amiro-os / kernel / patches / QEI-driver.patch @ 169a7bd6
History | View | Annotate | Download (28.212 KB)
| 1 | 20a4e01c | Marc Rothmann | diff --git a/os/hal/hal.mk b/os/hal/hal.mk
|
|---|---|---|---|
| 2 | --- a/os/hal/hal.mk
|
||
| 3 | +++ b/os/hal/hal.mk
|
||
| 4 | 732a4657 | Thomas Schöpping | @@ -54,6 +54,9 @@ endif
|
| 5 | ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),) |
||
| 6 | HALSRC += $(CHIBIOS)/os/hal/src/hal_pwm.c |
||
| 7 | eedb8e58 | Thomas Schöpping | endif |
| 8 | +ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
|
||
| 9 | +HALSRC += $(CHIBIOS)/os/hal/src/hal_qei.c
|
||
| 10 | +endif
|
||
| 11 | 732a4657 | Thomas Schöpping | ifneq ($(findstring HAL_USE_RTC TRUE,$(HALCONF)),) |
| 12 | HALSRC += $(CHIBIOS)/os/hal/src/hal_rtc.c |
||
| 13 | eedb8e58 | Thomas Schöpping | endif |
| 14 | 732a4657 | Thomas Schöpping | @@ -104,6 +107,7 @@ HALSRC = $(CHIBIOS)/os/hal/src/hal.c \
|
| 15 | eedb8e58 | Thomas Schöpping | $(CHIBIOS)/os/hal/src/hal_mmc_spi.c \ |
| 16 | $(CHIBIOS)/os/hal/src/hal_pal.c \ |
||
| 17 | 732a4657 | Thomas Schöpping | $(CHIBIOS)/os/hal/src/hal_pwm.c \ |
| 18 | + $(CHIBIOS)/os/hal/src/hal_qei.c \
|
||
| 19 | $(CHIBIOS)/os/hal/src/hal_rtc.c \ |
||
| 20 | $(CHIBIOS)/os/hal/src/hal_sdc.c \ |
||
| 21 | $(CHIBIOS)/os/hal/src/hal_serial.c \ |
||
| 22 | eedb8e58 | Thomas Schöpping | diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
|
| 23 | --- a/os/hal/include/hal.h
|
||
| 24 | +++ b/os/hal/include/hal.h
|
||
| 25 | 732a4657 | Thomas Schöpping | @@ -74,6 +74,10 @@
|
| 26 | eedb8e58 | Thomas Schöpping | #define HAL_USE_PWM FALSE
|
| 27 | #endif
|
||
| 28 | |||
| 29 | +#if !defined(HAL_USE_QEI)
|
||
| 30 | +#define HAL_USE_QEI FALSE
|
||
| 31 | +#endif
|
||
| 32 | +
|
||
| 33 | 732a4657 | Thomas Schöpping | #if !defined(HAL_USE_RTC)
|
| 34 | #define HAL_USE_RTC FALSE
|
||
| 35 | eedb8e58 | Thomas Schöpping | #endif
|
| 36 | 732a4657 | Thomas Schöpping | @@ -142,6 +146,7 @@
|
| 37 | eedb8e58 | Thomas Schöpping | #include "hal_icu.h" |
| 38 | #include "hal_mac.h" |
||
| 39 | #include "hal_pwm.h" |
||
| 40 | +#include "hal_qei.h"
|
||
| 41 | #include "hal_rtc.h" |
||
| 42 | #include "hal_serial.h" |
||
| 43 | 732a4657 | Thomas Schöpping | #include "hal_sdc.h" |
| 44 | 20a4e01c | Marc Rothmann | diff --git a/os/hal/include/hal_qei.h b/os/hal/include/hal_qei.h
|
| 45 | new file mode 100644
|
||
| 46 | --- /dev/null
|
||
| 47 | +++ b/os/hal/include/hal_qei.h
|
||
| 48 | @@ -0,0 +1,148 @@
|
||
| 49 | +/*
|
||
| 50 | +AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 51 | 732a4657 | Thomas Schöpping | +Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 52 | 20a4e01c | Marc Rothmann | +
|
| 53 | +This program is free software: you can redistribute it and/or modify
|
||
| 54 | +it under the terms of the GNU General Public License as published by
|
||
| 55 | +the Free Software Foundation, either version 3 of the License, or
|
||
| 56 | +(at your option) any later version.
|
||
| 57 | +
|
||
| 58 | +This program is distributed in the hope that it will be useful,
|
||
| 59 | +but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 60 | +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 61 | +GNU General Public License for more details.
|
||
| 62 | +
|
||
| 63 | +You should have received a copy of the GNU General Public License
|
||
| 64 | +along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
| 65 | +*/
|
||
| 66 | +
|
||
| 67 | +/**
|
||
| 68 | + * @file hal_qei.h
|
||
| 69 | + * @brief QEI Driver macros and structures.
|
||
| 70 | + *
|
||
| 71 | + * @addtogroup QEI
|
||
| 72 | + * @{
|
||
| 73 | + */
|
||
| 74 | +
|
||
| 75 | eedb8e58 | Thomas Schöpping | +#ifndef HAL_QEI_H
|
| 76 | +#define HAL_QEI_H
|
||
| 77 | 20a4e01c | Marc Rothmann | +
|
| 78 | eedb8e58 | Thomas Schöpping | +#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
|
| 79 | 20a4e01c | Marc Rothmann | +
|
| 80 | +/*===========================================================================*/
|
||
| 81 | +/* Driver constants. */
|
||
| 82 | +/*===========================================================================*/
|
||
| 83 | +
|
||
| 84 | +/*===========================================================================*/
|
||
| 85 | +/* Driver pre-compile time settings. */
|
||
| 86 | +/*===========================================================================*/
|
||
| 87 | +
|
||
| 88 | +/*===========================================================================*/
|
||
| 89 | +/* Derived constants and error checks. */
|
||
| 90 | +/*===========================================================================*/
|
||
| 91 | +
|
||
| 92 | +/*===========================================================================*/
|
||
| 93 | +/* Driver data structures and types. */
|
||
| 94 | +/*===========================================================================*/
|
||
| 95 | +
|
||
| 96 | +/**
|
||
| 97 | + * @brief Driver state machine possible states.
|
||
| 98 | + */
|
||
| 99 | +typedef enum {
|
||
| 100 | + QEI_UNINIT = 0, /**< Not initialized. */
|
||
| 101 | + QEI_STOP = 1, /**< Stopped. */
|
||
| 102 | + QEI_READY = 2, /**< Ready. */
|
||
| 103 | + QEI_ACTIVE = 4, /**< Active. */
|
||
| 104 | +} qeistate_t;
|
||
| 105 | +
|
||
| 106 | +/**
|
||
| 107 | + * @brief Type of a structure representing an QEI driver.
