amiro-os / hal / include / qei.h @ 58fe0e0b
History | View | Annotate | Download (3.76 KB)
| 1 | 58fe0e0b | Thomas Schöpping | #ifndef _QEI_H_
|
|---|---|---|---|
| 2 | #define _QEI_H_
|
||
| 3 | |||
| 4 | #if HAL_USE_QEI || defined(__DOXYGEN__)
|
||
| 5 | |||
| 6 | /*===========================================================================*/
|
||
| 7 | /* Driver constants. */
|
||
| 8 | /*===========================================================================*/
|
||
| 9 | |||
| 10 | /*===========================================================================*/
|
||
| 11 | /* Driver pre-compile time settings. */
|
||
| 12 | /*===========================================================================*/
|
||
| 13 | |||
| 14 | /*===========================================================================*/
|
||
| 15 | /* Derived constants and error checks. */
|
||
| 16 | /*===========================================================================*/
|
||
| 17 | |||
| 18 | /*===========================================================================*/
|
||
| 19 | /* Driver data structures and types. */
|
||
| 20 | /*===========================================================================*/
|
||
| 21 | |||
| 22 | /**
|
||
| 23 | * @brief Driver state machine possible states.
|
||
| 24 | */
|
||
| 25 | typedef enum { |
||
| 26 | QEI_UNINIT = 0, /**< Not initialized. */ |
||
| 27 | QEI_STOP = 1, /**< Stopped. */ |
||
| 28 | QEI_READY = 2, /**< Ready. */ |
||
| 29 | QEI_ACTIVE = 4, /**< Active. */ |
||
| 30 | } qeistate_t; |
||
| 31 | |||
| 32 | /**
|
||
| 33 | * @brief Type of a structure representing an QEI driver.
|
||
| 34 | */
|
||
| 35 | typedef struct QEIDriver QEIDriver; |
||
| 36 | |||
| 37 | #include "qei_lld.h" |
||
| 38 | |||
| 39 | /*===========================================================================*/
|
||
| 40 | /* Driver macros. */
|
||
| 41 | /*===========================================================================*/
|
||
| 42 | |||
| 43 | /**
|
||
| 44 | * @name Macro Functions
|
||
| 45 | * @{
|
||
| 46 | */
|
||
| 47 | /**
|
||
| 48 | * @brief Enables the quadrature encoder.
|
||
| 49 | *
|
||
| 50 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 51 | *
|
||
| 52 | * @iclass
|
||
| 53 | */
|
||
| 54 | #define qeiEnableI(qeip) qei_lld_enable(qeip)
|
||
| 55 | |||
| 56 | /**
|
||
| 57 | * @brief Disables the quadrature encoder.
|
||
| 58 | *
|
||
| 59 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 60 | *
|
||
| 61 | * @iclass
|
||
| 62 | */
|
||
| 63 | #define qeiDisableI(qeip) qei_lld_disable(qeip)
|
||
| 64 | |||
| 65 | /**
|
||
| 66 | * @brief Returns the direction of the last transition.
|
||
| 67 | * @details The direction is defined as boolean and is
|
||
| 68 | * calculated at each transition on any input.
|
||
| 69 | *
|
||
| 70 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 71 | * @return The request direction.
|
||
| 72 | * @retval FALSE Position counted up.
|
||
| 73 | * @retval TRUE Position counted down.
|
||
| 74 | * @iclass
|
||
| 75 | */
|
||
| 76 | #define qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)
|
||
| 77 | |||
| 78 | /**
|
||
| 79 | * @brief Returns the position of the encoder.
|
||
| 80 | * @details The position is defined as number of pulses since last reset.
|
||
| 81 | *
|
||
| 82 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 83 | * @return The number of pulses.
|
||
| 84 | *
|
||
| 85 | * @iclass
|
||
| 86 | */
|
||
| 87 | #define qeiGetPositionI(qeip) qei_lld_get_position(qeip)
|
||
| 88 | |||
| 89 | /**
|
||
| 90 | * @brief Returns the range of the encoder.
|
||
| 91 | * @details The range is defined as number of maximum pulse count.
|
||
| 92 | *
|
||
| 93 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 94 | * @return The number of pulses.
|
||
| 95 | *
|
||
| 96 | * @iclass
|
||
| 97 | */
|
||
| 98 | #define qeiGetRangeI(qeip) qei_lld_get_range(qeip)
|
||
| 99 | /** @} */
|
||
| 100 | |||
| 101 | /*===========================================================================*/
|
||
| 102 | /* External declarations. */
|
||
| 103 | /*===========================================================================*/
|
||
| 104 | |||
| 105 | #ifdef __cplusplus
|
||
| 106 | extern "C" { |
||
| 107 | #endif
|
||
| 108 | void qeiInit(void); |
||
| 109 | void qeiObjectInit(QEIDriver *qeip);
|
||
| 110 | void qeiStart(QEIDriver *qeip, const QEIConfig *config); |
||
| 111 | void qeiStop(QEIDriver *qeip);
|
||
| 112 | void qeiEnable(QEIDriver *qeip);
|
||
| 113 | void qeiDisable(QEIDriver *qeip);
|
||
| 114 | #ifdef __cplusplus
|
||
| 115 | } |
||
| 116 | #endif
|
||
| 117 | |||
| 118 | #endif /* HAL_USE_QEI */ |
||
| 119 | |||
| 120 | #endif /* _QEI_H_ */ |