amiro-os / kernel / patches / QEI-driver.patch @ a4a18efc
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| 1 |
diff --git a/os/hal/hal.mk b/os/hal/hal.mk
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|---|---|
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index f177a3f..64d96d9 100644
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--- a/os/hal/hal.mk
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+++ b/os/hal/hal.mk
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@@ -41,6 +41,9 @@ endif
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| 6 |
ifneq ($(findstring HAL_USE_ICU TRUE,$(HALCONF)),) |
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HALSRC += $(CHIBIOS)/os/hal/src/hal_icu.c |
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endif |
| 9 |
+ifneq ($(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_MAC TRUE,$(HALCONF)),) |
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HALSRC += $(CHIBIOS)/os/hal/src/hal_mac.c |
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endif |
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@@ -94,6 +97,7 @@ HALSRC = $(CHIBIOS)/os/hal/src/hal.c \
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$(CHIBIOS)/os/hal/src/hal_i2c.c \ |
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$(CHIBIOS)/os/hal/src/hal_i2s.c \ |
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$(CHIBIOS)/os/hal/src/hal_icu.c \ |
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+ $(CHIBIOS)/os/hal/src/hal_qei.c \
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$(CHIBIOS)/os/hal/src/hal_mac.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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diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
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index 79f7c42..8cf221f 100644
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--- a/os/hal/include/hal.h
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+++ b/os/hal/include/hal.h
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@@ -78,6 +78,10 @@
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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_QSPI)
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#define HAL_USE_QSPI FALSE
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#endif
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@@ -138,6 +142,7 @@
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#include "hal_icu.h" |
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#include "hal_mac.h" |
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#include "hal_pwm.h" |
| 42 |
+#include "hal_qei.h"
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| 43 |
#include "hal_qspi.h" |
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#include "hal_rtc.h" |
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#include "hal_serial.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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index 0000000..8769729
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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..2018 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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| 57 |
+it under the terms of the GNU General Public License as published by
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| 58 |
+the Free Software Foundation, either version 3 of the License, or
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| 59 |
+(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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| 70 |
+/**
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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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| 85 |
+/*===========================================================================*/
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| 86 |
+
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| 87 |
+/*===========================================================================*/
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| 88 |
+/* Driver pre-compile time settings. */
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+/*===========================================================================*/
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| 90 |
+
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| 91 |
+/*===========================================================================*/
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+/* Derived constants and error checks. */
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| 93 |
+/*===========================================================================*/
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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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| 98 |
+
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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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| 123 |
+ */
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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 */
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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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index 032d75a..13e3571 100644
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| 202 |
--- 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 |
| 217 |
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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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| 220 |
new file mode 100644
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index 0000000..cd1ab9b
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| 222 |
--- /dev/null
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| 223 |
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c
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| 224 |
@@ -0,0 +1,304 @@
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| 225 |
+/*
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| 226 |
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 227 |
+Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 228 |
+
|
| 229 |
+This program is free software: you can redistribute it and/or modify
|
| 230 |
+it under the terms of the GNU General Public License as published by
|
| 231 |
+the Free Software Foundation, either version 3 of the License, or
|
| 232 |
+(at your option) any later version.
|
| 233 |
+
|
| 234 |
+This program is distributed in the hope that it will be useful,
|
| 235 |
+but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 236 |
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 237 |
+GNU General Public License for more details.
|
| 238 |
+
|
| 239 |
+You should have received a copy of the GNU General Public License
|
| 240 |
+along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 241 |
+*/
|
| 242 |
+
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| 243 |
+/**
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| 244 |
+ * @file STM32/hal_qei_lld.c
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| 245 |
+ * @brief STM32 QEI subsystem low level driver.
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| 246 |
+ *
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| 247 |
+ * @addtogroup QEI
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| 248 |
+ * @{
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| 249 |
+ */
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| 250 |
+
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+#include "hal.h"
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| 252 |
+
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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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| 257 |
+/*===========================================================================*/
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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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| 279 |
+/**
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| 280 |
+ * @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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| 287 |
+/**
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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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| 295 |
+/**
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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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| 298 |
+ */
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| 299 |
+#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)
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+QEIDriver QEID5;
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| 301 |
+#endif
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+
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| 303 |
+/**
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+ * @brief QEID8 driver identifier.
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+ * @note The driver QEID8 allocates the timer TIM8 when enabled.