|
||
| 108 | + */
|
||
| 109 | +typedef struct QEIDriver QEIDriver;
|
||
| 110 | +
|
||
| 111 | +#include "hal_qei_lld.h"
|
||
| 112 | +
|
||
| 113 | +/*===========================================================================*/
|
||
| 114 | +/* Driver macros. */
|
||
| 115 | +/*===========================================================================*/
|
||
| 116 | +
|
||
| 117 | +/**
|
||
| 118 | + * @name Macro Functions
|
||
| 119 | + * @{
|
||
| 120 | + */
|
||
| 121 | +/**
|
||
| 122 | + * @brief Enables the quadrature encoder.
|
||
| 123 | + *
|
||
| 124 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 125 | + *
|
||
| 126 | + * @iclass
|
||
| 127 | + */
|
||
| 128 | +#define qeiEnableI(qeip) qei_lld_enable(qeip)
|
||
| 129 | +
|
||
| 130 | +/**
|
||
| 131 | + * @brief Disables the quadrature encoder.
|
||
| 132 | + *
|
||
| 133 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 134 | + *
|
||
| 135 | + * @iclass
|
||
| 136 | + */
|
||
| 137 | +#define qeiDisableI(qeip) qei_lld_disable(qeip)
|
||
| 138 | +
|
||
| 139 | +/**
|
||
| 140 | + * @brief Returns the direction of the last transition.
|
||
| 141 | + * @details The direction is defined as boolean and is
|
||
| 142 | + * calculated at each transition on any input.
|
||
| 143 | + *
|
||
| 144 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 145 | + * @return The request direction.
|
||
| 146 | + * @retval FALSE Position counted up.
|
||
| 147 | + * @retval TRUE Position counted down.
|
||
| 148 | + * @iclass
|
||
| 149 | + */
|
||
| 150 | +#define qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)
|
||
| 151 | +
|
||
| 152 | +/**
|
||
| 153 | + * @brief Returns the position of the encoder.
|
||
| 154 | + * @details The position is defined as number of pulses since last reset.
|
||
| 155 | + *
|
||
| 156 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 157 | + * @return The number of pulses.
|
||
| 158 | + *
|
||
| 159 | + * @iclass
|
||
| 160 | + */
|
||
| 161 | +#define qeiGetPositionI(qeip) qei_lld_get_position(qeip)
|
||
| 162 | +
|
||
| 163 | +/**
|
||
| 164 | + * @brief Returns the range of the encoder.
|
||
| 165 | + * @details The range is defined as number of maximum pulse count.
|
||
| 166 | + *
|
||
| 167 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 168 | + * @return The number of pulses.
|
||
| 169 | + *
|
||
| 170 | + * @iclass
|
||
| 171 | + */
|
||
| 172 | +#define qeiGetRangeI(qeip) qei_lld_get_range(qeip)
|
||
| 173 | +/** @} */
|
||
| 174 | +
|
||
| 175 | +/*===========================================================================*/
|
||
| 176 | +/* External declarations. */
|
||
| 177 | +/*===========================================================================*/
|
||
| 178 | +
|
||
| 179 | +#ifdef __cplusplus
|
||
| 180 | +extern "C" {
|
||
| 181 | +#endif
|
||
| 182 | + void qeiInit(void);
|
||
| 183 | + void qeiObjectInit(QEIDriver *qeip);
|
||
| 184 | + void qeiStart(QEIDriver *qeip, const QEIConfig *config);
|
||
| 185 | + void qeiStop(QEIDriver *qeip);
|
||
| 186 | + void qeiEnable(QEIDriver *qeip);
|
||
| 187 | + void qeiDisable(QEIDriver *qeip);
|
||
| 188 | +#ifdef __cplusplus
|
||
| 189 | +}
|
||
| 190 | +#endif
|
||
| 191 | +
|
||
| 192 | 732a4657 | Thomas Schöpping | +#endif /* HAL_USE_QEI == TRUE */
|
| 193 | 20a4e01c | Marc Rothmann | +
|
| 194 | eedb8e58 | Thomas Schöpping | +#endif /* HAL_QEI_H */
|
| 195 | 20a4e01c | Marc Rothmann | +
|
| 196 | +/** @} */
|
||
| 197 | diff --git a/os/hal/ports/STM32/LLD/TIMv1/driver.mk b/os/hal/ports/STM32/LLD/TIMv1/driver.mk
|
||
| 198 | --- a/os/hal/ports/STM32/LLD/TIMv1/driver.mk
|
||
| 199 | +++ b/os/hal/ports/STM32/LLD/TIMv1/driver.mk
|
||
| 200 | @@ -10,10 +10,14 @@ endif
|
||
| 201 | eedb8e58 | Thomas Schöpping | ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),) |
| 202 | PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c |
||
| 203 | endif |
||
| 204 | +ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
|
||
| 205 | +PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
|
||
| 206 | +endif
|
||
| 207 | else |
||
| 208 | PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_gpt_lld.c |
||
| 209 | PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_icu_lld.c |
||
| 210 | PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c |
||
| 211 | +PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
|
||
| 212 | endif |
||
| 213 | |||
| 214 | PLATFORMINC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1 |
||
| 215 | 20a4e01c | Marc Rothmann | diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
|
| 216 | new file mode 100644
|
||
| 217 | --- /dev/null
|
||
| 218 | +++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
|
||
| 219 | eedb8e58 | Thomas Schöpping | @@ -0,0 +1,304 @@
|
| 220 | 20a4e01c | Marc Rothmann | +/*
|
| 221 | +AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 222 | 732a4657 | Thomas Schöpping | +Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 223 | 20a4e01c | Marc Rothmann | +
|
| 224 | +This program is free software: you can redistribute it and/or modify
|
||
| 225 | +it under the terms of the GNU General Public License as published by
|
||
| 226 | +the Free Software Foundation, either version 3 of the License, or
|
||
| 227 | +(at your option) any later version.
|
||
| 228 | +
|
||
| 229 | +This program is distributed in the hope that it will be useful,
|
||
| 230 | +but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 231 | +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 232 | +GNU General Public License for more details.
|
||
| 233 | +
|
||
| 234 | +You should have received a copy of the GNU General Public License
|
||
| 235 | +along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
| 236 | +*/
|
||
| 237 | +
|
||
| 238 | +/**
|
||
| 239 | + * @file STM32/hal_qei_lld.c
|
||
| 240 | + * @brief STM32 QEI subsystem low level driver.
