knob: No need to reset motor_control in every profile enable

Instead, set it every tick.
xingrz · Oct 12, 2023 · 85fe36d · 85fe36d
1 parent a27909c
commit 85fe36d
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Showing 10 changed files with 29 additions and 46 deletions.
diff --git a/config/drivers/sensor/knob/include/knob/drivers/profile.h b/config/drivers/sensor/knob/include/knob/drivers/profile.h
@@ -35,21 +35,21 @@ extern "C" {
 #endif
 
 struct knob_profile_api {
-	int (*enable)(const struct device *dev, struct motor_control *mc);
+	int (*enable)(const struct device *dev);
 	int (*update_params)(const struct device *dev, struct knob_params params);
 	int (*tick)(const struct device *dev, struct motor_control *mc);
 	int (*report)(const struct device *dev, int32_t *val);
 };
 
-static inline int knob_profile_enable(const struct device *dev, struct motor_control *mc)
+static inline int knob_profile_enable(const struct device *dev)
 {
 	const struct knob_profile_api *api = dev->api;
 
 	if (api->enable == NULL) {
 		return -ENOTSUP;
 	}
 
-	return api->enable(dev, mc);
+	return api->enable(dev);
 }
 
 static inline int knob_profile_update_params(const struct device *dev, struct knob_params params)

diff --git a/config/drivers/sensor/knob/knob.c b/config/drivers/sensor/knob/knob.c
@@ -102,7 +102,7 @@ void knob_set_mode(const struct device *dev, enum knob_mode mode)
 
 	if (data->profile != NULL) {
 		knob_profile_update_params(data->profile, data->params);
-		knob_profile_enable(data->profile, data->mc);
+		knob_profile_enable(data->profile);
 	}
 }
 
@@ -206,7 +206,6 @@ static void knob_thread(void *p1, void *p2, void *p3)
 			motor_tick(config->motor);
 
 			data->delta = 0;
-
 			if (data->encoder_report &&
 			    knob_profile_report(data->profile, &data->delta) == 0 &&
 			    data->delta != 0) {

diff --git a/config/drivers/sensor/knob/profile/damped.c b/config/drivers/sensor/knob/profile/damped.c
@@ -25,14 +25,12 @@ struct knob_damped_data {
 	float position_max;
 };
 
-static int knob_damped_enable(const struct device *dev, struct motor_control *mc)
+static int knob_damped_enable(const struct device *dev)
 {
 	const struct knob_damped_config *cfg = dev->config;
 
 	motor_set_torque_limit(cfg->motor, KNOB_PROFILE_TORQUE_LIMIT);
 
-	mc->mode = VELOCITY;
-
 #if KNOB_PROFILE_HAS_VELOCITY_PID
 	motor_set_velocity_pid(cfg->motor, KNOB_PROFILE_VELOCITY_PID);
 #endif /* KNOB_PROFILE_HAS_VELOCITY_PID */
@@ -41,8 +39,6 @@ static int knob_damped_enable(const struct device *dev, struct motor_control *mc
 	motor_set_angle_pid(cfg->motor, KNOB_PROFILE_ANGLE_PID);
 #endif /* KNOB_PROFILE_HAS_ANGLE_PID */
 
-	mc->target = 0.0f;
-
 	return 0;
 }
 

diff --git a/config/drivers/sensor/knob/profile/disable.c b/config/drivers/sensor/knob/profile/disable.c
@@ -27,7 +27,7 @@ struct knob_disable_data {
 	int32_t reported_pulses;
 };
 
-static int knob_disable_enable(const struct device *dev, struct motor_control *mc)
+static int knob_disable_enable(const struct device *dev)
 {
 	const struct knob_disable_config *cfg = dev->config;
 	struct knob_disable_data *data = dev->data;
@@ -52,6 +52,7 @@ static int knob_disable_tick(const struct device *dev, struct motor_control *mc)
 {
 	const struct knob_disable_config *cfg = dev->config;
 	struct knob_disable_data *data = dev->data;
+	ARG_UNUSED(mc);
 
 	float dp = knob_get_position(cfg->knob) - data->last_angle;
 	float rpp = data->encoder_rpp;

diff --git a/config/drivers/sensor/knob/profile/encoder.c b/config/drivers/sensor/knob/profile/encoder.c
@@ -27,15 +27,13 @@ struct knob_encoder_data {
 	int32_t reported_pulses;
 };
 
-static int knob_encoder_enable(const struct device *dev, struct motor_control *mc)
+static int knob_encoder_enable(const struct device *dev)
 {
 	const struct knob_encoder_config *cfg = dev->config;
 	struct knob_encoder_data *data = dev->data;
 
 	motor_set_torque_limit(cfg->motor, KNOB_PROFILE_TORQUE_LIMIT);
 