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| 306 |
+ */
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+#if STM32_QEI_USE_TIM8 || defined(__DOXYGEN__)
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+QEIDriver QEID8;
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+#endif
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+
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+/*===========================================================================*/
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| 312 |
+/* Driver local variables and types. */
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| 313 |
+/*===========================================================================*/
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| 314 |
+
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+/*===========================================================================*/
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| 316 |
+/* Driver local functions. */
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| 317 |
+/*===========================================================================*/
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+
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+/*===========================================================================*/
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| 320 |
+/* Driver interrupt handlers. */
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| 321 |
+/*===========================================================================*/
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| 322 |
+
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+/*===========================================================================*/
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| 324 |
+/* Driver exported functions. */
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| 325 |
+/*===========================================================================*/
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+
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| 327 |
+/**
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| 328 |
+ * @brief Low level QEI driver initialization.
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| 329 |
+ *
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| 330 |
+ * @notapi
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| 331 |
+ */
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| 332 |
+void qei_lld_init(void) {
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| 333 |
+
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| 334 |
+#if STM32_QEI_USE_TIM1
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+ /* Driver initialization.*/
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| 336 |
+ qeiObjectInit(&QEID1);
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| 337 |
+ QEID1.tim = STM32_TIM1;
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| 338 |
+#endif
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| 339 |
+
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| 340 |
+#if STM32_QEI_USE_TIM2
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| 341 |
+ /* Driver initialization.*/
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| 342 |
+ qeiObjectInit(&QEID2);
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| 343 |
+ QEID2.tim = STM32_TIM2;
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| 344 |
+#endif
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| 345 |
+
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| 346 |
+#if STM32_QEI_USE_TIM3
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| 347 |
+ /* Driver initialization.*/
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| 348 |
+ qeiObjectInit(&QEID3);
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| 349 |
+ QEID3.tim = STM32_TIM3;
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| 350 |
+#endif
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| 351 |
+
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| 352 |
+#if STM32_QEI_USE_TIM4
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| 353 |
+ /* Driver initialization.*/
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| 354 |
+ qeiObjectInit(&QEID4);
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+ QEID4.tim = STM32_TIM4;
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| 356 |
+#endif
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| 357 |
+
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| 358 |
+#if STM32_QEI_USE_TIM5
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| 359 |
+ /* Driver initialization.*/
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| 360 |
+ qeiObjectInit(&QEID5);
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| 361 |
+ QEID5.tim = STM32_TIM5;
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| 362 |
+#endif
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| 363 |
+
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| 364 |
+#if STM32_QEI_USE_TIM8
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| 365 |
+ /* Driver initialization.*/
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| 366 |
+ qeiObjectInit(&QEID8);
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| 367 |
+ QEID8.tim = STM32_TIM8;
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| 368 |
+#endif
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| 369 |
+}
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| 370 |
+
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| 371 |
+/**
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| 372 |
+ * @brief Configures and activates the QEI peripheral.
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| 373 |
+ *
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| 374 |
+ * @param[in] qeip pointer to the @p QEIDriver object
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| 375 |
+ *
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| 376 |
+ * @notapi
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| 377 |
+ */
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| 378 |
+void qei_lld_start(QEIDriver *qeip) {
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| 379 |
+ uint32_t arr, ccer;
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| 380 |
+
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| 381 |
+ if (qeip->state == QEI_STOP) {
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| 382 |
+ /* Clock activation and timer reset.*/
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| 383 |
+#if STM32_QEI_USE_TIM1
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| 384 |
+ if (&QEID1 == qeip) {
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| 385 |
+ rccEnableTIM1();
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| 386 |
+ rccResetTIM1();
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| 387 |
+ }
|
| 388 |
+#endif
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| 389 |
+#if STM32_QEI_USE_TIM2
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| 390 |
+ if (&QEID2 == qeip) {
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| 391 |
+ rccEnableTIM2();
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| 392 |
+ rccResetTIM2();
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| 393 |
+ }
|
| 394 |
+#endif
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| 395 |
+#if STM32_QEI_USE_TIM3
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| 396 |
+ if (&QEID3 == qeip) {
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| 397 |
+ rccEnableTIM3();
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| 398 |
+ rccResetTIM3();
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| 399 |
+ }
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| 400 |
+#endif
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| 401 |
+#if STM32_QEI_USE_TIM4
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| 402 |
+ if (&QEID4 == qeip) {
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| 403 |
+ rccEnableTIM4();
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| 404 |
+ rccResetTIM4();
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| 405 |
+ }
|
| 406 |
+#endif
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| 407 |
+
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| 408 |
+#if STM32_QEI_USE_TIM5
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| 409 |
+ if (&QEID5 == qeip) {
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| 410 |
+ rccEnableTIM5();
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| 411 |
+ rccResetTIM5();
|
| 412 |
+ }
|
| 413 |
+#endif
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| 414 |
+#if STM32_QEI_USE_TIM8
|
| 415 |
+ if (&QEID8 == qeip) {
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| 416 |
+ rccEnableTIM8();
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| 417 |
+ rccResetTIM8();
|
| 418 |
+ }
|
| 419 |
+#endif
|
| 420 |
+ }
|
| 421 |
+ else {
|
| 422 |
+ /* Driver re-configuration scenario, it must be stopped first.*/
|
| 423 |
+ qeip->tim->CR1 = 0; /* Timer disabled. */
|
| 424 |
+ qeip->tim->DIER = 0; /* All IRQs disabled. */
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| 425 |
+ qeip->tim->SR = 0; /* Clear eventual pending IRQs. */
|
| 426 |
+ qeip->tim->CCR[0] = 0; /* Comparator 1 disabled. */
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| 427 |
+ qeip->tim->CCR[1] = 0; /* Comparator 2 disabled. */
|
| 428 |
+ qeip->tim->CNT = 0; /* Counter reset to zero. */
|
| 429 |
+ }
|
| 430 |
+
|
| 431 |
+ /* Timer configuration.*/
|
| 432 |
+ qeip->tim->PSC = 0;
|
| 433 |
+ arr = qeip->config->range - 1;
|
| 434 |
+ osalDbgAssert((arr <= 0xFFFF), "invalid range");
|
| 435 |
+ qeip->tim->ARR = arr & 0xFFFF;
|
| 436 |
+
|
| 437 |
+ /* CCMR1_CC1S = 01 - CH1 Input on TI1.
