amiro-os / hal / platforms / STM32 / qei_lld.h @ 58fe0e0b
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1 | 58fe0e0b | Thomas Schöpping | #ifndef _QEI_LLD_H_
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2 | #define _QEI_LLD_H_
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3 | |||
4 | #include "stm32_tim.h" |
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5 | |||
6 | #if HAL_USE_QEI || defined(__DOXYGEN__)
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7 | |||
8 | /*===========================================================================*/
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9 | /* Driver constants. */
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10 | /*===========================================================================*/
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11 | |||
12 | /**
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13 | * @brief Number of input channels per QEI driver.
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14 | */
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15 | #define QEI_CHANNELS 2 |
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16 | |||
17 | /*===========================================================================*/
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18 | /* Driver pre-compile time settings. */
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19 | /*===========================================================================*/
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20 | |||
21 | /**
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22 | * @name Configuration options
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23 | * @{
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24 | */
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25 | /**
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26 | * @brief QEID1 driver enable switch.
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27 | * @details If set to @p TRUE the support for QEID1 is included.
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28 | * @note The default is @p TRUE.
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29 | */
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30 | #if !defined(STM32_QEI_USE_TIM1) || defined(__DOXYGEN__)
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31 | #define STM32_QEI_USE_TIM1 TRUE
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32 | #endif
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33 | |||
34 | /**
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35 | * @brief QEID2 driver enable switch.
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36 | * @details If set to @p TRUE the support for QEID2 is included.
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37 | * @note The default is @p TRUE.
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38 | */
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39 | #if !defined(STM32_QEI_USE_TIM2) || defined(__DOXYGEN__)
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40 | #define STM32_QEI_USE_TIM2 TRUE
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41 | #endif
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42 | |||
43 | /**
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44 | * @brief QEID3 driver enable switch.
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45 | * @details If set to @p TRUE the support for QEID3 is included.
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46 | * @note The default is @p TRUE.
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47 | */
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48 | #if !defined(STM32_QEI_USE_TIM3) || defined(__DOXYGEN__)
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49 | #define STM32_QEI_USE_TIM3 TRUE
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50 | #endif
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51 | |||
52 | /**
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53 | * @brief QEID4 driver enable switch.
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54 | * @details If set to @p TRUE the support for QEID4 is included.
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55 | * @note The default is @p TRUE.
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56 | */
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57 | #if !defined(STM32_QEI_USE_TIM4) || defined(__DOXYGEN__)
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58 | #define STM32_QEI_USE_TIM4 TRUE
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59 | #endif
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60 | |||
61 | /**
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62 | * @brief QEID5 driver enable switch.
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63 | * @details If set to @p TRUE the support for QEID5 is included.
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64 | * @note The default is @p TRUE.
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65 | */
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66 | #if !defined(STM32_QEI_USE_TIM5) || defined(__DOXYGEN__)
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67 | #define STM32_QEI_USE_TIM5 TRUE
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68 | #endif
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69 | |||
70 | /**
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71 | * @brief QEID8 driver enable switch.
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72 | * @details If set to @p TRUE the support for QEID8 is included.
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73 | * @note The default is @p TRUE.
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74 | */
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75 | #if !defined(STM32_QEI_USE_TIM8) || defined(__DOXYGEN__)
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76 | #define STM32_QEI_USE_TIM8 TRUE
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77 | #endif
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78 | /** @} */
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79 | |||
80 | /*===========================================================================*/
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81 | /* Derived constants and error checks. */
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82 | /*===========================================================================*/
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83 | |||
84 | #if STM32_QEI_USE_TIM1 && !STM32_HAS_TIM1
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85 | #error "TIM1 not present in the selected device" |
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86 | #endif
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87 | |||
88 | #if STM32_QEI_USE_TIM2 && !STM32_HAS_TIM2
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89 | #error "TIM2 not present in the selected device" |
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90 | #endif
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91 | |||
92 | #if STM32_QEI_USE_TIM3 && !STM32_HAS_TIM3
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93 | #error "TIM3 not present in the selected device" |
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94 | #endif
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95 | |||
96 | #if STM32_QEI_USE_TIM4 && !STM32_HAS_TIM4
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97 | #error "TIM4 not present in the selected device" |
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98 | #endif
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99 | |||
100 | #if STM32_QEI_USE_TIM5 && !STM32_HAS_TIM5
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101 | #error "TIM5 not present in the selected device" |
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102 | #endif
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103 | |||
104 | #if STM32_QEI_USE_TIM8 && !STM32_HAS_TIM8
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105 | #error "TIM8 not present in the selected device" |
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106 | #endif
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107 | |||
108 | #if !STM32_QEI_USE_TIM1 && !STM32_QEI_USE_TIM2 && \
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109 | !STM32_QEI_USE_TIM3 && !STM32_QEI_USE_TIM4 && \ |
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110 | !STM32_QEI_USE_TIM5 && !STM32_QEI_USE_TIM8 |
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111 | #error "QEI driver activated but no TIM peripheral assigned" |
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112 | #endif
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113 | |||
114 | /*===========================================================================*/
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115 | /* Driver data structures and types. */
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116 | /*===========================================================================*/
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117 | |||
118 | /**
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119 | * @brief QEI driver mode.
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120 | */
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121 | typedef enum { |
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122 | QEI_COUNT_BOTH = 0,
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123 | QEI_COUNT_CH1 = 1,
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124 | QEI_COUNT_CH2 = 2,
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125 | } qeimode_t; |
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126 | |||
127 | /**
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128 | * @brief QEI input mode.
