amiro-os / hal / src / qei.c @ 58fe0e0b
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1 | 58fe0e0b | Thomas Schöpping | #include "ch.h" |
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2 | #include "hal.h" |
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3 | #include "qei.h" |
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4 | |||
5 | #if HAL_USE_QEI || defined(__DOXYGEN__)
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6 | |||
7 | /*===========================================================================*/
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8 | /* Driver local definitions. */
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9 | /*===========================================================================*/
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10 | |||
11 | /*===========================================================================*/
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12 | /* Driver exported variables. */
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13 | /*===========================================================================*/
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14 | |||
15 | /*===========================================================================*/
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16 | /* Driver local variables. */
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17 | /*===========================================================================*/
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18 | |||
19 | /*===========================================================================*/
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20 | /* Driver local functions. */
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21 | /*===========================================================================*/
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22 | |||
23 | /*===========================================================================*/
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24 | /* Driver exported functions. */
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25 | /*===========================================================================*/
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26 | |||
27 | /**
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28 | * @brief QEI Driver initialization.
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29 | * @note This function is implicitly invoked by @p halInit(), there is
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30 | * no need to explicitly initialize the driver.
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31 | *
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32 | * @init
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33 | */
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34 | void qeiInit(void) { |
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35 | |||
36 | qei_lld_init(); |
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37 | } |
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38 | |||
39 | /**
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40 | * @brief Initializes the standard part of a @p QEIDriver structure.
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41 | *
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42 | * @param[out] qeip pointer to the @p QEIDriver object
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43 | *
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44 | * @init
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45 | */
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46 | void qeiObjectInit(QEIDriver *qeip) {
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47 | |||
48 | qeip->state = QEI_STOP; |
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49 | qeip->config = NULL;
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50 | } |
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51 | |||
52 | /**
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53 | * @brief Configures and activates the QEI peripheral.
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54 | *
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55 | * @param[in] qeip pointer to the @p QEIDriver object
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56 | * @param[in] config pointer to the @p QEIConfig object
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57 | *
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58 | * @api
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59 | */
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60 | void qeiStart(QEIDriver *qeip, const QEIConfig *config) { |
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61 | |||
62 | chDbgCheck((qeip != NULL) && (config != NULL), "qeiStart"); |
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63 | |||
64 | chSysLock(); |
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65 | chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
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66 | "qeiStart(), #1", "invalid state"); |
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67 | qeip->config = config; |
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68 | qei_lld_start(qeip); |
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69 | qeip->state = QEI_READY; |
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70 | chSysUnlock(); |
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71 | } |
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72 | |||
73 | /**
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74 | * @brief Deactivates the QEI peripheral.
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75 | *
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76 | * @param[in] qeip pointer to the @p QEIDriver object
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77 | *
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78 | * @api
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79 | */
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80 | void qeiStop(QEIDriver *qeip) {
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81 | |||
82 | chDbgCheck(qeip != NULL, "qeiStop"); |
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83 | |||
84 | chSysLock(); |
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85 | chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
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86 | "qeiStop(), #1", "invalid state"); |
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87 | qei_lld_stop(qeip); |
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88 | qeip->state = QEI_STOP; |
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89 | chSysUnlock(); |
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90 | } |
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91 | |||
92 | /**
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93 | * @brief Enables the quadrature encoder.
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94 | *
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95 | * @param[in] qeip pointer to the @p QEIDriver object
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96 | *
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97 | * @api
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98 | */
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99 | void qeiEnable(QEIDriver *qeip) {
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100 | |||
101 | chDbgCheck(qeip != NULL, "qeiEnable"); |
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102 | |||
103 | chSysLock(); |
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104 | chDbgAssert(qeip->state == QEI_READY, "qeiEnable(), #1", "invalid state"); |
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105 | qei_lld_enable(qeip); |
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106 | qeip->state = QEI_ACTIVE; |
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107 | chSysUnlock(); |
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108 | } |
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109 | |||
110 | /**
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111 | * @brief Disables the quadrature encoder.
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112 | *
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113 | * @param[in] qeip pointer to the @p QEIDriver object
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114 | *
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115 | * @api
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116 | */
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117 | void qeiDisable(QEIDriver *qeip) {
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118 | |||
119 | chDbgCheck(qeip != NULL, "qeiDisable"); |
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120 | |||
121 | chSysLock(); |
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122 | chDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE), |
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123 | "qeiDisable(), #1", "invalid state"); |
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124 | qei_lld_disable(qeip); |
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125 | qeip->state = QEI_READY; |
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126 | chSysUnlock(); |
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127 | } |
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128 | |||
129 | #endif /* HAL_USE_QEI */ |