|
| 438 |
+ CCMR1_CC2S = 01 - CH2 Input on TI2.*/
|
| 439 |
+ qeip->tim->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
|
| 440 |
+
|
| 441 |
+ ccer = 0;
|
| 442 |
+ if (qeip->config->channels[0].mode == QEI_INPUT_INVERTED)
|
| 443 |
+ ccer |= TIM_CCER_CC1P;
|
| 444 |
+ if (qeip->config->channels[1].mode == QEI_INPUT_INVERTED)
|
| 445 |
+ ccer |= TIM_CCER_CC2P;
|
| 446 |
+ qeip->tim->CCER = ccer;
|
| 447 |
+
|
| 448 |
+ if (qeip->config->mode == QEI_COUNT_CH1)
|
| 449 |
+ qeip->tim->SMCR = TIM_SMCR_SMS_1;
|
| 450 |
+ else if (qeip->config->mode == QEI_COUNT_CH2)
|
| 451 |
+ qeip->tim->SMCR = TIM_SMCR_SMS_0;
|
| 452 |
+ else
|
| 453 |
+ qeip->tim->SMCR = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1;
|
| 454 |
+}
|
| 455 |
+
|
| 456 |
+/**
|
| 457 |
+ * @brief Deactivates the QEI peripheral.
|
| 458 |
+ *
|
| 459 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 460 |
+ *
|
| 461 |
+ * @notapi
|
| 462 |
+ */
|
| 463 |
+void qei_lld_stop(QEIDriver *qeip) {
|
| 464 |
+
|
| 465 |
+ if (qeip->state == QEI_READY) {
|
| 466 |
+ /* Clock deactivation.*/
|
| 467 |
+ qeip->tim->CR1 = 0; /* Timer disabled. */
|
| 468 |
+
|
| 469 |
+#if STM32_QEI_USE_TIM1
|
| 470 |
+ if (&QEID1 == qeip) {
|
| 471 |
+ rccDisableTIM1();
|
| 472 |
+ }
|
| 473 |
+#endif
|
| 474 |
+#if STM32_QEI_USE_TIM2
|
| 475 |
+ if (&QEID2 == qeip) {
|
| 476 |
+ rccDisableTIM2();
|
| 477 |
+ }
|
| 478 |
+#endif
|
| 479 |
+#if STM32_QEI_USE_TIM3
|
| 480 |
+ if (&QEID3 == qeip) {
|
| 481 |
+ rccDisableTIM3();
|
| 482 |
+ }
|
| 483 |
+#endif
|
| 484 |
+#if STM32_QEI_USE_TIM4
|
| 485 |
+ if (&QEID4 == qeip) {
|
| 486 |
+ rccDisableTIM4();
|
| 487 |
+ }
|
| 488 |
+#endif
|
| 489 |
+#if STM32_QEI_USE_TIM5
|
| 490 |
+ if (&QEID5 == qeip) {
|
| 491 |
+ rccDisableTIM5();
|
| 492 |
+ }
|
| 493 |
+#endif
|
| 494 |
+ }
|
| 495 |
+#if STM32_QEI_USE_TIM8
|
| 496 |
+ if (&QEID8 == qeip) {
|
| 497 |
+ rccDisableTIM8();
|
| 498 |
+ }
|
| 499 |
+#endif
|
| 500 |
+}
|
| 501 |
+
|
| 502 |
+/**
|
| 503 |
+ * @brief Enables the quadrature encoder.