|
||
| 241 | + *
|
||
| 242 | + * @addtogroup QEI
|
||
| 243 | + * @{
|
||
| 244 | + */
|
||
| 245 | +
|
||
| 246 | +#include "hal.h"
|
||
| 247 | +
|
||
| 248 | eedb8e58 | Thomas Schöpping | +#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
|
| 249 | 20a4e01c | Marc Rothmann | +
|
| 250 | eedb8e58 | Thomas Schöpping | +/*===========================================================================*/
|
| 251 | +/* Driver local definitions. */
|
||
| 252 | +/*===========================================================================*/
|
||
| 253 | 20a4e01c | Marc Rothmann | +
|
| 254 | +/*===========================================================================*/
|
||
| 255 | +/* Driver exported variables. */
|
||
| 256 | +/*===========================================================================*/
|
||
| 257 | +
|
||
| 258 | +/**
|
||
| 259 | + * @brief QEID1 driver identifier.
|
||
| 260 | + * @note The driver QEID1 allocates the complex timer TIM1 when enabled.
|
||
| 261 | + */
|
||
| 262 | +#if STM32_QEI_USE_TIM1 || defined(__DOXYGEN__)
|
||
| 263 | +QEIDriver QEID1;
|
||
| 264 | +#endif
|
||
| 265 | +
|
||
| 266 | +/**
|
||
| 267 | + * @brief QEID2 driver identifier.
|
||
| 268 | + * @note The driver QEID1 allocates the timer TIM2 when enabled.
|
||
| 269 | + */
|
||
| 270 | +#if STM32_QEI_USE_TIM2 || defined(__DOXYGEN__)
|
||
| 271 | +QEIDriver QEID2;
|
||
| 272 | +#endif
|
||
| 273 | +
|
||
| 274 | +/**
|
||
| 275 | + * @brief QEID3 driver identifier.
|
||
| 276 | + * @note The driver QEID1 allocates the timer TIM3 when enabled.
|
||
| 277 | + */
|
||
| 278 | +#if STM32_QEI_USE_TIM3 || defined(__DOXYGEN__)
|
||
| 279 | +QEIDriver QEID3;
|
||
| 280 | +#endif
|
||
| 281 | +
|
||
| 282 | +/**
|
||
| 283 | + * @brief QEID4 driver identifier.
|
||
| 284 | + * @note The driver QEID4 allocates the timer TIM4 when enabled.
|
||
| 285 | + */
|
||
| 286 | +#if STM32_QEI_USE_TIM4 || defined(__DOXYGEN__)
|
||
| 287 | +QEIDriver QEID4;
|
||
| 288 | +#endif
|
||
| 289 | +
|
||
| 290 | +/**
|
||
| 291 | + * @brief QEID5 driver identifier.
|
||
| 292 | + * @note The driver QEID5 allocates the timer TIM5 when enabled.
|
||
| 293 | + */
|
||
| 294 | +#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)
|
||
| 295 | +QEIDriver QEID5;
|
||
| 296 | +#endif
|
||
| 297 | +
|
||
| 298 | +/**
|
||
| 299 | + * @brief QEID8 driver identifier.
|
||
| 300 | + * @note The driver QEID8 allocates the timer TIM8 when enabled.
|
||
| 301 | + */
|
||
| 302 | +#if STM32_QEI_USE_TIM8 || defined(__DOXYGEN__)
|
||
| 303 | +QEIDriver QEID8;
|
||
| 304 | +#endif
|
||
| 305 | +
|
||
| 306 | +/*===========================================================================*/
|
||
| 307 | eedb8e58 | Thomas Schöpping | +/* Driver local variables and types. */
|
| 308 | 20a4e01c | Marc Rothmann | +/*===========================================================================*/
|
| 309 | +
|
||
| 310 | +/*===========================================================================*/
|
||
| 311 | +/* Driver local functions. */
|
||
| 312 | +/*===========================================================================*/
|
||
| 313 | +
|
||
| 314 | +/*===========================================================================*/
|
||
| 315 | +/* Driver interrupt handlers. */
|
||
| 316 | +/*===========================================================================*/
|
||
| 317 | +
|
||
| 318 | +/*===========================================================================*/
|
||
| 319 | +/* Driver exported functions. */
|
||
| 320 | +/*===========================================================================*/
|
||
| 321 | +
|
||
| 322 | +/**
|
||
| 323 | + * @brief Low level QEI driver initialization.
|
||
| 324 | + *
|
||
| 325 | + * @notapi
|
||
| 326 | + */
|
||
| 327 | +void qei_lld_init(void) {
|
||
| 328 | +
|
||
| 329 | +#if STM32_QEI_USE_TIM1
|
||
| 330 | + /* Driver initialization.*/
|
||
| 331 | + qeiObjectInit(&QEID1);
|
||
| 332 | + QEID1.tim = STM32_TIM1;
|
||
| 333 | +#endif
|
||
| 334 | +
|
||
| 335 | +#if STM32_QEI_USE_TIM2
|
||
| 336 | + /* Driver initialization.*/
|
||
| 337 | + qeiObjectInit(&QEID2);
|
||
| 338 | + QEID2.tim = STM32_TIM2;
|
||
| 339 | +#endif
|
||
| 340 | +
|
||
| 341 | +#if STM32_QEI_USE_TIM3
|
||
| 342 | + /* Driver initialization.*/
|
||
| 343 | + qeiObjectInit(&QEID3);
|
||
| 344 | + QEID3.tim = STM32_TIM3;
|
||
| 345 | +#endif
|
||
| 346 | +
|
||
| 347 | +#if STM32_QEI_USE_TIM4
|
||
| 348 | + /* Driver initialization.*/
|
||
| 349 | + qeiObjectInit(&QEID4);
|
||
| 350 | + QEID4.tim = STM32_TIM4;
|
||
| 351 | +#endif
|
||
| 352 | +
|
||
| 353 | +#if STM32_QEI_USE_TIM5
|
||
| 354 | + /* Driver initialization.*/
|
||
| 355 | + qeiObjectInit(&QEID5);
|
||
| 356 | + QEID5.tim = STM32_TIM5;
|
||
| 357 | +#endif
|
||
| 358 | +
|
||
| 359 | +#if STM32_QEI_USE_TIM8
|
||
| 360 | + /* Driver initialization.*/
|
||
| 361 | + qeiObjectInit(&QEID8);
|
||
| 362 | + QEID8.tim = STM32_TIM8;
|
||
| 363 | +#endif
|
||
| 364 | +}
|
||
| 365 | +
|
||
| 366 | +/**
|
||
| 367 | + * @brief Configures and activates the QEI peripheral.
