amiro-os / kernel / patches / QEI-driver.patch @ 732a4657
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diff --git a/os/hal/hal.mk b/os/hal/hal.mk
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--- a/os/hal/hal.mk
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+++ b/os/hal/hal.mk
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@@ -54,6 +54,9 @@ endif
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ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),) |
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HALSRC += $(CHIBIOS)/os/hal/src/hal_pwm.c |
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endif |
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+ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
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+HALSRC += $(CHIBIOS)/os/hal/src/hal_qei.c
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+endif
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ifneq ($(findstring HAL_USE_RTC TRUE,$(HALCONF)),) |
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HALSRC += $(CHIBIOS)/os/hal/src/hal_rtc.c |
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endif |
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@@ -104,6 +107,7 @@ HALSRC = $(CHIBIOS)/os/hal/src/hal.c \
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$(CHIBIOS)/os/hal/src/hal_mmc_spi.c \ |
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$(CHIBIOS)/os/hal/src/hal_pal.c \ |
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$(CHIBIOS)/os/hal/src/hal_pwm.c \ |
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+ $(CHIBIOS)/os/hal/src/hal_qei.c \
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$(CHIBIOS)/os/hal/src/hal_rtc.c \ |
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$(CHIBIOS)/os/hal/src/hal_sdc.c \ |
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$(CHIBIOS)/os/hal/src/hal_serial.c \ |
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diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
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--- a/os/hal/include/hal.h
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+++ b/os/hal/include/hal.h
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@@ -74,6 +74,10 @@
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#define HAL_USE_PWM FALSE
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#endif
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+#if !defined(HAL_USE_QEI)
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+#define HAL_USE_QEI FALSE
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+#endif
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+
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#if !defined(HAL_USE_RTC)
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#define HAL_USE_RTC FALSE
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#endif
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@@ -142,6 +146,7 @@
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#include "hal_icu.h" |
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#include "hal_mac.h" |
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#include "hal_pwm.h" |
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+#include "hal_qei.h"
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#include "hal_rtc.h" |
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#include "hal_serial.h" |
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#include "hal_sdc.h" |
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diff --git a/os/hal/include/hal_qei.h b/os/hal/include/hal_qei.h
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new file mode 100644
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--- /dev/null
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+++ b/os/hal/include/hal_qei.h
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@@ -0,0 +1,148 @@
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+/*
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+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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+Copyright (C) 2016..2019 Thomas Schöpping et al.
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+
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+This program is free software: you can redistribute it and/or modify
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+it under the terms of the GNU General Public License as published by
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+the Free Software Foundation, either version 3 of the License, or
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+(at your option) any later version.
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+
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+This program is distributed in the hope that it will be useful,
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+but WITHOUT ANY WARRANTY; without even the implied warranty of
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+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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+GNU General Public License for more details.
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+
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+You should have received a copy of the GNU General Public License
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+along with this program. If not, see <http://www.gnu.org/licenses/>.
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+*/
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+
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+/**
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+ * @file hal_qei.h
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+ * @brief QEI Driver macros and structures.
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+ *
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+ * @addtogroup QEI
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+ * @{
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+ */
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+
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+#ifndef HAL_QEI_H
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+#define HAL_QEI_H
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+
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+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
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+
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+/*===========================================================================*/
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+/* Driver constants. */
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+/*===========================================================================*/
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+
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+/*===========================================================================*/
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+/* Driver pre-compile time settings. */
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+/*===========================================================================*/
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+
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+/*===========================================================================*/
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+/* Derived constants and error checks. */
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+/*===========================================================================*/
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+
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+/*===========================================================================*/
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+/* Driver data structures and types. */
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+/*===========================================================================*/
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+
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+/**
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+ * @brief Driver state machine possible states.
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+ */
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+typedef enum {
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+ QEI_UNINIT = 0, /**< Not initialized. */
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+ QEI_STOP = 1, /**< Stopped. */
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+ QEI_READY = 2, /**< Ready. */
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+ QEI_ACTIVE = 4, /**< Active. */
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+} qeistate_t;
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+
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+/**
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+ * @brief Type of a structure representing an QEI driver.
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+ */
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+typedef struct QEIDriver QEIDriver;
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+
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+#include "hal_qei_lld.h"
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+
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+/*===========================================================================*/
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+/* Driver macros. */
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+/*===========================================================================*/
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+
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+/**
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+ * @name Macro Functions
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+ * @{
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+ */
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+/**
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+ * @brief Enables the quadrature encoder.
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+ *
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+ * @param[in] qeip pointer to the @p QEIDriver object
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+ *
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+ * @iclass
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+ */
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+#define qeiEnableI(qeip) qei_lld_enable(qeip)
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+
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+/**
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+ * @brief Disables the quadrature encoder.
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+ *
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+ * @param[in] qeip pointer to the @p QEIDriver object
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+ *
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+ * @iclass
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+ */
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+#define qeiDisableI(qeip) qei_lld_disable(qeip)
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+
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+/**
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+ * @brief Returns the direction of the last transition.