|
| 504 |
+ *
|
| 505 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 506 |
+ *
|
| 507 |
+ * @notapi
|
| 508 |
+ */
|
| 509 |
+void qei_lld_enable(QEIDriver *qeip) {
|
| 510 |
+
|
| 511 |
+ qeip->tim->CR1 = TIM_CR1_CEN;
|
| 512 |
+}
|
| 513 |
+
|
| 514 |
+/**
|
| 515 |
+ * @brief Disables the quadrature encoder.
|
| 516 |
+ *
|
| 517 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 518 |
+ *
|
| 519 |
+ * @notapi
|
| 520 |
+ */
|
| 521 |
+void qei_lld_disable(QEIDriver *qeip) {
|
| 522 |
+
|
| 523 |
+ qeip->tim->CR1 = 0;
|
| 524 |
+}
|
| 525 |
+
|
| 526 |
+#endif /* HAL_USE_QEI */
|
| 527 |
+
|
| 528 |
+/** @} */
|
| 529 |
diff --git a/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
|
| 530 |
new file mode 100644
|
| 531 |
index 0000000..ec1cd42
|
| 532 |
--- /dev/null
|
| 533 |
+++ b/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.h
|
| 534 |
@@ -0,0 +1,302 @@
|
| 535 |
+/*
|
| 536 |
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 537 |
+Copyright (C) 2016..2018 Thomas Schöpping et al.
|
| 538 |
+
|
| 539 |
+This program is free software: you can redistribute it and/or modify
|
| 540 |
+it under the terms of the GNU General Public License as published by
|
| 541 |
+the Free Software Foundation, either version 3 of the License, or
|
| 542 |
+(at your option) any later version.
|
| 543 |
+
|
| 544 |
+This program is distributed in the hope that it will be useful,
|
| 545 |
+but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 546 |
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 547 |
+GNU General Public License for more details.
|
| 548 |
+
|
| 549 |
+You should have received a copy of the GNU General Public License
|
| 550 |
+along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 551 |
+*/
|
| 552 |
+
|
| 553 |
+/**
|
| 554 |
+ * @file STM32/hal_qei_lld.h
|
| 555 |
+ * @brief STM32 QEI subsystem low level driver header.
|
| 556 |
+ *
|
| 557 |
+ * @addtogroup QEI
|
| 558 |
+ * @{
|
| 559 |
+ */
|
| 560 |
+
|
| 561 |
+#ifndef HAL_QEI_LLD_H
|
| 562 |
+#define HAL_QEI_LLD_H
|
| 563 |
+
|
| 564 |
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
|
| 565 |
+
|
| 566 |
+#include "stm32_tim.h"
|
| 567 |
+
|
| 568 |
+/*===========================================================================*/
|
| 569 |
+/* Driver constants. */
|
| 570 |
+/*===========================================================================*/
|
| 571 |
+
|
| 572 |
+/**
|
| 573 |
+ * @brief Number of input channels per QEI driver.
|
| 574 |
+ */
|
| 575 |
+#define QEI_CHANNELS 2
|
| 576 |
+
|
| 577 |
+/*===========================================================================*/
|
| 578 |
+/* Driver pre-compile time settings. */
|
| 579 |
+/*===========================================================================*/
|
| 580 |
+
|
| 581 |
+/**
|
| 582 |
+ * @name Configuration options
|
| 583 |
+ * @{
|
| 584 |
+ */
|
| 585 |
+/**
|
| 586 |
+ * @brief QEID1 driver enable switch.
|
| 587 |
+ * @details If set to @p TRUE the support for QEID1 is included.
|
| 588 |
+ * @note The default is @p TRUE.
|
| 589 |
+ */
|
| 590 |
+#if !defined(STM32_QEI_USE_TIM1) || defined(__DOXYGEN__)
|
| 591 |
+#define STM32_QEI_USE_TIM1 FALSE
|
| 592 |
+#endif
|
| 593 |
+
|
| 594 |
+/**
|
| 595 |
+ * @brief QEID2 driver enable switch.
|
| 596 |
+ * @details If set to @p TRUE the support for QEID2 is included.
|
| 597 |
+ * @note The default is @p TRUE.
|
| 598 |
+ */
|
| 599 |
+#if !defined(STM32_QEI_USE_TIM2) || defined(__DOXYGEN__)
|
| 600 |
+#define STM32_QEI_USE_TIM2 FALSE
|
| 601 |
+#endif
|
| 602 |
+
|
| 603 |
+/**
|
| 604 |
+ * @brief QEID3 driver enable switch.
|
| 605 |
+ * @details If set to @p TRUE the support for QEID3 is included.
|
| 606 |
+ * @note The default is @p TRUE.
