diff --git a/os/hal/hal.mk b/os/hal/hal.mk
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -54,6 +54,9 @@ endif
ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),)
HALSRC += $(CHIBIOS)/os/hal/src/hal_pwm.c
endif
+ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
+HALSRC += $(CHIBIOS)/os/hal/src/hal_qei.c
+endif
ifneq ($(findstring HAL_USE_RTC TRUE,$(HALCONF)),)
HALSRC += $(CHIBIOS)/os/hal/src/hal_rtc.c
endif
@@ -104,6 +107,7 @@ HALSRC = $(CHIBIOS)/os/hal/src/hal.c \
$(CHIBIOS)/os/hal/src/hal_mmc_spi.c \
$(CHIBIOS)/os/hal/src/hal_pal.c \
$(CHIBIOS)/os/hal/src/hal_pwm.c \
+ $(CHIBIOS)/os/hal/src/hal_qei.c \
$(CHIBIOS)/os/hal/src/hal_rtc.c \
$(CHIBIOS)/os/hal/src/hal_sdc.c \
$(CHIBIOS)/os/hal/src/hal_serial.c \
diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
--- a/os/hal/include/hal.h
+++ b/os/hal/include/hal.h
@@ -74,6 +74,10 @@
#define HAL_USE_PWM FALSE
#endif
+#if !defined(HAL_USE_QEI)
+#define HAL_USE_QEI FALSE
+#endif
+
#if !defined(HAL_USE_RTC)
#define HAL_USE_RTC FALSE
#endif
@@ -142,6 +146,7 @@
#include "hal_icu.h"
#include "hal_mac.h"
#include "hal_pwm.h"
+#include "hal_qei.h"
#include "hal_rtc.h"
#include "hal_serial.h"
#include "hal_sdc.h"
diff --git a/os/hal/include/hal_qei.h b/os/hal/include/hal_qei.h
new file mode 100644
--- /dev/null
+++ b/os/hal/include/hal_qei.h
@@ -0,0 +1,148 @@
+/*
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2019 Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see .
+*/
+
+/**
+ * @file hal_qei.h
+ * @brief QEI Driver macros and structures.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#ifndef HAL_QEI_H
+#define HAL_QEI_H
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ QEI_UNINIT = 0, /**< Not initialized. */
+ QEI_STOP = 1, /**< Stopped. */
+ QEI_READY = 2, /**< Ready. */
+ QEI_ACTIVE = 4, /**< Active. */
+} qeistate_t;
+
+/**
+ * @brief Type of a structure representing an QEI driver.
+ */
+typedef struct QEIDriver QEIDriver;
+
+#include "hal_qei_lld.h"
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name Macro Functions
+ * @{
+ */
+/**
+ * @brief Enables the quadrature encoder.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @iclass
+ */
+#define qeiEnableI(qeip) qei_lld_enable(qeip)
+
+/**
+ * @brief Disables the quadrature encoder.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @iclass
+ */
+#define qeiDisableI(qeip) qei_lld_disable(qeip)
+
+/**
+ * @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 qeiGetDirectionI(qeip) qei_lld_get_direction(qeip)
+
+/**
+ * @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 qeiGetPositionI(qeip) qei_lld_get_position(qeip)
+
+/**
+ * @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 qeiGetRangeI(qeip) qei_lld_get_range(qeip)
+/** @} */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void qeiInit(void);
+ void qeiObjectInit(QEIDriver *qeip);
+ void qeiStart(QEIDriver *qeip, const QEIConfig *config);
+ void qeiStop(QEIDriver *qeip);
+ void qeiEnable(QEIDriver *qeip);
+ void qeiDisable(QEIDriver *qeip);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_QEI == TRUE */
+
+#endif /* HAL_QEI_H */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/TIMv1/driver.mk b/os/hal/ports/STM32/LLD/TIMv1/driver.mk
--- a/os/hal/ports/STM32/LLD/TIMv1/driver.mk
+++ b/os/hal/ports/STM32/LLD/TIMv1/driver.mk
@@ -10,10 +10,14 @@ endif
ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),)
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c
endif
+ifneq ($(findstring HAL_USE_QEI TRUE,$(HALCONF)),)
+PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
+endif
else
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_gpt_lld.c
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_icu_lld.c
PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_pwm_lld.c
+PLATFORMSRC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
endif
PLATFORMINC += $(CHIBIOS)/os/hal/ports/STM32/LLD/TIMv1
diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
new file mode 100644
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
@@ -0,0 +1,304 @@
+/*
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2019 Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see .