|
||
| 368 | + *
|
||
| 369 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 370 | + *
|
||
| 371 | + * @notapi
|
||
| 372 | + */
|
||
| 373 | +void qei_lld_start(QEIDriver *qeip) {
|
||
| 374 | + uint32_t arr, ccer;
|
||
| 375 | +
|
||
| 376 | + if (qeip->state == QEI_STOP) {
|
||
| 377 | + /* Clock activation and timer reset.*/
|
||
| 378 | +#if STM32_QEI_USE_TIM1
|
||
| 379 | + if (&QEID1 == qeip) {
|
||
| 380 | + rccEnableTIM1();
|
||
| 381 | + rccResetTIM1();
|
||
| 382 | + }
|
||
| 383 | +#endif
|
||
| 384 | +#if STM32_QEI_USE_TIM2
|
||
| 385 | + if (&QEID2 == qeip) {
|
||
| 386 | + rccEnableTIM2();
|
||
| 387 | + rccResetTIM2();
|
||
| 388 | + }
|
||
| 389 | +#endif
|
||
| 390 | +#if STM32_QEI_USE_TIM3
|
||
| 391 | + if (&QEID3 == qeip) {
|
||
| 392 | + rccEnableTIM3();
|
||
| 393 | + rccResetTIM3();
|
||
| 394 | + }
|
||
| 395 | +#endif
|
||
| 396 | +#if STM32_QEI_USE_TIM4
|
||
| 397 | + if (&QEID4 == qeip) {
|
||
| 398 | + rccEnableTIM4();
|
||
| 399 | + rccResetTIM4();
|
||
| 400 | + }
|
||
| 401 | +#endif
|
||
| 402 | +
|
||
| 403 | +#if STM32_QEI_USE_TIM5
|
||
| 404 | + if (&QEID5 == qeip) {
|
||
| 405 | + rccEnableTIM5();
|
||
| 406 | + rccResetTIM5();
|
||
| 407 | + }
|
||
| 408 | +#endif
|
||
| 409 | +#if STM32_QEI_USE_TIM8
|
||
| 410 | + if (&QEID8 == qeip) {
|
||
| 411 | + rccEnableTIM8();
|
||
| 412 | + rccResetTIM8();
|
||
| 413 | + }
|
||
| 414 | +#endif
|
||
| 415 | + }
|
||
| 416 | + else {
|
||
| 417 | + /* Driver re-configuration scenario, it must be stopped first.*/
|
||
| 418 | + qeip->tim->CR1 = 0; /* Timer disabled. */
|
||
| 419 | + qeip->tim->DIER = 0; /* All IRQs disabled. */
|
||
| 420 | + qeip->tim->SR = 0; /* Clear eventual pending IRQs. */
|
||
| 421 | + qeip->tim->CCR[0] = 0; /* Comparator 1 disabled. */
|
||
| 422 | + qeip->tim->CCR[1] = 0; /* Comparator 2 disabled. */
|
||
| 423 | + qeip->tim->CNT = 0; /* Counter reset to zero. */
|
||
| 424 | + }
|
||
| 425 | +
|
||
| 426 | + /* Timer configuration.*/
|
||
| 427 | + qeip->tim->PSC = 0;
|
||
| 428 | + arr = qeip->config->range - 1;
|
||
| 429 | eedb8e58 | Thomas Schöpping | + osalDbgAssert((arr <= 0xFFFF), "invalid range");
|
| 430 | 20a4e01c | Marc Rothmann | + qeip->tim->ARR = arr & 0xFFFF;
|
| 431 | +
|
||
| 432 | + /* CCMR1_CC1S = 01 - CH1 Input on TI1.
|
||
| 433 | + CCMR1_CC2S = 01 - CH2 Input on TI2.*/
|
||
| 434 | + qeip->tim->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
|
||
| 435 | +
|
||
| 436 | + ccer = 0;
|
||
| 437 | + if (qeip->config->channels[0].mode == QEI_INPUT_INVERTED)
|
||
| 438 | + ccer |= TIM_CCER_CC1P;
|
||
| 439 | + if (qeip->config->channels[1].mode == QEI_INPUT_INVERTED)
|
||
| 440 | + ccer |= TIM_CCER_CC2P;
|
||
| 441 | + qeip->tim->CCER = ccer;
|
||
| 442 | +
|
||
| 443 | + if (qeip->config->mode == QEI_COUNT_CH1)
|
||
| 444 | + qeip->tim->SMCR = TIM_SMCR_SMS_1;
|
||
| 445 | + else if (qeip->config->mode == QEI_COUNT_CH2)
|
||
| 446 | + qeip->tim->SMCR = TIM_SMCR_SMS_0;
|
||
| 447 | + else
|
||
| 448 | + qeip->tim->SMCR = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1;
|
||
| 449 | +}
|
||
| 450 | +
|
||
| 451 | +/**
|
||
| 452 | + * @brief Deactivates the QEI peripheral.
|
||
| 453 | + *
|
||
| 454 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 455 | + *
|
||
| 456 | + * @notapi
|
||
| 457 | + */
|
||
| 458 | +void qei_lld_stop(QEIDriver *qeip) {
|
||
| 459 | +
|
||
| 460 | + if (qeip->state == QEI_READY) {
|
||
| 461 | + /* Clock deactivation.*/
|
||
| 462 | + qeip->tim->CR1 = 0; /* Timer disabled. */
|
||
| 463 | +
|
||
| 464 | +#if STM32_QEI_USE_TIM1
|
||
| 465 | + if (&QEID1 == qeip) {
|
||
| 466 | + rccDisableTIM1();
|
||
| 467 | + }
|
||
| 468 | +#endif
|
||
| 469 | +#if STM32_QEI_USE_TIM2
|
||
| 470 | + if (&QEID2 == qeip) {
|
||
| 471 | + rccDisableTIM2();
|
||
| 472 | + }
|
||
| 473 | +#endif
|
||
| 474 | +#if STM32_QEI_USE_TIM3
|
||
| 475 | + if (&QEID3 == qeip) {
|
||
| 476 | + rccDisableTIM3();
|
||
| 477 | + }
|
||
| 478 | +#endif
|
||
| 479 | +#if STM32_QEI_USE_TIM4
|
||
| 480 | + if (&QEID4 == qeip) {
|
||
| 481 | + rccDisableTIM4();
|
||
| 482 | + }
|
||
| 483 | +#endif
|
||
| 484 | +#if STM32_QEI_USE_TIM5
|
||
| 485 | + if (&QEID5 == qeip) {
|
||
| 486 | + rccDisableTIM5();
|
||
| 487 | + }
|
||
| 488 | +#endif
|
||
| 489 | + }
|
||
| 490 | +#if STM32_QEI_USE_TIM8
|
||
| 491 | + if (&QEID8 == qeip) {
|
||
| 492 | + rccDisableTIM8();
|
||
| 493 | + }
|
||
| 494 | +#endif
|
||
| 495 | +}
|
||
| 496 | +
|
||
| 497 | +/**
|
||
| 498 | + * @brief Enables the quadrature encoder.
