AMiRo-OS

#ifndef _QEI_LLD_H_

#define _QEI_LLD_H_

#include "stm32_tim.h"

#if HAL_USE_QEI || defined(__DOXYGEN__)

/*===========================================================================*/

/* Driver constants.                                                         */

/*===========================================================================*/

/**

 * @brief   Number of input channels per QEI driver.

 */

#define QEI_CHANNELS                            2

/*===========================================================================*/

/* Driver pre-compile time settings.                                         */

/*===========================================================================*/

/**

 * @name    Configuration options

 * @{

 */

/**

 * @brief   QEID1 driver enable switch.

 * @details If set to @p TRUE the support for QEID1 is included.

 * @note    The default is @p TRUE.

 */

#if !defined(STM32_QEI_USE_TIM1) || defined(__DOXYGEN__)

#define STM32_QEI_USE_TIM1                  TRUE

#endif

/**

 * @brief   QEID2 driver enable switch.

 * @details If set to @p TRUE the support for QEID2 is included.

 * @note    The default is @p TRUE.

 */

#if !defined(STM32_QEI_USE_TIM2) || defined(__DOXYGEN__)

#define STM32_QEI_USE_TIM2                  TRUE

#endif

/**

 * @brief   QEID3 driver enable switch.

 * @details If set to @p TRUE the support for QEID3 is included.

 * @note    The default is @p TRUE.

 */

#if !defined(STM32_QEI_USE_TIM3) || defined(__DOXYGEN__)

#define STM32_QEI_USE_TIM3                  TRUE

#endif

/**

 * @brief   QEID4 driver enable switch.

 * @details If set to @p TRUE the support for QEID4 is included.

 * @note    The default is @p TRUE.

 */

#if !defined(STM32_QEI_USE_TIM4) || defined(__DOXYGEN__)

#define STM32_QEI_USE_TIM4                  TRUE

#endif

/**

 * @brief   QEID5 driver enable switch.

 * @details If set to @p TRUE the support for QEID5 is included.

 * @note    The default is @p TRUE.

 */

#if !defined(STM32_QEI_USE_TIM5) || defined(__DOXYGEN__)

#define STM32_QEI_USE_TIM5                  TRUE

#endif

/**

 * @brief   QEID8 driver enable switch.

 * @details If set to @p TRUE the support for QEID8 is included.

 * @note    The default is @p TRUE.

 */

#if !defined(STM32_QEI_USE_TIM8) || defined(__DOXYGEN__)

#define STM32_QEI_USE_TIM8                  TRUE

#endif

/** @} */

/*===========================================================================*/

/* Derived constants and error checks.                                       */

/*===========================================================================*/

#if STM32_QEI_USE_TIM1 && !STM32_HAS_TIM1

#error "TIM1 not present in the selected device"

#endif

#if STM32_QEI_USE_TIM2 && !STM32_HAS_TIM2

#error "TIM2 not present in the selected device"

#endif

#if STM32_QEI_USE_TIM3 && !STM32_HAS_TIM3

#error "TIM3 not present in the selected device"

#endif

#if STM32_QEI_USE_TIM4 && !STM32_HAS_TIM4

#error "TIM4 not present in the selected device"

#endif

#if STM32_QEI_USE_TIM5 && !STM32_HAS_TIM5

#error "TIM5 not present in the selected device"

#endif

#if STM32_QEI_USE_TIM8 && !STM32_HAS_TIM8

#error "TIM8 not present in the selected device"

#endif

#if !STM32_QEI_USE_TIM1 && !STM32_QEI_USE_TIM2 &&                           \

    !STM32_QEI_USE_TIM3 && !STM32_QEI_USE_TIM4 &&                           \

    !STM32_QEI_USE_TIM5 && !STM32_QEI_USE_TIM8

#error "QEI driver activated but no TIM peripheral assigned"

#endif

/*===========================================================================*/

/* Driver data structures and types.                                         */

/*===========================================================================*/

/**

 * @brief QEI driver mode.

 */

typedef enum {

  QEI_COUNT_BOTH = 0,

  QEI_COUNT_CH1 = 1,

  QEI_COUNT_CH2 = 2,

} qeimode_t;

/**

 * @brief QEI input mode.

