amiro-os / hal / src / qei.c @ 4d54a507
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| 1 | 3f899f5d | Thomas Schöpping | /**
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| 2 | * @file qei.c
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| 3 | * @brief QEI Driver code.
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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 | #include "ch.h" |
| 10 | #include "hal.h" |
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| 11 | #include "qei.h" |
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| 12 | |||
| 13 | #if HAL_USE_QEI || defined(__DOXYGEN__)
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| 14 | |||
| 15 | /*===========================================================================*/
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| 16 | /* Driver local definitions. */
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| 17 | /*===========================================================================*/
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| 18 | |||
| 19 | /*===========================================================================*/
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| 20 | /* Driver exported variables. */
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| 21 | /*===========================================================================*/
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| 22 | |||
| 23 | /*===========================================================================*/
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| 24 | /* Driver local variables. */
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| 25 | /*===========================================================================*/
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| 26 | |||
| 27 | /*===========================================================================*/
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| 28 | /* Driver local functions. */
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| 29 | /*===========================================================================*/
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| 30 | |||
| 31 | /*===========================================================================*/
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| 32 | /* Driver exported functions. */
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| 33 | /*===========================================================================*/
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| 34 | |||
| 35 | /**
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| 36 | * @brief QEI Driver initialization.
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| 37 | * @note This function is implicitly invoked by @p halInit(), there is
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| 38 | * no need to explicitly initialize the driver.
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| 39 | *
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| 40 | * @init
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| 41 | */
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| 42 | void qeiInit(void) { |
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| 43 | |||
| 44 | qei_lld_init(); |
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| 45 | } |
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| 46 | |||
| 47 | /**
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| 48 | * @brief Initializes the standard part of a @p QEIDriver structure.
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| 49 | *
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| 50 | * @param[out] qeip pointer to the @p QEIDriver object
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| 51 | *
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| 52 | * @init
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| 53 | */
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| 54 | void qeiObjectInit(QEIDriver *qeip) {
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| 55 | |||
| 56 | qeip->state = QEI_STOP; |
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| 57 | qeip->config = NULL;
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| 58 | } |
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| 59 | |||
| 60 | /**
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| 61 | * @brief Configures and activates the QEI peripheral.
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| 62 | *
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| 63 | * @param[in] qeip pointer to the @p QEIDriver object
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| 64 | * @param[in] config pointer to the @p QEIConfig object
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| 65 | *
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| 66 | * @api
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| 67 | */
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| 68 | void qeiStart(QEIDriver *qeip, const QEIConfig *config) { |
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| 69 | |||
| 70 | chDbgCheck((qeip != NULL) && (config != NULL), "qeiStart"); |
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| 71 | |||
| 72 | chSysLock(); |
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| 73 | chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
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| 74 | "qeiStart(), #1", "invalid state"); |
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| 75 | qeip->config = config; |
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| 76 | qei_lld_start(qeip); |
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| 77 | qeip->state = QEI_READY; |
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| 78 | chSysUnlock(); |
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| 79 | } |
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| 80 | |||
| 81 | /**
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| 82 | * @brief Deactivates the QEI peripheral.
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| 83 | *
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| 84 | * @param[in] qeip pointer to the @p QEIDriver object
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| 85 | *
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| 86 | * @api
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| 87 | */
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| 88 | void qeiStop(QEIDriver *qeip) {
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| 89 | |||
| 90 | chDbgCheck(qeip != NULL, "qeiStop"); |
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| 91 | |||
| 92 | chSysLock(); |
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| 93 | chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
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| 94 | "qeiStop(), #1", "invalid state"); |
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| 95 | qei_lld_stop(qeip); |
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| 96 | qeip->state = QEI_STOP; |
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| 97 | chSysUnlock(); |
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| 98 | } |
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| 99 | |||
| 100 | /**
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| 101 | * @brief Enables the quadrature encoder.
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| 102 | *
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| 103 | * @param[in] qeip pointer to the @p QEIDriver object
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| 104 | *
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| 105 | * @api
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| 106 | */
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| 107 | void qeiEnable(QEIDriver *qeip) {
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| 108 | |||
| 109 | chDbgCheck(qeip != NULL, "qeiEnable"); |
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| 110 | |||
| 111 | chSysLock(); |
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| 112 | chDbgAssert(qeip->state == QEI_READY, "qeiEnable(), #1", "invalid state"); |
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| 113 | qei_lld_enable(qeip); |
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| 114 | qeip->state = QEI_ACTIVE; |
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| 115 | chSysUnlock(); |
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| 116 | } |
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| 117 | |||
| 118 | /**
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| 119 | * @brief Disables the quadrature encoder.
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| 120 | *
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| 121 | * @param[in] qeip pointer to the @p QEIDriver object
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| 122 | *
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| 123 | * @api
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| 124 | */
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| 125 | void qeiDisable(QEIDriver *qeip) {
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| 126 | |||
| 127 | chDbgCheck(qeip != NULL, "qeiDisable"); |
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| 128 | |||
| 129 | chSysLock(); |
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| 130 | chDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE), |
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| 131 | "qeiDisable(), #1", "invalid state"); |
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| 132 | qei_lld_disable(qeip); |
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| 133 | qeip->state = QEI_READY; |
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| 134 | chSysUnlock(); |
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| 135 | } |
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| 136 | |||
| 137 | #endif /* HAL_USE_QEI */ |
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| 138 | |||
| 139 | 3f899f5d | Thomas Schöpping | /** @} */ |