|
||
| 499 | + *
|
||
| 500 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 501 | + *
|
||
| 502 | + * @notapi
|
||
| 503 | + */
|
||
| 504 | +void qei_lld_enable(QEIDriver *qeip) {
|
||
| 505 | +
|
||
| 506 | + qeip->tim->CR1 = TIM_CR1_CEN;
|
||
| 507 | +}
|
||
| 508 | +
|
||
| 509 | +/**
|
||
| 510 | + * @brief Disables the quadrature encoder.
|
||
| 511 | + *
|
||
| 512 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 513 | + *
|
||
| 514 | + * @notapi
|
||
| 515 | + */
|
||
| 516 | +void qei_lld_disable(QEIDriver *qeip) {
|
||
| 517 | +
|
||
| 518 | + qeip->tim->CR1 = 0;
|
||
| 519 | +}
|
||
| 520 | +
|
||
| 521 | +#endif /* HAL_USE_QEI */
|
||
| 522 | +
|
||
| 523 | +/** @} */
|
||
| 524 | diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
|
||
| 525 | new file mode 100644
|
||
| 526 | --- /dev/null
|
||
| 527 | +++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
|
||
| 528 | @@ -0,0 +1,302 @@
|
||
| 529 | +/*
|
||
| 530 | +AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 531 | 732a4657 | Thomas Schöpping | +Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 532 | 20a4e01c | Marc Rothmann | +
|
| 533 | +This program is free software: you can redistribute it and/or modify
|
||
| 534 | +it under the terms of the GNU General Public License as published by
|
||
| 535 | +the Free Software Foundation, either version 3 of the License, or
|
||
| 536 | +(at your option) any later version.
|
||
| 537 | +
|
||
| 538 | +This program is distributed in the hope that it will be useful,
|
||
| 539 | +but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 540 | +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 541 | +GNU General Public License for more details.
|
||
| 542 | +
|
||
| 543 | +You should have received a copy of the GNU General Public License
|
||
| 544 | +along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
| 545 | +*/
|
||
| 546 | +
|
||
| 547 | +/**
|
||
| 548 | + * @file STM32/hal_qei_lld.h
|
||
| 549 | + * @brief STM32 QEI subsystem low level driver header.
|
||
| 550 | + *
|
||
| 551 | + * @addtogroup QEI
|
||
| 552 | + * @{
|
||
| 553 | + */
|
||
| 554 | +
|
||
| 555 | eedb8e58 | Thomas Schöpping | +#ifndef HAL_QEI_LLD_H
|
| 556 | +#define HAL_QEI_LLD_H
|
||
| 557 | 20a4e01c | Marc Rothmann | +
|
| 558 | eedb8e58 | Thomas Schöpping | +#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
|
| 559 | 20a4e01c | Marc Rothmann | +
|
| 560 | eedb8e58 | Thomas Schöpping | +#include "stm32_tim.h"
|
| 561 | 20a4e01c | Marc Rothmann | +
|
| 562 | +/*===========================================================================*/
|
||
| 563 | +/* Driver constants. */
|
||
| 564 | +/*===========================================================================*/
|
||
| 565 | +
|
||
| 566 | +/**
|
||
| 567 | + * @brief Number of input channels per QEI driver.
|
||
| 568 | + */
|
||
| 569 | +#define QEI_CHANNELS 2
|
||
| 570 | +
|
||
| 571 | +/*===========================================================================*/
|
||
| 572 | +/* Driver pre-compile time settings. */
|
||
| 573 | +/*===========================================================================*/
|
||
| 574 | +
|
||
| 575 | +/**
|
||
| 576 | + * @name Configuration options
|
||
| 577 | + * @{
|
||
| 578 | + */
|
||
| 579 | +/**
|
||
| 580 | + * @brief QEID1 driver enable switch.
|
||
| 581 | + * @details If set to @p TRUE the support for QEID1 is included.
|
||
| 582 | + * @note The default is @p TRUE.
|
||
| 583 | + */
|
||
| 584 | +#if !defined(STM32_QEI_USE_TIM1) || defined(__DOXYGEN__)
|
||
| 585 | eedb8e58 | Thomas Schöpping | +#define STM32_QEI_USE_TIM1 FALSE
|
| 586 | 20a4e01c | Marc Rothmann | +#endif
|
| 587 | +
|
||
| 588 | +/**
|
||
| 589 | + * @brief QEID2 driver enable switch.
|
||
| 590 | + * @details If set to @p TRUE the support for QEID2 is included.
|
||
| 591 | + * @note The default is @p TRUE.
|
||
| 592 | + */
|
||
| 593 | +#if !defined(STM32_QEI_USE_TIM2) || defined(__DOXYGEN__)
|
||
| 594 | eedb8e58 | Thomas Schöpping | +#define STM32_QEI_USE_TIM2 FALSE
|
| 595 | 20a4e01c | Marc Rothmann | +#endif
|
| 596 | +
|
||
| 597 | +/**
|
||
| 598 | + * @brief QEID3 driver enable switch.
|
||
| 599 | + * @details If set to @p TRUE the support for QEID3 is included.
|
||
| 600 | + * @note The default is @p TRUE.
|
||
| 601 | + */
|
||
| 602 | +#if !defined(STM32_QEI_USE_TIM3) || defined(__DOXYGEN__)
|
||
| 603 | eedb8e58 | Thomas Schöpping | +#define STM32_QEI_USE_TIM3 FALSE
|
| 604 | 20a4e01c | Marc Rothmann | +#endif
|
| 605 | +
|
||
| 606 | +/**
|
||
| 607 | + * @brief QEID4 driver enable switch.
|
||
| 608 | + * @details If set to @p TRUE the support for QEID4 is included.
|
||
| 609 | + * @note The default is @p TRUE.
|
||
| 610 | + */
|
||
| 611 | +#if !defined(STM32_QEI_USE_TIM4) || defined(__DOXYGEN__)
|
||
| 612 | eedb8e58 | Thomas Schöpping | +#define STM32_QEI_USE_TIM4 FALSE
|
| 613 | 20a4e01c | Marc Rothmann | +#endif
|
| 614 | +
|
||
| 615 | +/**
|
||
| 616 | + * @brief QEID5 driver enable switch.
