amiro-os / os / hal / include / hal_qei.h @ 3e1a9c79
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2018 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file hal_qei.h
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* @brief QEI Driver macros and structures.
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*
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* @addtogroup QEI
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* @{
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*/
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#ifndef _HAL_QEI_H_
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#define _HAL_QEI_H_
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#if HAL_USE_QEI || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum { |
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QEI_UNINIT = 0, /**< Not initialized. */ |
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QEI_STOP = 1, /**< Stopped. */ |
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QEI_READY = 2, /**< Ready. */ |
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QEI_ACTIVE = 4, /**< Active. */ |
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} qeistate_t; |
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/**
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* @brief Type of a structure representing an QEI driver.
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*/
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typedef struct QEIDriver QEIDriver; |
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#include "hal_qei_lld.h" |
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/*===========================================================================*/
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/* Driver macros. */
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/*===========================================================================*/
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/**
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* @name Macro Functions
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* @{
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*/
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/**
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* @brief Enables the quadrature encoder.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @iclass
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*/
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#define qeiEnableI(qeip) qei_lld_enable(qeip)
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/**
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* @brief Disables the quadrature encoder.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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*
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* @iclass
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*/
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#define qeiDisableI(qeip) qei_lld_disable(qeip)
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/**
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* @brief Returns the direction of the last transition.
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* @details The direction is defined as boolean and is
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* calculated at each transition on any input.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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* @return The request direction.
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* @retval FALSE Position counted up.
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* @retval TRUE Position counted down.
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* @iclass
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*/
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#define qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)
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/**
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* @brief Returns the position of the encoder.
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* @details The position is defined as number of pulses since last reset.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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* @return The number of pulses.
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*
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* @iclass
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*/
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#define qeiGetPositionI(qeip) qei_lld_get_position(qeip)
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/**
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* @brief Returns the range of the encoder.
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* @details The range is defined as number of maximum pulse count.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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* @return The number of pulses.
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*
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* @iclass
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*/
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#define qeiGetRangeI(qeip) qei_lld_get_range(qeip)
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" { |
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#endif
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void qeiInit(void); |
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void qeiObjectInit(QEIDriver *qeip);
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void qeiStart(QEIDriver *qeip, const QEIConfig *config); |
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void qeiStop(QEIDriver *qeip);
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void qeiEnable(QEIDriver *qeip);
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void qeiDisable(QEIDriver *qeip);
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#ifdef __cplusplus
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} |
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#endif
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#endif /* HAL_USE_QEI */ |
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#endif /* _HAL_QEI_H_ */ |
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/** @} */
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