-	mc->mode = ANGLE;
-
 #if KNOB_PROFILE_HAS_VELOCITY_PID
 	motor_set_velocity_pid(cfg->motor, KNOB_PROFILE_VELOCITY_PID);
 #endif /* KNOB_PROFILE_HAS_VELOCITY_PID */
@@ -48,8 +46,6 @@ static int knob_encoder_enable(const struct device *dev, struct motor_control *m
 	data->pulses = 0;
 	data->reported_pulses = 0;
 
-	mc->target = data->last_angle;
-
 	return 0;
 }
 
@@ -67,6 +63,8 @@ static int knob_encoder_tick(const struct device *dev, struct motor_control *mc)
 	const struct knob_encoder_config *cfg = dev->config;
 	struct knob_encoder_data *data = dev->data;
 
+	mc->mode = ANGLE;
+
 	float dp = knob_get_position(cfg->knob) - data->last_angle;
 	float rpp = data->encoder_rpp;
 	float rpp_4 = rpp / 4.0f;

diff --git a/config/drivers/sensor/knob/profile/inertia.c b/config/drivers/sensor/knob/profile/inertia.c
@@ -30,15 +30,13 @@ struct knob_inertia_data {
 	float max_velocity;
 };
 
-static int knob_inertia_enable(const struct device *dev, struct motor_control *mc)
+static int knob_inertia_enable(const struct device *dev)
 {
 	const struct knob_inertia_config *cfg = dev->config;
 	struct knob_inertia_data *data = dev->data;
 
 	motor_set_torque_limit(cfg->motor, KNOB_PROFILE_TORQUE_LIMIT);
 
-	mc->mode = VELOCITY;
-
 #if KNOB_PROFILE_HAS_VELOCITY_PID
 	motor_set_velocity_pid(cfg->motor, KNOB_PROFILE_VELOCITY_PID);
 #endif /* KNOB_PROFILE_HAS_VELOCITY_PID */
@@ -47,8 +45,6 @@ static int knob_inertia_enable(const struct device *dev, struct motor_control *m
 	motor_set_angle_pid(cfg->motor, KNOB_PROFILE_ANGLE_PID);
 #endif /* KNOB_PROFILE_HAS_ANGLE_PID */
 
-	mc->target = 0.0f;
-
 	data->last_angle = knob_get_position(cfg->knob);
 	data->pulses = 0;
 	data->reported_pulses = 0;
@@ -73,6 +69,8 @@ static int knob_inertia_tick(const struct device *dev, struct motor_control *mc)
 	const struct knob_inertia_config *cfg = dev->config;
 	struct knob_inertia_data *data = dev->data;
 
+	mc->mode = VELOCITY;
+
 	float dp = knob_get_position(cfg->knob) - data->last_angle;
 	float rpp = data->encoder_rpp;
 	float rpp_2 = rpp / 2.0f;

diff --git a/config/drivers/sensor/knob/profile/ratchet.c b/config/drivers/sensor/knob/profile/ratchet.c
@@ -24,15 +24,13 @@ struct knob_ratchet_data {
 	float last_angle;
 };
 
-static int knob_ratchet_enable(const struct device *dev, struct motor_control *mc)
+static int knob_ratchet_enable(const struct device *dev)
 {
 	const struct knob_ratchet_config *cfg = dev->config;
 	struct knob_ratchet_data *data = dev->data;
 
 	motor_set_torque_limit(cfg->motor, KNOB_PROFILE_TORQUE_LIMIT);
 
-	mc->mode = ANGLE;
-
 #if KNOB_PROFILE_HAS_VELOCITY_PID
 	motor_set_velocity_pid(cfg->motor, KNOB_PROFILE_VELOCITY_PID);
 #endif /* KNOB_PROFILE_HAS_VELOCITY_PID */
@@ -43,8 +41,6 @@ static int knob_ratchet_enable(const struct device *dev, struct motor_control *m
 
 	data->last_angle = knob_get_position(cfg->knob);
 
-	mc->target = data->last_angle;
-
 	return 0;
 }
 
@@ -61,13 +57,12 @@ static int knob_ratchet_tick(const struct device *dev, struct motor_control *mc)
 	const struct knob_ratchet_config *cfg = dev->config;
 	struct knob_ratchet_data *data = dev->data;
 
+	mc->mode = ANGLE;
+	mc->target = data->last_angle;
+
 	float dp = knob_get_position(cfg->knob) - data->last_angle;
 	float rpp = PI2 / 12;
-	if (dp < 0) {
-		mc->target = data->last_angle;
-	} else if (dp < rpp) {
-		mc->target = data->last_angle + dp - dp * 0.5f;
-	} else {
+	if (dp > rpp) {
 		data->last_angle += rpp;
 	}
 

diff --git a/config/drivers/sensor/knob/profile/spin.c b/config/drivers/sensor/knob/profile/spin.c
@@ -20,14 +20,12 @@ struct knob_spin_config {
 	KNOB_PROFILE_CFG_ROM;
 };
 