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+ * @details The direction is defined as boolean and is
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+ * calculated at each transition on any input.
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+ *
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+ * @param[in] qeip pointer to the @p QEIDriver object
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+ * @return The request direction.
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+ * @retval FALSE Position counted up.
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+ * @retval TRUE Position counted down.
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+ * @iclass
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+ */
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+#define qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)
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+
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+/**
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+ * @brief Returns the position of the encoder.
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+ * @details The position is defined as number of pulses since last reset.
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+ *
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+ * @param[in] qeip pointer to the @p QEIDriver object
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+ * @return The number of pulses.
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+ *
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+ * @iclass
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+ */
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+#define qeiGetPositionI(qeip) qei_lld_get_position(qeip)
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+
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+/**
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+ * @brief Returns the range of the encoder.
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+ * @details The range is defined as number of maximum pulse count.
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+ *
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+ * @param[in] qeip pointer to the @p QEIDriver object
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+ * @return The number of pulses.
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+ *
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+ * @iclass
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+ */
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+#define qeiGetRangeI(qeip) qei_lld_get_range(qeip)
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+/** @} */
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+
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+/*===========================================================================*/
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+/* External declarations. */
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+/*===========================================================================*/
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+
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+#ifdef __cplusplus
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+extern "C" {
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+#endif
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+ void qeiInit(void);
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+ void qeiObjectInit(QEIDriver *qeip);
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+ void qeiStart(QEIDriver *qeip, const QEIConfig *config);
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+ void qeiStop(QEIDriver *qeip);
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+ void qeiEnable(QEIDriver *qeip);
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+ void qeiDisable(QEIDriver *qeip);
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+#ifdef __cplusplus
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+}
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+#endif
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+
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+#endif /* HAL_USE_QEI == TRUE */
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+
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+#endif /* HAL_QEI_H */
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+
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+/** @} */
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diff --git a/os/hal/ports/STM32/LLD/TIMv1/driver.mk b/os/hal/ports/STM32/LLD/TIMv1/driver.mk
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--- a/os/hal/ports/STM32/LLD/TIMv1/driver.mk
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+++ b/os/hal/ports/STM32/LLD/TIMv1/driver.mk
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@@ -10,10 +10,14 @@ endif
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ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),) |
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PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c |
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endif |
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+ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
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+PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
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+endif
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else |
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PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_gpt_lld.c |
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PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_icu_lld.c |
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PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c |
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+PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
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endif |
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PLATFORMINC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1 |
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diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
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new file mode 100644
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--- /dev/null
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+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
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@@ -0,0 +1,304 @@
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+/*
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+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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+Copyright (C) 2016..2019 Thomas Schöpping et al.
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+
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+This program is free software: you can redistribute it and/or modify
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+it under the terms of the GNU General Public License as published by
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+the Free Software Foundation, either version 3 of the License, or
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+(at your option) any later version.
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+
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+This program is distributed in the hope that it will be useful,
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+but WITHOUT ANY WARRANTY; without even the implied warranty of
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+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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+GNU General Public License for more details.
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+
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+You should have received a copy of the GNU General Public License
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+along with this program. If not, see <http://www.gnu.org/licenses/>.
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+*/
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+
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+/**
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+ * @file STM32/hal_qei_lld.c
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+ * @brief STM32 QEI subsystem low level driver.
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+ *
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+ * @addtogroup QEI
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+ * @{
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+ */
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+
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+#include "hal.h"
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+
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+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
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+
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+/*===========================================================================*/
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+/* Driver local definitions. */
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+/*===========================================================================*/
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+
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+/*===========================================================================*/
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+/* Driver exported variables. */
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+/*===========================================================================*/
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+
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+/**
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+ * @brief QEID1 driver identifier.
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+ * @note The driver QEID1 allocates the complex timer TIM1 when enabled.
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+ */
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+#if STM32_QEI_USE_TIM1 || defined(__DOXYGEN__)
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+QEIDriver QEID1;
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+#endif
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+
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+/**
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+ * @brief QEID2 driver identifier.
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+ * @note The driver QEID1 allocates the timer TIM2 when enabled.
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+ */
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+#if STM32_QEI_USE_TIM2 || defined(__DOXYGEN__)
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+QEIDriver QEID2;
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+#endif
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+
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+/**
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+ * @brief QEID3 driver identifier.
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+ * @note The driver QEID1 allocates the timer TIM3 when enabled.
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+ */
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+#if STM32_QEI_USE_TIM3 || defined(__DOXYGEN__)
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+QEIDriver QEID3;
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+#endif
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+
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+/**
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+ * @brief QEID4 driver identifier.
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+ * @note The driver QEID4 allocates the timer TIM4 when enabled.
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+ */
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+#if STM32_QEI_USE_TIM4 || defined(__DOXYGEN__)
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+QEIDriver QEID4;
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+#endif
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+
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+/**
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+ * @brief QEID5 driver identifier.
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+ * @note The driver QEID5 allocates the timer TIM5 when enabled.
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+ */
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+#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)
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+QEIDriver QEID5;
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+#endif
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+
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