|
| 607 |
+ */
|
| 608 |
+#if !defined(STM32_QEI_USE_TIM3) || defined(__DOXYGEN__)
|
| 609 |
+#define STM32_QEI_USE_TIM3 FALSE
|
| 610 |
+#endif
|
| 611 |
+
|
| 612 |
+/**
|
| 613 |
+ * @brief QEID4 driver enable switch.
|
| 614 |
+ * @details If set to @p TRUE the support for QEID4 is included.
|
| 615 |
+ * @note The default is @p TRUE.
|
| 616 |
+ */
|
| 617 |
+#if !defined(STM32_QEI_USE_TIM4) || defined(__DOXYGEN__)
|
| 618 |
+#define STM32_QEI_USE_TIM4 FALSE
|
| 619 |
+#endif
|
| 620 |
+
|
| 621 |
+/**
|
| 622 |
+ * @brief QEID5 driver enable switch.
|
| 623 |
+ * @details If set to @p TRUE the support for QEID5 is included.
|
| 624 |
+ * @note The default is @p TRUE.
|
| 625 |
+ */
|
| 626 |
+#if !defined(STM32_QEI_USE_TIM5) || defined(__DOXYGEN__)
|
| 627 |
+#define STM32_QEI_USE_TIM5 FALSE
|
| 628 |
+#endif
|
| 629 |
+
|
| 630 |
+/**
|
| 631 |
+ * @brief QEID8 driver enable switch.
|
| 632 |
+ * @details If set to @p TRUE the support for QEID8 is included.
|
| 633 |
+ * @note The default is @p TRUE.
|
| 634 |
+ */
|
| 635 |
+#if !defined(STM32_QEI_USE_TIM8) || defined(__DOXYGEN__)
|
| 636 |
+#define STM32_QEI_USE_TIM8 FALSE
|
| 637 |
+#endif
|
| 638 |
+/** @} */
|
| 639 |
+
|
| 640 |
+/*===========================================================================*/
|
| 641 |
+/* Derived constants and error checks. */
|
| 642 |
+/*===========================================================================*/
|
| 643 |
+
|
| 644 |
+#if STM32_QEI_USE_TIM1 && !STM32_HAS_TIM1
|
| 645 |
+#error "TIM1 not present in the selected device"
|
| 646 |
+#endif
|
| 647 |
+
|
| 648 |
+#if STM32_QEI_USE_TIM2 && !STM32_HAS_TIM2
|
| 649 |
+#error "TIM2 not present in the selected device"
|
| 650 |
+#endif
|
| 651 |
+
|
| 652 |
+#if STM32_QEI_USE_TIM3 && !STM32_HAS_TIM3
|
| 653 |
+#error "TIM3 not present in the selected device"
|
| 654 |
+#endif
|
| 655 |
+
|
| 656 |
+#if STM32_QEI_USE_TIM4 && !STM32_HAS_TIM4
|
| 657 |
+#error "TIM4 not present in the selected device"
|
| 658 |
+#endif
|
| 659 |
+
|
| 660 |
+#if STM32_QEI_USE_TIM5 && !STM32_HAS_TIM5
|
| 661 |
+#error "TIM5 not present in the selected device"
|
| 662 |
+#endif
|
| 663 |
+
|
| 664 |
+#if STM32_QEI_USE_TIM8 && !STM32_HAS_TIM8
|
| 665 |
+#error "TIM8 not present in the selected device"
|
| 666 |
+#endif
|
| 667 |
+
|
| 668 |
+#if !STM32_QEI_USE_TIM1 && !STM32_QEI_USE_TIM2 && \
|
| 669 |
+ !STM32_QEI_USE_TIM3 && !STM32_QEI_USE_TIM4 && \
|
| 670 |
+ !STM32_QEI_USE_TIM5 && !STM32_QEI_USE_TIM8
|
| 671 |
+#error "QEI driver activated but no TIM peripheral assigned"
|
| 672 |
+#endif
|
| 673 |
+
|
| 674 |
+/*===========================================================================*/
|
| 675 |
+/* Driver data structures and types. */
|
| 676 |
+/*===========================================================================*/
|
| 677 |
+
|
| 678 |
+/**
|
| 679 |
+ * @brief QEI driver mode.
|
| 680 |
+ */
|
| 681 |
+typedef enum {
|
| 682 |
+ QEI_COUNT_BOTH = 0,
|
| 683 |
+ QEI_COUNT_CH1 = 1,
|
| 684 |
+ QEI_COUNT_CH2 = 2,
|
| 685 |
+} qeimode_t;
|
| 686 |
+
|
| 687 |
+/**
|
| 688 |
+ * @brief QEI input mode.