-static int knob_spin_enable(const struct device *dev, struct motor_control *mc)
+static int knob_spin_enable(const struct device *dev)
 {
 	const struct knob_spin_config *cfg = dev->config;
 
 	motor_set_torque_limit(cfg->motor, KNOB_PROFILE_TORQUE_LIMIT);
 
-	mc->mode = VELOCITY;
-
 #if KNOB_PROFILE_HAS_VELOCITY_PID
 	motor_set_velocity_pid(cfg->motor, KNOB_PROFILE_VELOCITY_PID);
 #endif /* KNOB_PROFILE_HAS_VELOCITY_PID */
@@ -36,8 +34,6 @@ static int knob_spin_enable(const struct device *dev, struct motor_control *mc)
 	motor_set_angle_pid(cfg->motor, KNOB_PROFILE_ANGLE_PID);
 #endif /* KNOB_PROFILE_HAS_ANGLE_PID */
 
-	mc->target = 20.0f;
-
 	return 0;
 }
 
@@ -52,7 +48,9 @@ static int knob_spin_update_params(const struct device *dev, struct knob_params
 static int knob_spin_tick(const struct device *dev, struct motor_control *mc)
 {
 	ARG_UNUSED(dev);
-	ARG_UNUSED(mc);
+
+	mc->mode = VELOCITY;
+	mc->target = 20.0f;
 
 	return 0;
 }

diff --git a/config/drivers/sensor/knob/profile/spring.c b/config/drivers/sensor/knob/profile/spring.c
@@ -29,14 +29,12 @@ struct knob_spring_data {
 	int32_t last_report;
 };
 
-static int knob_spring_enable(const struct device *dev, struct motor_control *mc)
+static int knob_spring_enable(const struct device *dev)
 {
 	const struct knob_spring_config *cfg = dev->config;
 
 	motor_set_torque_limit(cfg->motor, KNOB_PROFILE_TORQUE_LIMIT);
 
-	mc->mode = ANGLE;
-
 #if KNOB_PROFILE_HAS_VELOCITY_PID
 	motor_set_velocity_pid(cfg->motor, KNOB_PROFILE_VELOCITY_PID);
 #endif /* KNOB_PROFILE_HAS_VELOCITY_PID */
@@ -45,8 +43,6 @@ static int knob_spring_enable(const struct device *dev, struct motor_control *mc
 	motor_set_angle_pid(cfg->motor, KNOB_PROFILE_ANGLE_PID);
 #endif /* KNOB_PROFILE_HAS_ANGLE_PID */
 
-	mc->target = CENTER;
-
 	return 0;
 }
 
@@ -73,6 +69,9 @@ static int knob_spring_tick(const struct device *dev, struct motor_control *mc)
 		data->value = 0;
 	}
 
+	mc->mode = ANGLE;
+	mc->target = CENTER;
+
 	return 0;
 }
 

diff --git a/config/drivers/sensor/knob/profile/switch.c b/config/drivers/sensor/knob/profile/switch.c
@@ -29,15 +29,13 @@ struct knob_switch_data {
 	bool last_report;
 };
 
-static int knob_switch_enable(const struct device *dev, struct motor_control *mc)
+static int knob_switch_enable(const struct device *dev)
 {
 	const struct knob_switch_config *cfg = dev->config;
 	struct knob_switch_data *data = dev->data;
 
 	motor_set_torque_limit(cfg->motor, KNOB_PROFILE_TORQUE_LIMIT);
 
-	mc->mode = ANGLE;
-
 #if KNOB_PROFILE_HAS_VELOCITY_PID
 	motor_set_velocity_pid(cfg->motor, KNOB_PROFILE_VELOCITY_PID);
 #endif /* KNOB_PROFILE_HAS_VELOCITY_PID */
@@ -46,7 +44,6 @@ static int knob_switch_enable(const struct device *dev, struct motor_control *mc
 	motor_set_angle_pid(cfg->motor, KNOB_PROFILE_ANGLE_PID);
 #endif /* KNOB_PROFILE_HAS_ANGLE_PID */
 
-	mc->target = OFF;
 	data->state = false;
 
 	return 0;
@@ -65,6 +62,8 @@ static int knob_switch_tick(const struct device *dev, struct motor_control *mc)
 	const struct knob_switch_config *cfg = dev->config;
 	struct knob_switch_data *data = dev->data;
 
+	mc->mode = ANGLE;
+
 	float p = knob_get_position(cfg->knob);
 	if (p < ON + (CENTER - ON) / 2.0f) {
 		mc->target = ON;