 */

typedef enum {

  QEI_INPUT_NONINVERTED = 0, /**< Input channel noninverted.*/

  QEI_INPUT_INVERTED = 1, /**< Input channel inverted.*/

} qeiinputmode_t;

/**

 * @brief   QEI count type.

 */

typedef uint32_t qeicnt_t;

/**

 * @brief   Driver channel configuration structure.

 */

typedef struct {

  /**

   * @brief Channel input logic.

   */

  qeiinputmode_t                 mode;

  /* End of the mandatory fields.*/

} QEIChannelConfig;

/**

 * @brief   Driver configuration structure.

 */

typedef struct {

  /**

   * @brief   Driver mode.

   */

  qeimode_t                 mode;

  /**

   * @brief   Channels configurations.

   */

  QEIChannelConfig          channels[QEI_CHANNELS];

  /**

   * @brief   Range in pulses.

   */

  qeicnt_t                  range;

  /* End of the mandatory fields.*/

} QEIConfig;

/**

 * @brief   Structure representing an QEI driver.

 */

struct QEIDriver {

  /**

   * @brief Driver state.

   */

  qeistate_t                state;

  /**

   * @brief Current configuration data.

   */

  const QEIConfig           *config;

#if defined(QEI_DRIVER_EXT_FIELDS)

  QEI_DRIVER_EXT_FIELDS

#endif

  /* End of the mandatory fields.*/

  /**

   * @brief Pointer to the TIMx registers block.

   */

  stm32_tim_t               *tim;

};

/*===========================================================================*/

/* Driver macros.                                                            */

/*===========================================================================*/

/**

 * @brief   Returns the direction of the last transition.

 * @details The direction is defined as boolean and is

 *          calculated at each transition on any input.

 *

 * @param[in] qeip      pointer to the @p QEIDriver object

 * @return              The request direction.

 * @retval FALSE        Position counted up.

 * @retval TRUE         Position counted down.

 *

 * @iclass

 */

#define qei_lld_get_direction(qeip) !!((qeip)->tim->CR1 & TIM_CR1_DIR)

/**

 * @brief   Returns the position of the encoder.

 * @details The position is defined as number of pulses since last reset.

 *

 * @param[in] qeip      pointer to the @p QEIDriver object

 * @return              The number of pulses.

 *

 * @iclass

 */

#define qei_lld_get_position(qeip) ((qeip)->tim->CNT)

/**

 * @brief   Returns the range of the encoder.

 * @details The range is defined as number of maximum pulse count.

 *

 * @param[in] qeip      pointer to the @p QEIDriver object

 * @return              The number of pulses.

 *

 * @iclass

 */

#define qei_lld_get_range(qeip) ((qeip)->tim->ARR + 1)

/*===========================================================================*/

/* External declarations.                                                    */

/*===========================================================================*/

#if STM32_QEI_USE_TIM1 && !defined(__DOXYGEN__)

extern QEIDriver QEID1;

#endif

#if STM32_QEI_USE_TIM2 && !defined(__DOXYGEN__)

extern QEIDriver QEID2;

#endif

#if STM32_QEI_USE_TIM3 && !defined(__DOXYGEN__)

extern QEIDriver QEID3;

#endif

#if STM32_QEI_USE_TIM4 && !defined(__DOXYGEN__)

extern QEIDriver QEID4;

#endif

#if STM32_QEI_USE_TIM5 && !defined(__DOXYGEN__)

extern QEIDriver QEID5;

#endif

#if STM32_QEI_USE_TIM8 && !defined(__DOXYGEN__)

extern QEIDriver QEID8;

#endif

#ifdef __cplusplus

extern "C" {

#endif

  void qei_lld_init(void);

  void qei_lld_start(QEIDriver *qeip);

  void qei_lld_stop(QEIDriver *qeip);

  void qei_lld_enable(QEIDriver *qeip);

  void qei_lld_disable(QEIDriver *qeip);

#ifdef __cplusplus

}

#endif

#endif /* HAL_USE_QEI */

#endif /* _QEI_LLD_H_ */