|
| 689 |
+ */
|
| 690 |
+typedef enum {
|
| 691 |
+ QEI_INPUT_NONINVERTED = 0, /**< Input channel noninverted.*/
|
| 692 |
+ QEI_INPUT_INVERTED = 1, /**< Input channel inverted.*/
|
| 693 |
+} qeiinputmode_t;
|
| 694 |
+
|
| 695 |
+/**
|
| 696 |
+ * @brief QEI count type.
|
| 697 |
+ */
|
| 698 |
+typedef uint32_t qeicnt_t;
|
| 699 |
+
|
| 700 |
+/**
|
| 701 |
+ * @brief Driver channel configuration structure.
|
| 702 |
+ */
|
| 703 |
+typedef struct {
|
| 704 |
+ /**
|
| 705 |
+ * @brief Channel input logic.
|
| 706 |
+ */
|
| 707 |
+ qeiinputmode_t mode;
|
| 708 |
+ /* End of the mandatory fields.*/
|
| 709 |
+} QEIChannelConfig;
|
| 710 |
+
|
| 711 |
+/**
|
| 712 |
+ * @brief Driver configuration structure.
|
| 713 |
+ */
|
| 714 |
+typedef struct {
|
| 715 |
+ /**
|
| 716 |
+ * @brief Driver mode.
|
| 717 |
+ */
|
| 718 |
+ qeimode_t mode;
|
| 719 |
+ /**
|
| 720 |
+ * @brief Channels configurations.
|
| 721 |
+ */
|
| 722 |
+ QEIChannelConfig channels[QEI_CHANNELS];
|
| 723 |
+ /**
|
| 724 |
+ * @brief Range in pulses.
|
| 725 |
+ */
|
| 726 |
+ qeicnt_t range;
|
| 727 |
+ /* End of the mandatory fields.*/
|
| 728 |
+} QEIConfig;
|
| 729 |
+
|
| 730 |
+/**
|
| 731 |
+ * @brief Structure representing an QEI driver.
|
| 732 |
+ */
|
| 733 |
+struct QEIDriver {
|
| 734 |
+ /**
|
| 735 |
+ * @brief Driver state.
|
| 736 |
+ */
|
| 737 |
+ qeistate_t state;
|
| 738 |
+ /**
|
| 739 |
+ * @brief Current configuration data.
|
| 740 |
+ */
|
| 741 |
+ const QEIConfig *config;
|
| 742 |
+#if defined(QEI_DRIVER_EXT_FIELDS)
|
| 743 |
+ QEI_DRIVER_EXT_FIELDS
|
| 744 |
+#endif
|
| 745 |
+ /* End of the mandatory fields.*/
|
| 746 |
+ /**
|
| 747 |
+ * @brief Pointer to the TIMx registers block.
|
| 748 |
+ */
|
| 749 |
+ stm32_tim_t *tim;
|
| 750 |
+};
|
| 751 |
+
|
| 752 |
+/*===========================================================================*/
|
| 753 |
+/* Driver macros. */
|
| 754 |
+/*===========================================================================*/
|
| 755 |
+
|
| 756 |
+/**
|
| 757 |
+ * @brief Returns the direction of the last transition.
|
| 758 |
+ * @details The direction is defined as boolean and is
|
| 759 |
+ * calculated at each transition on any input.
|
| 760 |
+ *
|
| 761 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 762 |
+ * @return The request direction.
|
| 763 |
+ * @retval FALSE Position counted up.
|
| 764 |
+ * @retval TRUE Position counted down.
|
| 765 |
+ *
|
| 766 |
+ * @iclass
|
| 767 |
+ */
|
| 768 |
+#define qei_lld_get_direction(qeip) !!((qeip)->tim->CR1 & TIM_CR1_DIR)
|
| 769 |
+
|
| 770 |
+/**
|
| 771 |
+ * @brief Returns the position of the encoder.
|
| 772 |
+ * @details The position is defined as number of pulses since last reset.
|
| 773 |
+ *
|
| 774 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 775 |
+ * @return The number of pulses.
|
| 776 |
+ *
|
| 777 |
+ * @iclass
|
| 778 |
+ */
|
| 779 |
+#define qei_lld_get_position(qeip) ((qeip)->tim->CNT)
|
| 780 |
+
|
| 781 |
+/**
|
| 782 |
+ * @brief Returns the range of the encoder.
|
| 783 |
+ * @details The range is defined as number of maximum pulse count.
|
| 784 |
+ *
|
| 785 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 786 |
+ * @return The number of pulses.
