amiro-os / os / hal / src / hal_qei.c @ 76ca5065
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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..2018 Thomas Schöpping et al.
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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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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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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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* @file hal_qei.c
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* @brief QEI Driver code.
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*
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* @addtogroup QEI
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* @{
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*/
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#include "hal.h" |
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#include "hal_qei.h" |
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#if HAL_USE_QEI || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver local definitions. */
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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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/* Driver local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief QEI Driver initialization.
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* @note This function is implicitly invoked by @p halInit(), there is
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* no need to explicitly initialize the driver.
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*
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* @init
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*/
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void qeiInit(void) { |
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qei_lld_init(); |
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} |
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/**
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* @brief Initializes the standard part of a @p QEIDriver structure.
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*
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* @param[out] qeip pointer to the @p QEIDriver object
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*
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* @init
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*/
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void qeiObjectInit(QEIDriver *qeip) {
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qeip->state = QEI_STOP; |
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qeip->config = NULL;
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} |
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/**
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* @brief Configures and activates the QEI peripheral.
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*
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* @param[in] qeip pointer to the @p QEIDriver object
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* @param[in] config pointer to the @p QEIConfig object
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*
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* @api
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*/
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void qeiStart(QEIDriver *qeip, const QEIConfig *config) { |
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chDbgCheck((qeip != NULL) && (config != NULL) /*, "qeiStart"*/); |
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chSysLock(); |
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chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
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"qeiStart(), #1" /*, "invalid state"*/); |
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qeip->config = config; |
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qei_lld_start(qeip); |
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qeip->state = QEI_READY; |
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chSysUnlock(); |
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} |
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/**
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* @brief Deactivates the QEI peripheral.
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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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* @api
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*/
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void qeiStop(QEIDriver *qeip) {
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chDbgCheck(qeip != NULL /*, "qeiStop"*/); |
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chSysLock(); |
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chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
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"qeiStop(), #1" /*, "invalid state"*/); |
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qei_lld_stop(qeip); |
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qeip->state = QEI_STOP; |
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chSysUnlock(); |
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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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* @api
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*/
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void qeiEnable(QEIDriver *qeip) {
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chDbgCheck(qeip != NULL /*, "qeiEnable"*/); |
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chSysLock(); |
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chDbgAssert(qeip->state == QEI_READY, "qeiEnable(), #1" /*, "invalid state"*/); |
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qei_lld_enable(qeip); |
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qeip->state = QEI_ACTIVE; |
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chSysUnlock(); |
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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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* @api
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*/
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void qeiDisable(QEIDriver *qeip) {
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chDbgCheck(qeip != NULL /*, "qeiDisable"*/); |
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chSysLock(); |
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chDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE), |
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"qeiDisable(), #1" /*, "invalid state"*/); |
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qei_lld_disable(qeip); |
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qeip->state = QEI_READY; |
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chSysUnlock(); |
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} |
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#endif /* HAL_USE_QEI */ |
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/** @} */
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