+*/
+
+/**
+ * @file STM32/hal_qei_lld.c
+ * @brief STM32 QEI subsystem low level driver.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#include "hal.h"
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief QEID1 driver identifier.
+ * @note The driver QEID1 allocates the complex timer TIM1 when enabled.
+ */
+#if STM32_QEI_USE_TIM1 || defined(__DOXYGEN__)
+QEIDriver QEID1;
+#endif
+
+/**
+ * @brief QEID2 driver identifier.
+ * @note The driver QEID1 allocates the timer TIM2 when enabled.
+ */
+#if STM32_QEI_USE_TIM2 || defined(__DOXYGEN__)
+QEIDriver QEID2;
+#endif
+
+/**
+ * @brief QEID3 driver identifier.
+ * @note The driver QEID1 allocates the timer TIM3 when enabled.
+ */
+#if STM32_QEI_USE_TIM3 || defined(__DOXYGEN__)
+QEIDriver QEID3;
+#endif
+
+/**
+ * @brief QEID4 driver identifier.
+ * @note The driver QEID4 allocates the timer TIM4 when enabled.
+ */
+#if STM32_QEI_USE_TIM4 || defined(__DOXYGEN__)
+QEIDriver QEID4;
+#endif
+
+/**
+ * @brief QEID5 driver identifier.
+ * @note The driver QEID5 allocates the timer TIM5 when enabled.
+ */
+#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)
+QEIDriver QEID5;
+#endif
+
+/**
+ * @brief QEID8 driver identifier.
+ * @note The driver QEID8 allocates the timer TIM8 when enabled.
+ */
+#if STM32_QEI_USE_TIM8 || defined(__DOXYGEN__)
+QEIDriver QEID8;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level QEI driver initialization.
+ *
+ * @notapi
+ */
+void qei_lld_init(void) {
+
+#if STM32_QEI_USE_TIM1
+ /* Driver initialization.*/
+ qeiObjectInit(&QEID1);
+ QEID1.tim = STM32_TIM1;
+#endif
+
+#if STM32_QEI_USE_TIM2
+ /* Driver initialization.*/
+ qeiObjectInit(&QEID2);
+ QEID2.tim = STM32_TIM2;
+#endif
+
+#if STM32_QEI_USE_TIM3
+ /* Driver initialization.*/
+ qeiObjectInit(&QEID3);
+ QEID3.tim = STM32_TIM3;
+#endif
+
+#if STM32_QEI_USE_TIM4
+ /* Driver initialization.*/
+ qeiObjectInit(&QEID4);
+ QEID4.tim = STM32_TIM4;
+#endif
+
+#if STM32_QEI_USE_TIM5
+ /* Driver initialization.*/
+ qeiObjectInit(&QEID5);
+ QEID5.tim = STM32_TIM5;
+#endif
+
+#if STM32_QEI_USE_TIM8
+ /* Driver initialization.*/
+ qeiObjectInit(&QEID8);
+ QEID8.tim = STM32_TIM8;
+#endif
+}
+
+/**
+ * @brief Configures and activates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_start(QEIDriver *qeip) {
+ uint32_t arr, ccer;
+
+ if (qeip->state == QEI_STOP) {
+ /* Clock activation and timer reset.*/
+#if STM32_QEI_USE_TIM1
+ if (&QEID1 == qeip) {
+ rccEnableTIM1();
+ rccResetTIM1();
+ }
+#endif
+#if STM32_QEI_USE_TIM2
+ if (&QEID2 == qeip) {
+ rccEnableTIM2();
+ rccResetTIM2();
+ }
+#endif
+#if STM32_QEI_USE_TIM3
+ if (&QEID3 == qeip) {
+ rccEnableTIM3();
+ rccResetTIM3();
+ }
+#endif
+#if STM32_QEI_USE_TIM4
+ if (&QEID4 == qeip) {
+ rccEnableTIM4();