|
| 787 |
+ *
|
| 788 |
+ * @iclass
|
| 789 |
+ */
|
| 790 |
+#define qei_lld_get_range(qeip) ((qeip)->tim->ARR + 1)
|
| 791 |
+
|
| 792 |
+/*===========================================================================*/
|
| 793 |
+/* External declarations. */
|
| 794 |
+/*===========================================================================*/
|
| 795 |
+
|
| 796 |
+#if STM32_QEI_USE_TIM1 && !defined(__DOXYGEN__)
|
| 797 |
+extern QEIDriver QEID1;
|
| 798 |
+#endif
|
| 799 |
+
|
| 800 |
+#if STM32_QEI_USE_TIM2 && !defined(__DOXYGEN__)
|
| 801 |
+extern QEIDriver QEID2;
|
| 802 |
+#endif
|
| 803 |
+
|
| 804 |
+#if STM32_QEI_USE_TIM3 && !defined(__DOXYGEN__)
|
| 805 |
+extern QEIDriver QEID3;
|
| 806 |
+#endif
|
| 807 |
+
|
| 808 |
+#if STM32_QEI_USE_TIM4 && !defined(__DOXYGEN__)
|
| 809 |
+extern QEIDriver QEID4;
|
| 810 |
+#endif
|
| 811 |
+
|
| 812 |
+#if STM32_QEI_USE_TIM5 && !defined(__DOXYGEN__)
|
| 813 |
+extern QEIDriver QEID5;
|
| 814 |
+#endif
|
| 815 |
+
|
| 816 |
+#if STM32_QEI_USE_TIM8 && !defined(__DOXYGEN__)
|
| 817 |
+extern QEIDriver QEID8;
|
| 818 |
+#endif
|
| 819 |
+
|
| 820 |
+#ifdef __cplusplus
|
| 821 |
+extern "C" {
|
| 822 |
+#endif
|
| 823 |
+ void qei_lld_init(void);
|
| 824 |
+ void qei_lld_start(QEIDriver *qeip);
|
| 825 |
+ void qei_lld_stop(QEIDriver *qeip);
|
| 826 |
+ void qei_lld_enable(QEIDriver *qeip);
|
| 827 |
+ void qei_lld_disable(QEIDriver *qeip);
|
| 828 |
+#ifdef __cplusplus
|
| 829 |
+}
|
| 830 |
+#endif
|
| 831 |
+
|
| 832 |
+#endif /* HAL_USE_QEI */
|
| 833 |
+
|
| 834 |
+#endif /* HAL_QEI_LLD_H */
|
| 835 |
+
|
| 836 |
+/** @} */
|
| 837 |
diff --git a/os/hal/src/hal_qei.c b/os/hal/src/hal_qei.c
|
| 838 |
new file mode 100644
|
| 839 |
index 0000000..00334bb
|
| 840 |
--- /dev/null
|
| 841 |
+++ b/os/hal/src/hal_qei.c
|
| 842 |
@@ -0,0 +1,152 @@
|
| 843 |
+/*
|
| 844 |
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 845 |
+Copyright (C) 2016..2018 Thomas Schöpping et al.
|
| 846 |
+
|
| 847 |
+This program is free software: you can redistribute it and/or modify
|
| 848 |
+it under the terms of the GNU General Public License as published by
|
| 849 |
+the Free Software Foundation, either version 3 of the License, or
|
| 850 |
+(at your option) any later version.
|
| 851 |
+
|
| 852 |
+This program is distributed in the hope that it will be useful,
|
| 853 |
+but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 854 |
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 855 |
+GNU General Public License for more details.
|
| 856 |
+
|
| 857 |
+You should have received a copy of the GNU General Public License
|
| 858 |
+along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 859 |
+*/
|
| 860 |
+
|
| 861 |
+/**
|
| 862 |
+ * @file hal_qei.c
|
| 863 |
+ * @brief QEI Driver code.
|
| 864 |
+ *
|
| 865 |
+ * @addtogroup QEI
|
| 866 |
+ * @{
|
| 867 |
+ */
|
| 868 |
+
|
| 869 |
+#include "hal.h"
|
| 870 |
+
|
| 871 |
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
|
| 872 |
+
|
| 873 |
+/*===========================================================================*/
|
| 874 |
+/* Driver local definitions. */
|
| 875 |
+/*===========================================================================*/
|
| 876 |
+
|
| 877 |
+/*===========================================================================*/
|
| 878 |
+/* Driver exported variables. */
|
| 879 |
+/*===========================================================================*/
|
| 880 |
+
|
| 881 |
+/*===========================================================================*/
|
| 882 |
+/* Driver local variables. */
|
| 883 |
+/*===========================================================================*/
|
| 884 |
+
|
| 885 |
+/*===========================================================================*/
|
| 886 |
+/* Driver local functions. */
|
| 887 |
+/*===========================================================================*/
|
| 888 |
+
|
| 889 |
+/*===========================================================================*/
|
| 890 |
+/* Driver exported functions. */
|
| 891 |
+/*===========================================================================*/
|
| 892 |
+
|
| 893 |
+/**
|
| 894 |
+ * @brief QEI Driver initialization.