|
||
| 617 | + * @details If set to @p TRUE the support for QEID5 is included.
|
||
| 618 | + * @note The default is @p TRUE.
|
||
| 619 | + */
|
||
| 620 | +#if !defined(STM32_QEI_USE_TIM5) || defined(__DOXYGEN__)
|
||
| 621 | eedb8e58 | Thomas Schöpping | +#define STM32_QEI_USE_TIM5 FALSE
|
| 622 | 20a4e01c | Marc Rothmann | +#endif
|
| 623 | +
|
||
| 624 | +/**
|
||
| 625 | + * @brief QEID8 driver enable switch.
|
||
| 626 | + * @details If set to @p TRUE the support for QEID8 is included.
|
||
| 627 | + * @note The default is @p TRUE.
|
||
| 628 | + */
|
||
| 629 | +#if !defined(STM32_QEI_USE_TIM8) || defined(__DOXYGEN__)
|
||
| 630 | eedb8e58 | Thomas Schöpping | +#define STM32_QEI_USE_TIM8 FALSE
|
| 631 | 20a4e01c | Marc Rothmann | +#endif
|
| 632 | +/** @} */
|
||
| 633 | +
|
||
| 634 | +/*===========================================================================*/
|
||
| 635 | +/* Derived constants and error checks. */
|
||
| 636 | +/*===========================================================================*/
|
||
| 637 | +
|
||
| 638 | +#if STM32_QEI_USE_TIM1 && !STM32_HAS_TIM1
|
||
| 639 | +#error "TIM1 not present in the selected device"
|
||
| 640 | +#endif
|
||
| 641 | +
|
||
| 642 | +#if STM32_QEI_USE_TIM2 && !STM32_HAS_TIM2
|
||
| 643 | +#error "TIM2 not present in the selected device"
|
||
| 644 | +#endif
|
||
| 645 | +
|
||
| 646 | +#if STM32_QEI_USE_TIM3 && !STM32_HAS_TIM3
|
||
| 647 | +#error "TIM3 not present in the selected device"
|
||
| 648 | +#endif
|
||
| 649 | +
|
||
| 650 | +#if STM32_QEI_USE_TIM4 && !STM32_HAS_TIM4
|
||
| 651 | +#error "TIM4 not present in the selected device"
|
||
| 652 | +#endif
|
||
| 653 | +
|
||
| 654 | +#if STM32_QEI_USE_TIM5 && !STM32_HAS_TIM5
|
||
| 655 | +#error "TIM5 not present in the selected device"
|
||
| 656 | +#endif
|
||
| 657 | +
|
||
| 658 | +#if STM32_QEI_USE_TIM8 && !STM32_HAS_TIM8
|
||
| 659 | +#error "TIM8 not present in the selected device"
|
||
| 660 | +#endif
|
||
| 661 | +
|
||
| 662 | +#if !STM32_QEI_USE_TIM1 && !STM32_QEI_USE_TIM2 && \
|
||
| 663 | + !STM32_QEI_USE_TIM3 && !STM32_QEI_USE_TIM4 && \
|
||
| 664 | + !STM32_QEI_USE_TIM5 && !STM32_QEI_USE_TIM8
|
||
| 665 | +#error "QEI driver activated but no TIM peripheral assigned"
|
||
| 666 | +#endif
|
||
| 667 | +
|
||
| 668 | +/*===========================================================================*/
|
||
| 669 | +/* Driver data structures and types. */
|
||
| 670 | +/*===========================================================================*/
|
||
| 671 | +
|
||
| 672 | +/**
|
||
| 673 | + * @brief QEI driver mode.
|
||
| 674 | + */
|
||
| 675 | +typedef enum {
|
||
| 676 | + QEI_COUNT_BOTH = 0,
|
||
| 677 | + QEI_COUNT_CH1 = 1,
|
||
| 678 | + QEI_COUNT_CH2 = 2,
|
||
| 679 | +} qeimode_t;
|
||
| 680 | +
|
||
| 681 | +/**
|
||
| 682 | + * @brief QEI input mode.
|
||
| 683 | + */
|
||
| 684 | +typedef enum {
|
||
| 685 | + QEI_INPUT_NONINVERTED = 0, /**< Input channel noninverted.*/
|
||
| 686 | + QEI_INPUT_INVERTED = 1, /**< Input channel inverted.*/
|
||
| 687 | +} qeiinputmode_t;
|
||
| 688 | +
|
||
| 689 | +/**
|
||
| 690 | + * @brief QEI count type.
|
||
| 691 | + */
|
||
| 692 | +typedef uint32_t qeicnt_t;
|
||
| 693 | +
|
||
| 694 | +/**
|
||
| 695 | + * @brief Driver channel configuration structure.
|
||
| 696 | + */
|
||
| 697 | +typedef struct {
|
||
| 698 | + /**
|
||
| 699 | + * @brief Channel input logic.
|
||
| 700 | + */
|
||
| 701 | + qeiinputmode_t mode;
|
||
| 702 | + /* End of the mandatory fields.*/
|
||
| 703 | +} QEIChannelConfig;
|
||
| 704 | +
|
||
| 705 | +/**
|
||
| 706 | + * @brief Driver configuration structure.
|
||
| 707 | + */
|
||
| 708 | +typedef struct {
|
||
| 709 | + /**
|
||
| 710 | + * @brief Driver mode.
|
||
| 711 | + */
|
||
| 712 | + qeimode_t mode;
|
||
| 713 | + /**
|
||
| 714 | + * @brief Channels configurations.
|
||
| 715 | + */
|
||
| 716 | + QEIChannelConfig channels[QEI_CHANNELS];
|
||
| 717 | + /**
|
||
| 718 | + * @brief Range in pulses.
|
||
| 719 | + */
|
||
| 720 | + qeicnt_t range;
|
||
| 721 | + /* End of the mandatory fields.*/
|
||
| 722 | +} QEIConfig;
|
||
| 723 | +
|
||
| 724 | +/**
|
||
| 725 | + * @brief Structure representing an QEI driver.
|
||
| 726 | + */
|
||
| 727 | +struct QEIDriver {
|
||
| 728 | + /**
|
||
| 729 | + * @brief Driver state.
|
||
| 730 | + */
|
||
| 731 | + qeistate_t state;
|
||
| 732 | + /**
|
||
| 733 | + * @brief Current configuration data.