+ rccResetTIM4();
+ }
+#endif
+
+#if STM32_QEI_USE_TIM5
+ if (&QEID5 == qeip) {
+ rccEnableTIM5();
+ rccResetTIM5();
+ }
+#endif
+#if STM32_QEI_USE_TIM8
+ if (&QEID8 == qeip) {
+ rccEnableTIM8();
+ rccResetTIM8();
+ }
+#endif
+ }
+ else {
+ /* Driver re-configuration scenario, it must be stopped first.*/
+ qeip->tim->CR1 = 0; /* Timer disabled. */
+ qeip->tim->DIER = 0; /* All IRQs disabled. */
+ qeip->tim->SR = 0; /* Clear eventual pending IRQs. */
+ qeip->tim->CCR[0] = 0; /* Comparator 1 disabled. */
+ qeip->tim->CCR[1] = 0; /* Comparator 2 disabled. */
+ qeip->tim->CNT = 0; /* Counter reset to zero. */
+ }
+
+ /* Timer configuration.*/
+ qeip->tim->PSC = 0;
+ arr = qeip->config->range - 1;
+ osalDbgAssert((arr <= 0xFFFF), "invalid range");
+ qeip->tim->ARR = arr & 0xFFFF;
+
+ /* CCMR1_CC1S = 01 - CH1 Input on TI1.
+ CCMR1_CC2S = 01 - CH2 Input on TI2.*/
+ qeip->tim->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
+
+ ccer = 0;
+ if (qeip->config->channels[0].mode == QEI_INPUT_INVERTED)
+ ccer |= TIM_CCER_CC1P;
+ if (qeip->config->channels[1].mode == QEI_INPUT_INVERTED)
+ ccer |= TIM_CCER_CC2P;
+ qeip->tim->CCER = ccer;
+
+ if (qeip->config->mode == QEI_COUNT_CH1)
+ qeip->tim->SMCR = TIM_SMCR_SMS_1;
+ else if (qeip->config->mode == QEI_COUNT_CH2)
+ qeip->tim->SMCR = TIM_SMCR_SMS_0;
+ else
+ qeip->tim->SMCR = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1;
+}
+
+/**
+ * @brief Deactivates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_stop(QEIDriver *qeip) {
+
+ if (qeip->state == QEI_READY) {
+ /* Clock deactivation.*/
+ qeip->tim->CR1 = 0; /* Timer disabled. */
+
+#if STM32_QEI_USE_TIM1
+ if (&QEID1 == qeip) {
+ rccDisableTIM1();
+ }
+#endif
+#if STM32_QEI_USE_TIM2
+ if (&QEID2 == qeip) {
+ rccDisableTIM2();
+ }
+#endif
+#if STM32_QEI_USE_TIM3
+ if (&QEID3 == qeip) {
+ rccDisableTIM3();
+ }
+#endif
+#if STM32_QEI_USE_TIM4
+ if (&QEID4 == qeip) {
+ rccDisableTIM4();
+ }
+#endif
+#if STM32_QEI_USE_TIM5
+ if (&QEID5 == qeip) {
+ rccDisableTIM5();
+ }
+#endif
+ }
+#if STM32_QEI_USE_TIM8
+ if (&QEID8 == qeip) {
+ rccDisableTIM8();
+ }
+#endif
+}
+
+/**
+ * @brief Enables the quadrature encoder.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_enable(QEIDriver *qeip) {
+
+ qeip->tim->CR1 = TIM_CR1_CEN;
+}
+
+/**
+ * @brief Disables the quadrature encoder.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @notapi
+ */
+void qei_lld_disable(QEIDriver *qeip) {
+
+ qeip->tim->CR1 = 0;
+}
+
+#endif /* HAL_USE_QEI */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
new file mode 100644
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
@@ -0,0 +1,302 @@
+/*
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2019 Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see .