|
| 895 |
+ * @note This function is implicitly invoked by @p halInit(), there is
|
| 896 |
+ * no need to explicitly initialize the driver.
|
| 897 |
+ *
|
| 898 |
+ * @init
|
| 899 |
+ */
|
| 900 |
+void qeiInit(void) {
|
| 901 |
+
|
| 902 |
+ qei_lld_init();
|
| 903 |
+}
|
| 904 |
+
|
| 905 |
+/**
|
| 906 |
+ * @brief Initializes the standard part of a @p QEIDriver structure.
|
| 907 |
+ *
|
| 908 |
+ * @param[out] qeip pointer to the @p QEIDriver object
|
| 909 |
+ *
|
| 910 |
+ * @init
|
| 911 |
+ */
|
| 912 |
+void qeiObjectInit(QEIDriver *qeip) {
|
| 913 |
+
|
| 914 |
+ qeip->state = QEI_STOP;
|
| 915 |
+ qeip->config = NULL;
|
| 916 |
+}
|
| 917 |
+
|
| 918 |
+/**
|
| 919 |
+ * @brief Configures and activates the QEI peripheral.
|
| 920 |
+ *
|
| 921 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 922 |
+ * @param[in] config pointer to the @p QEIConfig object
|
| 923 |
+ *
|
| 924 |
+ * @api
|
| 925 |
+ */
|
| 926 |
+void qeiStart(QEIDriver *qeip, const QEIConfig *config) {
|
| 927 |
+
|
| 928 |
+ osalDbgCheck((qeip != NULL) && (config != NULL));
|
| 929 |
+
|
| 930 |
+ osalSysLock();
|
| 931 |
+ osalDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), "invalid state");
|
| 932 |
+ qeip->config = config;
|
| 933 |
+ qei_lld_start(qeip);
|
| 934 |
+ qeip->state = QEI_READY;
|
| 935 |
+ osalSysUnlock();
|
| 936 |
+}
|
| 937 |
+
|
| 938 |
+/**
|
| 939 |
+ * @brief Deactivates the QEI peripheral.
|
| 940 |
+ *
|
| 941 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 942 |
+ *
|
| 943 |
+ * @api
|
| 944 |
+ */
|
| 945 |
+void qeiStop(QEIDriver *qeip) {
|
| 946 |
+
|
| 947 |
+ osalDbgCheck(qeip != NULL);
|
| 948 |
+
|
| 949 |
+ osalSysLock();
|
| 950 |
+ osalDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), "invalid state");
|
| 951 |
+ qei_lld_stop(qeip);
|
| 952 |
+ qeip->state = QEI_STOP;
|
| 953 |
+ osalSysUnlock();
|
| 954 |
+}
|
| 955 |
+
|
| 956 |
+/**
|
| 957 |
+ * @brief Enables the quadrature encoder.
|
| 958 |
+ *
|
| 959 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 960 |
+ *
|
| 961 |
+ * @api
|
| 962 |
+ */
|
| 963 |
+void qeiEnable(QEIDriver *qeip) {
|
| 964 |
+
|
| 965 |
+ osalDbgCheck(qeip != NULL);
|
| 966 |
+
|
| 967 |
+ osalSysLock();
|
| 968 |
+ osalDbgAssert(qeip->state == QEI_READY, "invalid state");
|
| 969 |
+ qei_lld_enable(qeip);
|
| 970 |
+ qeip->state = QEI_ACTIVE;
|
| 971 |
+ osalSysUnlock();
|
| 972 |
+}
|
| 973 |
+
|
| 974 |
+/**
|
| 975 |
+ * @brief Disables the quadrature encoder.
|
| 976 |
+ *
|
| 977 |
+ * @param[in] qeip pointer to the @p QEIDriver object
|
| 978 |
+ *
|
| 979 |
+ * @api
|
| 980 |
+ */
|
| 981 |
+void qeiDisable(QEIDriver *qeip) {
|
| 982 |
+
|
| 983 |
+ osalDbgCheck(qeip != NULL);
|
| 984 |
+
|
| 985 |
+ osalSysLock();
|
| 986 |
+ osalDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE), "invalid state");
|
| 987 |
+ qei_lld_disable(qeip);
|
| 988 |
+ qeip->state = QEI_READY;
|
| 989 |
+ osalSysUnlock();
|
| 990 |
+}
|
| 991 |
+
|
| 992 |
+#endif /* HAL_USE_QEI */
|
| 993 |
+
|
| 994 |
+/** @} */
|