|
||
| 734 | + */
|
||
| 735 | + const QEIConfig *config;
|
||
| 736 | +#if defined(QEI_DRIVER_EXT_FIELDS)
|
||
| 737 | + QEI_DRIVER_EXT_FIELDS
|
||
| 738 | +#endif
|
||
| 739 | + /* End of the mandatory fields.*/
|
||
| 740 | + /**
|
||
| 741 | + * @brief Pointer to the TIMx registers block.
|
||
| 742 | + */
|
||
| 743 | + stm32_tim_t *tim;
|
||
| 744 | +};
|
||
| 745 | +
|
||
| 746 | +/*===========================================================================*/
|
||
| 747 | +/* Driver macros. */
|
||
| 748 | +/*===========================================================================*/
|
||
| 749 | +
|
||
| 750 | +/**
|
||
| 751 | + * @brief Returns the direction of the last transition.
|
||
| 752 | + * @details The direction is defined as boolean and is
|
||
| 753 | + * calculated at each transition on any input.
|
||
| 754 | + *
|
||
| 755 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 756 | + * @return The request direction.
|
||
| 757 | + * @retval FALSE Position counted up.
|
||
| 758 | + * @retval TRUE Position counted down.
|
||
| 759 | + *
|
||
| 760 | + * @iclass
|
||
| 761 | + */
|
||
| 762 | +#define qei_lld_get_direction(qeip) !!((qeip)->tim->CR1 & TIM_CR1_DIR)
|
||
| 763 | +
|
||
| 764 | +/**
|
||
| 765 | + * @brief Returns the position of the encoder.
|
||
| 766 | + * @details The position is defined as number of pulses since last reset.
|
||
| 767 | + *
|
||
| 768 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 769 | + * @return The number of pulses.
|
||
| 770 | + *
|
||
| 771 | + * @iclass
|
||
| 772 | + */
|
||
| 773 | +#define qei_lld_get_position(qeip) ((qeip)->tim->CNT)
|
||
| 774 | +
|
||
| 775 | +/**
|
||
| 776 | + * @brief Returns the range of the encoder.
|
||
| 777 | + * @details The range is defined as number of maximum pulse count.
|
||
| 778 | + *
|
||
| 779 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 780 | + * @return The number of pulses.
|
||
| 781 | + *
|
||
| 782 | + * @iclass
|
||
| 783 | + */
|
||
| 784 | +#define qei_lld_get_range(qeip) ((qeip)->tim->ARR + 1)
|
||
| 785 | +
|
||
| 786 | +/*===========================================================================*/
|
||
| 787 | +/* External declarations. */
|
||
| 788 | +/*===========================================================================*/
|
||
| 789 | +
|
||
| 790 | +#if STM32_QEI_USE_TIM1 && !defined(__DOXYGEN__)
|
||
| 791 | +extern QEIDriver QEID1;
|
||
| 792 | +#endif
|
||
| 793 | +
|
||
| 794 | +#if STM32_QEI_USE_TIM2 && !defined(__DOXYGEN__)
|
||
| 795 | +extern QEIDriver QEID2;
|
||
| 796 | +#endif
|
||
| 797 | +
|
||
| 798 | +#if STM32_QEI_USE_TIM3 && !defined(__DOXYGEN__)
|
||
| 799 | +extern QEIDriver QEID3;
|
||
| 800 | +#endif
|
||
| 801 | +
|
||
| 802 | +#if STM32_QEI_USE_TIM4 && !defined(__DOXYGEN__)
|
||
| 803 | +extern QEIDriver QEID4;
|
||
| 804 | +#endif
|
||
| 805 | +
|
||
| 806 | +#if STM32_QEI_USE_TIM5 && !defined(__DOXYGEN__)
|
||
| 807 | +extern QEIDriver QEID5;
|
||
| 808 | +#endif
|
||
| 809 | +
|
||
| 810 | +#if STM32_QEI_USE_TIM8 && !defined(__DOXYGEN__)
|
||
| 811 | +extern QEIDriver QEID8;
|
||
| 812 | +#endif
|
||
| 813 | +
|
||
| 814 | +#ifdef __cplusplus
|
||
| 815 | +extern "C" {
|
||
| 816 | +#endif
|
||
| 817 | + void qei_lld_init(void);
|
||
| 818 | + void qei_lld_start(QEIDriver *qeip);
|
||
| 819 | + void qei_lld_stop(QEIDriver *qeip);
|
||
| 820 | + void qei_lld_enable(QEIDriver *qeip);
|
||
| 821 | + void qei_lld_disable(QEIDriver *qeip);
|
||
| 822 | +#ifdef __cplusplus
|
||
| 823 | +}
|
||
| 824 | +#endif
|
||
| 825 | +
|
||
| 826 | +#endif /* HAL_USE_QEI */
|
||
| 827 | +
|
||
| 828 | eedb8e58 | Thomas Schöpping | +#endif /* HAL_QEI_LLD_H */
|
| 829 | 20a4e01c | Marc Rothmann | +
|
| 830 | +/** @} */
|
||
| 831 | diff --git a/os/hal/src/hal_qei.c b/os/hal/src/hal_qei.c
|
||
| 832 | new file mode 100644
|
||
| 833 | --- /dev/null
|
||
| 834 | +++ b/os/hal/src/hal_qei.c
|
||
| 835 | eedb8e58 | Thomas Schöpping | @@ -0,0 +1,152 @@
|
| 836 | 20a4e01c | Marc Rothmann | +/*
|
| 837 | +AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
||
| 838 | 732a4657 | Thomas Schöpping | +Copyright (C) 2016..2019 Thomas Schöpping et al.
|
| 839 | 20a4e01c | Marc Rothmann | +
|
| 840 | +This program is free software: you can redistribute it and/or modify
|
||
| 841 | +it under the terms of the GNU General Public License as published by
|
||
| 842 | +the Free Software Foundation, either version 3 of the License, or
|
||
| 843 | +(at your option) any later version.
|
||
| 844 | +
|
||
| 845 | +This program is distributed in the hope that it will be useful,
|
||
| 846 | +but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
| 847 | +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
| 848 | +GNU General Public License for more details.
|
||
| 849 | +
|
||
| 850 | +You should have received a copy of the GNU General Public License
|
||
| 851 | +along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
| 852 | +*/
|
||
| 853 | +
|
||
| 854 | +/**
|
||
| 855 | + * @file hal_qei.c
|
||
| 856 | + * @brief QEI Driver code.
