amiro-os / os / hal / src / hal_qei.c @ 4f3a1f5e
History | View | Annotate | Download (4.317 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2018 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file hal_qei.c
|
| 21 |
* @brief QEI Driver code.
|
| 22 |
*
|
| 23 |
* @addtogroup QEI
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include "hal.h" |
| 28 |
#include "hal_qei.h" |
| 29 |
|
| 30 |
#if HAL_USE_QEI || defined(__DOXYGEN__)
|
| 31 |
|
| 32 |
/*===========================================================================*/
|
| 33 |
/* Driver local definitions. */
|
| 34 |
/*===========================================================================*/
|
| 35 |
|
| 36 |
/*===========================================================================*/
|
| 37 |
/* Driver exported variables. */
|
| 38 |
/*===========================================================================*/
|
| 39 |
|
| 40 |
/*===========================================================================*/
|
| 41 |
/* Driver local variables. */
|
| 42 |
/*===========================================================================*/
|
| 43 |
|
| 44 |
/*===========================================================================*/
|
| 45 |
/* Driver local functions. */
|
| 46 |
/*===========================================================================*/
|
| 47 |
|
| 48 |
/*===========================================================================*/
|
| 49 |
/* Driver exported functions. */
|
| 50 |
/*===========================================================================*/
|
| 51 |
|
| 52 |
/**
|
| 53 |
* @brief QEI Driver initialization.
|
| 54 |
* @note This function is implicitly invoked by @p halInit(), there is
|
| 55 |
* no need to explicitly initialize the driver.
|
| 56 |
*
|
| 57 |
* @init
|
| 58 |
*/
|
| 59 |
void qeiInit(void) { |
| 60 |
|
| 61 |
qei_lld_init(); |
| 62 |
} |
| 63 |
|
| 64 |
/**
|
| 65 |
* @brief Initializes the standard part of a @p QEIDriver structure.
|
| 66 |
*
|
| 67 |
* @param[out] qeip pointer to the @p QEIDriver object
|
| 68 |
*
|
| 69 |
* @init
|
| 70 |
*/
|
| 71 |
void qeiObjectInit(QEIDriver *qeip) {
|
| 72 |
|
| 73 |
qeip->state = QEI_STOP; |
| 74 |
qeip->config = NULL;
|
| 75 |
} |
| 76 |
|
| 77 |
/**
|
| 78 |
* @brief Configures and activates the QEI peripheral.
|
| 79 |
*
|
| 80 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 81 |
* @param[in] config pointer to the @p QEIConfig object
|
| 82 |
*
|
| 83 |
* @api
|
| 84 |
*/
|
| 85 |
void qeiStart(QEIDriver *qeip, const QEIConfig *config) { |
| 86 |
|
| 87 |
chDbgCheck((qeip != NULL) && (config != NULL) /*, "qeiStart"*/); |
| 88 |
|
| 89 |
chSysLock(); |
| 90 |
chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
| 91 |
"qeiStart(), #1" /*, "invalid state"*/); |
| 92 |
qeip->config = config; |
| 93 |
qei_lld_start(qeip); |
| 94 |
qeip->state = QEI_READY; |
| 95 |
chSysUnlock(); |
| 96 |
} |
| 97 |
|
| 98 |
/**
|
| 99 |
* @brief Deactivates the QEI peripheral.
|
| 100 |
*
|
| 101 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 102 |
*
|
| 103 |
* @api
|
| 104 |
*/
|
| 105 |
void qeiStop(QEIDriver *qeip) {
|
| 106 |
|
| 107 |
chDbgCheck(qeip != NULL /*, "qeiStop"*/); |
| 108 |
|
| 109 |
chSysLock(); |
| 110 |
chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
| 111 |
"qeiStop(), #1" /*, "invalid state"*/); |
| 112 |
qei_lld_stop(qeip); |
| 113 |
qeip->state = QEI_STOP; |
| 114 |
chSysUnlock(); |
| 115 |
} |
| 116 |
|
| 117 |
/**
|
| 118 |
* @brief Enables the quadrature encoder.
|
| 119 |
*
|
| 120 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 121 |
*
|
| 122 |
* @api
|
| 123 |
*/
|
| 124 |
void qeiEnable(QEIDriver *qeip) {
|
| 125 |
|
| 126 |
chDbgCheck(qeip != NULL /*, "qeiEnable"*/); |
| 127 |
|
| 128 |
chSysLock(); |
| 129 |
chDbgAssert(qeip->state == QEI_READY, "qeiEnable(), #1" /*, "invalid state"*/); |
| 130 |
qei_lld_enable(qeip); |
| 131 |
qeip->state = QEI_ACTIVE; |
| 132 |
chSysUnlock(); |
| 133 |
} |
| 134 |
|
| 135 |
/**
|
| 136 |
* @brief Disables the quadrature encoder.
|
| 137 |
*
|
| 138 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 139 |
*
|
| 140 |
* @api
|
| 141 |
*/
|
| 142 |
void qeiDisable(QEIDriver *qeip) {
|
| 143 |
|
| 144 |
chDbgCheck(qeip != NULL /*, "qeiDisable"*/); |
| 145 |
|
| 146 |
chSysLock(); |
| 147 |
chDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE), |
| 148 |
"qeiDisable(), #1" /*, "invalid state"*/); |
| 149 |
qei_lld_disable(qeip); |
| 150 |
qeip->state = QEI_READY; |
| 151 |
chSysUnlock(); |
| 152 |
} |
| 153 |
|
| 154 |
#endif /* HAL_USE_QEI */ |
| 155 |
|
| 156 |
/** @} */
|