amiro-os / os / hal / include / hal_qei.h @ 6b53f6bf
History | View | Annotate | Download (4.631 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.h
|
| 21 |
* @brief QEI Driver macros and structures.
|
| 22 |
*
|
| 23 |
* @addtogroup QEI
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#ifndef _HAL_QEI_H_
|
| 28 |
#define _HAL_QEI_H_
|
| 29 |
|
| 30 |
#if HAL_USE_QEI || defined(__DOXYGEN__)
|
| 31 |
|
| 32 |
/*===========================================================================*/
|
| 33 |
/* Driver constants. */
|
| 34 |
/*===========================================================================*/
|
| 35 |
|
| 36 |
/*===========================================================================*/
|
| 37 |
/* Driver pre-compile time settings. */
|
| 38 |
/*===========================================================================*/
|
| 39 |
|
| 40 |
/*===========================================================================*/
|
| 41 |
/* Derived constants and error checks. */
|
| 42 |
/*===========================================================================*/
|
| 43 |
|
| 44 |
/*===========================================================================*/
|
| 45 |
/* Driver data structures and types. */
|
| 46 |
/*===========================================================================*/
|
| 47 |
|
| 48 |
/**
|
| 49 |
* @brief Driver state machine possible states.
|
| 50 |
*/
|
| 51 |
typedef enum { |
| 52 |
QEI_UNINIT = 0, /**< Not initialized. */ |
| 53 |
QEI_STOP = 1, /**< Stopped. */ |
| 54 |
QEI_READY = 2, /**< Ready. */ |
| 55 |
QEI_ACTIVE = 4, /**< Active. */ |
| 56 |
} qeistate_t; |
| 57 |
|
| 58 |
/**
|
| 59 |
* @brief Type of a structure representing an QEI driver.
|
| 60 |
*/
|
| 61 |
typedef struct QEIDriver QEIDriver; |
| 62 |
|
| 63 |
#include "hal_qei_lld.h" |
| 64 |
|
| 65 |
/*===========================================================================*/
|
| 66 |
/* Driver macros. */
|
| 67 |
/*===========================================================================*/
|
| 68 |
|
| 69 |
/**
|
| 70 |
* @name Macro Functions
|
| 71 |
* @{
|
| 72 |
*/
|
| 73 |
/**
|
| 74 |
* @brief Enables the quadrature encoder.
|
| 75 |
*
|
| 76 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 77 |
*
|
| 78 |
* @iclass
|
| 79 |
*/
|
| 80 |
#define qeiEnableI(qeip) qei_lld_enable(qeip)
|
| 81 |
|
| 82 |
/**
|
| 83 |
* @brief Disables the quadrature encoder.
|
| 84 |
*
|
| 85 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 86 |
*
|
| 87 |
* @iclass
|
| 88 |
*/
|
| 89 |
#define qeiDisableI(qeip) qei_lld_disable(qeip)
|
| 90 |
|
| 91 |
/**
|
| 92 |
* @brief Returns the direction of the last transition.
|
| 93 |
* @details The direction is defined as boolean and is
|
| 94 |
* calculated at each transition on any input.
|
| 95 |
*
|
| 96 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 97 |
* @return The request direction.
|
| 98 |
* @retval FALSE Position counted up.
|
| 99 |
* @retval TRUE Position counted down.
|
| 100 |
* @iclass
|
| 101 |
*/
|
| 102 |
#define qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)
|
| 103 |
|
| 104 |
/**
|
| 105 |
* @brief Returns the position of the encoder.
|
| 106 |
* @details The position is defined as number of pulses since last reset.
|
| 107 |
*
|
| 108 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 109 |
* @return The number of pulses.
|
| 110 |
*
|
| 111 |
* @iclass
|
| 112 |
*/
|
| 113 |
#define qeiGetPositionI(qeip) qei_lld_get_position(qeip)
|
| 114 |
|
| 115 |
/**
|
| 116 |
* @brief Returns the range of the encoder.
|
| 117 |
* @details The range is defined as number of maximum pulse count.
|
| 118 |
*
|
| 119 |
* @param[in] qeip pointer to the @p QEIDriver object
|
| 120 |
* @return The number of pulses.
|
| 121 |
*
|
| 122 |
* @iclass
|
| 123 |
*/
|
| 124 |
#define qeiGetRangeI(qeip) qei_lld_get_range(qeip)
|
| 125 |
/** @} */
|
| 126 |
|
| 127 |
/*===========================================================================*/
|
| 128 |
/* External declarations. */
|
| 129 |
/*===========================================================================*/
|
| 130 |
|
| 131 |
#ifdef __cplusplus
|
| 132 |
extern "C" { |
| 133 |
#endif
|
| 134 |
void qeiInit(void); |
| 135 |
void qeiObjectInit(QEIDriver *qeip);
|
| 136 |
void qeiStart(QEIDriver *qeip, const QEIConfig *config); |
| 137 |
void qeiStop(QEIDriver *qeip);
|
| 138 |
void qeiEnable(QEIDriver *qeip);
|
| 139 |
void qeiDisable(QEIDriver *qeip);
|
| 140 |
#ifdef __cplusplus
|
| 141 |
} |
| 142 |
#endif
|
| 143 |
|
| 144 |
#endif /* HAL_USE_QEI */ |
| 145 |
|
| 146 |
#endif /* _HAL_QEI_H_ */ |
| 147 |
|
| 148 |
/** @} */
|