		return 0;
-	}
-
-	float p = knob_get_position(cfg->knob);
-	if (p > data->position_max) {
-		mc->mode = ANGLE;
-		mc->target = data->position_max;
-	} else if (p < data->position_min) {
-		mc->mode = ANGLE;
-		mc->target = data->position_min;
-	} else {
-		mc->mode = VELOCITY;
-		mc->target = 0.0f;
-	}
+	ARG_UNUSED(dev);
+
+	mc->mode = VELOCITY;
+	mc->target = 0.0f;
 
 	return 0;
 }
@@ -89,9 +68,7 @@ static const struct knob_profile_api knob_damped_api = {
 	.tick = knob_damped_tick,
 };
 
-static struct knob_damped_data knob_damped_data;
-
 static const struct knob_damped_config knob_damped_cfg = { KNOB_PROFILE_CFG_INIT };
 
-DEVICE_DT_INST_DEFINE(0, knob_damped_init, NULL, &knob_damped_data, &knob_damped_cfg, POST_KERNEL,
+DEVICE_DT_INST_DEFINE(0, knob_damped_init, NULL, NULL, &knob_damped_cfg, POST_KERNEL,
 		      CONFIG_SENSOR_INIT_PRIORITY, &knob_damped_api);