amiro-os / hal / include / qei.h @ 2330e415
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| 1 | 3f899f5d | Thomas Schöpping | /**
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| 2 | * @file qei.h
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| 3 | * @brief QEI Driver macros and structures.
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| 4 | *
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| 5 | * @addtogroup QEI
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| 6 | * @{
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| 7 | */
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| 8 | |||
| 9 | 58fe0e0b | Thomas Schöpping | #ifndef _QEI_H_
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| 10 | #define _QEI_H_
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| 11 | |||
| 12 | #if HAL_USE_QEI || defined(__DOXYGEN__)
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| 13 | |||
| 14 | /*===========================================================================*/
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| 15 | /* Driver constants. */
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| 16 | /*===========================================================================*/
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| 17 | |||
| 18 | /*===========================================================================*/
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| 19 | /* Driver pre-compile time settings. */
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| 20 | /*===========================================================================*/
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| 21 | |||
| 22 | /*===========================================================================*/
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| 23 | /* Derived constants and error checks. */
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| 24 | /*===========================================================================*/
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| 25 | |||
| 26 | /*===========================================================================*/
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| 27 | /* Driver data structures and types. */
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| 28 | /*===========================================================================*/
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| 29 | |||
| 30 | /**
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| 31 | * @brief Driver state machine possible states.
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| 32 | */
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| 33 | typedef enum { |
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| 34 | QEI_UNINIT = 0, /**< Not initialized. */ |
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| 35 | QEI_STOP = 1, /**< Stopped. */ |
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| 36 | QEI_READY = 2, /**< Ready. */ |
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| 37 | QEI_ACTIVE = 4, /**< Active. */ |
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| 38 | } qeistate_t; |
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| 39 | |||
| 40 | /**
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| 41 | * @brief Type of a structure representing an QEI driver.
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| 42 | */
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| 43 | typedef struct QEIDriver QEIDriver; |
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| 44 | |||
| 45 | #include "qei_lld.h" |
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| 46 | |||
| 47 | /*===========================================================================*/
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| 48 | /* Driver macros. */
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| 49 | /*===========================================================================*/
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| 50 | |||
| 51 | /**
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| 52 | * @name Macro Functions
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| 53 | * @{
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| 54 | */
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| 55 | /**
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| 56 | * @brief Enables the quadrature encoder.
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| 57 | *
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| 58 | * @param[in] qeip pointer to the @p QEIDriver object
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| 59 | *
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| 60 | * @iclass
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| 61 | */
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| 62 | #define qeiEnableI(qeip) qei_lld_enable(qeip)
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| 63 | |||
| 64 | /**
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| 65 | * @brief Disables the quadrature encoder.
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| 66 | *
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| 67 | * @param[in] qeip pointer to the @p QEIDriver object
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| 68 | *
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| 69 | * @iclass
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| 70 | */
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| 71 | #define qeiDisableI(qeip) qei_lld_disable(qeip)
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| 72 | |||
| 73 | /**
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| 74 | * @brief Returns the direction of the last transition.
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| 75 | * @details The direction is defined as boolean and is
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| 76 | * calculated at each transition on any input.
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| 77 | *
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| 78 | * @param[in] qeip pointer to the @p QEIDriver object
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| 79 | * @return The request direction.
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| 80 | * @retval FALSE Position counted up.
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| 81 | * @retval TRUE Position counted down.
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| 82 | * @iclass
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| 83 | */
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| 84 | #define qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)
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| 85 | |||
| 86 | /**
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| 87 | * @brief Returns the position of the encoder.
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| 88 | * @details The position is defined as number of pulses since last reset.
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| 89 | *
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| 90 | * @param[in] qeip pointer to the @p QEIDriver object
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| 91 | * @return The number of pulses.
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| 92 | *
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| 93 | * @iclass
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| 94 | */
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| 95 | #define qeiGetPositionI(qeip) qei_lld_get_position(qeip)
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| 96 | |||
| 97 | /**
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| 98 | * @brief Returns the range of the encoder.
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| 99 | * @details The range is defined as number of maximum pulse count.
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| 100 | *
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| 101 | * @param[in] qeip pointer to the @p QEIDriver object
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| 102 | * @return The number of pulses.
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| 103 | *
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| 104 | * @iclass
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| 105 | */
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| 106 | #define qeiGetRangeI(qeip) qei_lld_get_range(qeip)
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| 107 | /** @} */
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| 108 | |||
| 109 | /*===========================================================================*/
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| 110 | /* External declarations. */
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| 111 | /*===========================================================================*/
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| 112 | |||
| 113 | #ifdef __cplusplus
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| 114 | extern "C" { |
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| 115 | #endif
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| 116 | void qeiInit(void); |
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| 117 | void qeiObjectInit(QEIDriver *qeip);
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| 118 | void qeiStart(QEIDriver *qeip, const QEIConfig *config); |
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| 119 | void qeiStop(QEIDriver *qeip);
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| 120 | void qeiEnable(QEIDriver *qeip);
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| 121 | void qeiDisable(QEIDriver *qeip);
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| 122 | #ifdef __cplusplus
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| 123 | } |
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| 124 | #endif
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| 125 | |||
| 126 | #endif /* HAL_USE_QEI */ |
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| 127 | |||
| 128 | #endif /* _QEI_H_ */ |
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| 129 | 3f899f5d | Thomas Schöpping | |
| 130 | /** @} */ |