+*/
+
+/**
+ * @file STM32/hal_qei_lld.h
+ * @brief STM32 QEI subsystem low level driver header.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#ifndef HAL_QEI_LLD_H
+#define HAL_QEI_LLD_H
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+#include "stm32_tim.h"
+
+/*===========================================================================*/
+/* 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 FALSE
+#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 FALSE
+#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 FALSE
+#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 FALSE
+#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 FALSE
+#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 FALSE
+#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 /* HAL_QEI_LLD_H */
+
+/** @} */
diff --git a/os/hal/src/hal_qei.c b/os/hal/src/hal_qei.c
new file mode 100644
--- /dev/null
+++ b/os/hal/src/hal_qei.c
@@ -0,0 +1,152 @@
+/*
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2019 Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see .
+*/
+
+/**
+ * @file hal_qei.c
+ * @brief QEI Driver code.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#include "hal.h"
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief QEI Driver initialization.
+ * @note This function is implicitly invoked by @p halInit(), there is
+ * no need to explicitly initialize the driver.
+ *
+ * @init
+ */
+void qeiInit(void) {
+
+ qei_lld_init();
+}
+
+/**
+ * @brief Initializes the standard part of a @p QEIDriver structure.
+ *
+ * @param[out] qeip pointer to the @p QEIDriver object
+ *
+ * @init
+ */
+void qeiObjectInit(QEIDriver *qeip) {
+
+ qeip->state = QEI_STOP;
+ qeip->config = NULL;
+}
+
+/**
+ * @brief Configures and activates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @param[in] config pointer to the @p QEIConfig object
+ *
+ * @api
+ */
+void qeiStart(QEIDriver *qeip, const QEIConfig *config) {
+
+ osalDbgCheck((qeip != NULL) && (config != NULL));
+
+ osalSysLock();
+ osalDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), "invalid state");
+ qeip->config = config;
+ qei_lld_start(qeip);
+ qeip->state = QEI_READY;
+ osalSysUnlock();
+}
+
+/**
+ * @brief Deactivates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @api
+ */
+void qeiStop(QEIDriver *qeip) {
+
+ osalDbgCheck(qeip != NULL);
+
+ osalSysLock();
+ osalDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), "invalid state");
+ qei_lld_stop(qeip);
+ qeip->state = QEI_STOP;
+ osalSysUnlock();
+}
+
+/**
+ * @brief Enables the quadrature encoder.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @api
+ */
+void qeiEnable(QEIDriver *qeip) {
+
+ osalDbgCheck(qeip != NULL);
+
+ osalSysLock();
+ osalDbgAssert(qeip->state == QEI_READY, "invalid state");
+ qei_lld_enable(qeip);
+ qeip->state = QEI_ACTIVE;
+ osalSysUnlock();
+}
+
+/**
+ * @brief Disables the quadrature encoder.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @api
+ */
+void qeiDisable(QEIDriver *qeip) {
+
+ osalDbgCheck(qeip != NULL);
+
+ osalSysLock();
+ osalDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE), "invalid state");
+ qei_lld_disable(qeip);
+ qeip->state = QEI_READY;
+ osalSysUnlock();
+}
+
+#endif /* HAL_USE_QEI == TRUE */
+
+/** @} */