/os/hal/src/hal_qei.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / os / hal / src / hal_qei.c @ 0128be0f

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+/*
 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/>.
 */
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+/**
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+ * @file    hal_qei.c
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+ * @brief   QEI Driver code.
+ *
  * @addtogroup QEI
  * @{
  */
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+#include "hal.h"
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+#include "hal_qei.h"
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+            Thomas Schöpping
 #if HAL_USE_QEI || defined(__DOXYGEN__)
 /*===========================================================================*/
 /* Driver local definitions.                                                 */
 /*===========================================================================*/
 /*===========================================================================*/
 /* Driver exported variables.                                                */
 /*===========================================================================*/
 /*===========================================================================*/
 /* Driver local variables.                                                   */
 /*===========================================================================*/
 /*===========================================================================*/
 /* Driver local functions.                                                   */
 /*===========================================================================*/
 /*===========================================================================*/
 /* Driver exported functions.                                                */
 /*===========================================================================*/
 /**
  * @brief   QEI Driver initialization.
  * @note    This function is implicitly invoked by @p halInit(), there is
  *          no need to explicitly initialize the driver.
+ *
  * @init
  */
 void qeiInit(void) {
   qei_lld_init();
+}
 /**
  * @brief   Initializes the standard part of a @p QEIDriver structure.
+ *
  * @param[out] qeip     pointer to the @p QEIDriver object
+ *
  * @init
  */
 void qeiObjectInit(QEIDriver *qeip) {
   qeip->state  = QEI_STOP;
   qeip->config = NULL;
+}
 /**
  * @brief   Configures and activates the QEI peripheral.
+ *
  * @param[in] qeip      pointer to the @p QEIDriver object
  * @param[in] config    pointer to the @p QEIConfig object
+ *
  * @api
  */
 void qeiStart(QEIDriver *qeip, const QEIConfig *config) {
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+  chDbgCheck((qeip != NULL) && (config != NULL) /*, "qeiStart"*/);
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+            Thomas Schöpping
   chSysLock();
   chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY),
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+              "qeiStart(), #1" /*, "invalid state"*/);
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+  qeip->config = config;
   qei_lld_start(qeip);
   qeip->state = QEI_READY;
   chSysUnlock();
+}
 /**
  * @brief   Deactivates the QEI peripheral.
+ *
  * @param[in] qeip      pointer to the @p QEIDriver object
+ *
  * @api
  */
 void qeiStop(QEIDriver *qeip) {
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+  chDbgCheck(qeip != NULL /*, "qeiStop"*/);
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+            Thomas Schöpping
   chSysLock();
   chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY),
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+              "qeiStop(), #1" /*, "invalid state"*/);
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+  qei_lld_stop(qeip);
   qeip->state = QEI_STOP;
   chSysUnlock();
+}
 /**
  * @brief   Enables the quadrature encoder.
+ *
  * @param[in] qeip      pointer to the @p QEIDriver object
+ *
  * @api
  */
 void qeiEnable(QEIDriver *qeip) {
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+  chDbgCheck(qeip != NULL /*, "qeiEnable"*/);
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+            Thomas Schöpping
   chSysLock();
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+  chDbgAssert(qeip->state == QEI_READY, "qeiEnable(), #1" /*, "invalid state"*/);
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+  qei_lld_enable(qeip);
   qeip->state = QEI_ACTIVE;
   chSysUnlock();
+}
 /**
  * @brief   Disables the quadrature encoder.
+ *
  * @param[in] qeip      pointer to the @p QEIDriver object
+ *
  * @api
  */
 void qeiDisable(QEIDriver *qeip) {
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+  chDbgCheck(qeip != NULL /*, "qeiDisable"*/);
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+            Thomas Schöpping
   chSysLock();
   chDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE),
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+              "qeiDisable(), #1" /*, "invalid state"*/);
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+  qei_lld_disable(qeip);
   qeip->state = QEI_READY;
   chSysUnlock();
+}
 #endif /* HAL_USE_QEI */
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+/** @} */