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129 | */
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130 | typedef enum { |
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131 | QEI_INPUT_NONINVERTED = 0, /**< Input channel noninverted.*/ |
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132 | QEI_INPUT_INVERTED = 1, /**< Input channel inverted.*/ |
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133 | } qeiinputmode_t; |
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134 | |||
135 | /**
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136 | * @brief QEI count type.
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137 | */
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138 | typedef uint32_t qeicnt_t;
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139 | |||
140 | /**
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141 | * @brief Driver channel configuration structure.
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142 | */
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143 | typedef struct { |
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144 | /**
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145 | * @brief Channel input logic.
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146 | */
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147 | qeiinputmode_t mode; |
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148 | /* End of the mandatory fields.*/
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149 | } QEIChannelConfig; |
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150 | |||
151 | /**
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152 | * @brief Driver configuration structure.
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153 | */
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154 | typedef struct { |
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155 | /**
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156 | * @brief Driver mode.
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157 | */
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158 | qeimode_t mode; |
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159 | /**
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160 | * @brief Channels configurations.
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161 | */
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162 | QEIChannelConfig channels[QEI_CHANNELS]; |
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163 | /**
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164 | * @brief Range in pulses.
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165 | */
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166 | qeicnt_t range; |
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167 | /* End of the mandatory fields.*/
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168 | } QEIConfig; |
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169 | |||
170 | /**
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171 | * @brief Structure representing an QEI driver.
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172 | */
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173 | struct QEIDriver {
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174 | /**
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175 | * @brief Driver state.
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176 | */
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177 | qeistate_t state; |
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178 | /**
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179 | * @brief Current configuration data.
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180 | */
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181 | const QEIConfig *config;
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182 | #if defined(QEI_DRIVER_EXT_FIELDS)
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183 | QEI_DRIVER_EXT_FIELDS |
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184 | #endif
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185 | /* End of the mandatory fields.*/
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186 | /**
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187 | * @brief Pointer to the TIMx registers block.
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188 | */
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189 | stm32_tim_t *tim; |
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190 | }; |
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191 | |||
192 | /*===========================================================================*/
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193 | /* Driver macros. */
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194 | /*===========================================================================*/
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195 | |||
196 | /**
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197 | * @brief Returns the direction of the last transition.
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198 | * @details The direction is defined as boolean and is
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199 | * calculated at each transition on any input.
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200 | *
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201 | * @param[in] qeip pointer to the @p QEIDriver object
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202 | * @return The request direction.
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203 | * @retval FALSE Position counted up.
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204 | * @retval TRUE Position counted down.
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205 | *
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206 | * @iclass
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207 | */
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208 | #define qei_lld_get_direction(qeip) !!((qeip)->tim->CR1 & TIM_CR1_DIR)
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209 | |||
210 | /**
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211 | * @brief Returns the position of the encoder.
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212 | * @details The position is defined as number of pulses since last reset.
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213 | *
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214 | * @param[in] qeip pointer to the @p QEIDriver object
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215 | * @return The number of pulses.
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216 | *
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217 | * @iclass
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218 | */
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219 | #define qei_lld_get_position(qeip) ((qeip)->tim->CNT)
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220 | |||
221 | /**
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222 | * @brief Returns the range of the encoder.
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223 | * @details The range is defined as number of maximum pulse count.
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224 | *
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225 | * @param[in] qeip pointer to the @p QEIDriver object
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226 | * @return The number of pulses.
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227 | *
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228 | * @iclass
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229 | */
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230 | #define qei_lld_get_range(qeip) ((qeip)->tim->ARR + 1) |
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231 | |||
232 | /*===========================================================================*/
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233 | /* External declarations. */
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234 | /*===========================================================================*/
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235 | |||
236 | #if STM32_QEI_USE_TIM1 && !defined(__DOXYGEN__)
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237 | extern QEIDriver QEID1;
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238 | #endif
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239 | |||
240 | #if STM32_QEI_USE_TIM2 && !defined(__DOXYGEN__)
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241 | extern QEIDriver QEID2;
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242 | #endif
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243 | |||
244 | #if STM32_QEI_USE_TIM3 && !defined(__DOXYGEN__)
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245 | extern QEIDriver QEID3;
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246 | #endif
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247 | |||
248 | #if STM32_QEI_USE_TIM4 && !defined(__DOXYGEN__)
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249 | extern QEIDriver QEID4;
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250 | #endif
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251 | |||
252 | #if STM32_QEI_USE_TIM5 && !defined(__DOXYGEN__)
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253 | extern QEIDriver QEID5;
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254 | #endif
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255 | |||
256 | #if STM32_QEI_USE_TIM8 && !defined(__DOXYGEN__)
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257 | extern QEIDriver QEID8;
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258 | #endif
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259 | |||
260 | #ifdef __cplusplus
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261 | extern "C" { |
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262 | #endif
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263 | void qei_lld_init(void); |
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264 | void qei_lld_start(QEIDriver *qeip);
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265 | void qei_lld_stop(QEIDriver *qeip);
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266 | void qei_lld_enable(QEIDriver *qeip);
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267 | void qei_lld_disable(QEIDriver *qeip);
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268 | #ifdef __cplusplus
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269 | } |
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270 | #endif
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271 | |||
272 | #endif /* HAL_USE_QEI */ |
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273 | |||
274 | #endif /* _QEI_LLD_H_ */ |