|
||
| 857 | + *
|
||
| 858 | + * @addtogroup QEI
|
||
| 859 | + * @{
|
||
| 860 | + */
|
||
| 861 | +
|
||
| 862 | +#include "hal.h"
|
||
| 863 | +
|
||
| 864 | eedb8e58 | Thomas Schöpping | +#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
|
| 865 | 20a4e01c | Marc Rothmann | +
|
| 866 | +/*===========================================================================*/
|
||
| 867 | +/* Driver local definitions. */
|
||
| 868 | +/*===========================================================================*/
|
||
| 869 | +
|
||
| 870 | +/*===========================================================================*/
|
||
| 871 | +/* Driver exported variables. */
|
||
| 872 | +/*===========================================================================*/
|
||
| 873 | +
|
||
| 874 | +/*===========================================================================*/
|
||
| 875 | +/* Driver local variables. */
|
||
| 876 | +/*===========================================================================*/
|
||
| 877 | +
|
||
| 878 | +/*===========================================================================*/
|
||
| 879 | +/* Driver local functions. */
|
||
| 880 | +/*===========================================================================*/
|
||
| 881 | +
|
||
| 882 | +/*===========================================================================*/
|
||
| 883 | +/* Driver exported functions. */
|
||
| 884 | +/*===========================================================================*/
|
||
| 885 | +
|
||
| 886 | +/**
|
||
| 887 | + * @brief QEI Driver initialization.
|
||
| 888 | + * @note This function is implicitly invoked by @p halInit(), there is
|
||
| 889 | + * no need to explicitly initialize the driver.
|
||
| 890 | + *
|
||
| 891 | + * @init
|
||
| 892 | + */
|
||
| 893 | +void qeiInit(void) {
|
||
| 894 | +
|
||
| 895 | + qei_lld_init();
|
||
| 896 | +}
|
||
| 897 | +
|
||
| 898 | +/**
|
||
| 899 | + * @brief Initializes the standard part of a @p QEIDriver structure.
|
||
| 900 | + *
|
||
| 901 | + * @param[out] qeip pointer to the @p QEIDriver object
|
||
| 902 | + *
|
||
| 903 | + * @init
|
||
| 904 | + */
|
||
| 905 | +void qeiObjectInit(QEIDriver *qeip) {
|
||
| 906 | +
|
||
| 907 | + qeip->state = QEI_STOP;
|
||
| 908 | + qeip->config = NULL;
|
||
| 909 | +}
|
||
| 910 | +
|
||
| 911 | +/**
|
||
| 912 | + * @brief Configures and activates the QEI peripheral.
|
||
| 913 | + *
|
||
| 914 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 915 | + * @param[in] config pointer to the @p QEIConfig object
|
||
| 916 | + *
|
||
| 917 | + * @api
|
||
| 918 | + */
|
||
| 919 | +void qeiStart(QEIDriver *qeip, const QEIConfig *config) {
|
||
| 920 | +
|
||
| 921 | eedb8e58 | Thomas Schöpping | + osalDbgCheck((qeip != NULL) && (config != NULL));
|
| 922 | 20a4e01c | Marc Rothmann | +
|
| 923 | eedb8e58 | Thomas Schöpping | + osalSysLock();
|
| 924 | + osalDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), "invalid state");
|
||
| 925 | 20a4e01c | Marc Rothmann | + qeip->config = config;
|
| 926 | + qei_lld_start(qeip);
|
||
| 927 | + qeip->state = QEI_READY;
|
||
| 928 | eedb8e58 | Thomas Schöpping | + osalSysUnlock();
|
| 929 | 20a4e01c | Marc Rothmann | +}
|
| 930 | +
|
||
| 931 | +/**
|
||
| 932 | + * @brief Deactivates the QEI peripheral.
|
||
| 933 | + *
|
||
| 934 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 935 | + *
|
||
| 936 | + * @api
|
||
| 937 | + */
|
||
| 938 | +void qeiStop(QEIDriver *qeip) {
|
||
| 939 | +
|
||
| 940 | eedb8e58 | Thomas Schöpping | + osalDbgCheck(qeip != NULL);
|
| 941 | 20a4e01c | Marc Rothmann | +
|
| 942 | eedb8e58 | Thomas Schöpping | + osalSysLock();
|
| 943 | + osalDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), "invalid state");
|
||
| 944 | 20a4e01c | Marc Rothmann | + qei_lld_stop(qeip);
|
| 945 | + qeip->state = QEI_STOP;
|
||
| 946 | eedb8e58 | Thomas Schöpping | + osalSysUnlock();
|
| 947 | 20a4e01c | Marc Rothmann | +}
|
| 948 | +
|
||
| 949 | +/**
|
||
| 950 | + * @brief Enables the quadrature encoder.
|
||
| 951 | + *
|
||
| 952 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 953 | + *
|
||
| 954 | + * @api
|
||
| 955 | + */
|
||
| 956 | +void qeiEnable(QEIDriver *qeip) {
|
||
| 957 | +
|
||
| 958 | eedb8e58 | Thomas Schöpping | + osalDbgCheck(qeip != NULL);
|
| 959 | 20a4e01c | Marc Rothmann | +
|
| 960 | eedb8e58 | Thomas Schöpping | + osalSysLock();
|
| 961 | + osalDbgAssert(qeip->state == QEI_READY, "invalid state");
|
||
| 962 | 20a4e01c | Marc Rothmann | + qei_lld_enable(qeip);
|
| 963 | + qeip->state = QEI_ACTIVE;
|
||
| 964 | eedb8e58 | Thomas Schöpping | + osalSysUnlock();
|
| 965 | 20a4e01c | Marc Rothmann | +}
|
| 966 | +
|
||
| 967 | +/**
|
||
| 968 | + * @brief Disables the quadrature encoder.
|
||
| 969 | + *
|
||
| 970 | + * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 971 | + *
|
||
| 972 | + * @api
|
||
| 973 | + */
|
||
| 974 | +void qeiDisable(QEIDriver *qeip) {
|
||
| 975 | +
|
||
| 976 | eedb8e58 | Thomas Schöpping | + osalDbgCheck(qeip != NULL);
|
| 977 | 20a4e01c | Marc Rothmann | +
|
| 978 | eedb8e58 | Thomas Schöpping | + osalSysLock();
|
| 979 | + osalDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE), "invalid state");
|
||
| 980 | 20a4e01c | Marc Rothmann | + qei_lld_disable(qeip);
|
| 981 | + qeip->state = QEI_READY;
|
||
| 982 | eedb8e58 | Thomas Schöpping | + osalSysUnlock();
|
| 983 | 20a4e01c | Marc Rothmann | +}
|
| 984 | +
|
||
| 985 | 732a4657 | Thomas Schöpping | +#endif /* HAL_USE_QEI == TRUE */
|
| 986 | 20a4e01c | Marc Rothmann | +
|
| 987 | +/** @} */ |