amiro-os / hal / src / qei.c @ b8085493
History | View | Annotate | Download (3.544 KB)
| 1 | 3f899f5d | Thomas Schöpping | /**
|
|---|---|---|---|
| 2 | * @file qei.c
|
||
| 3 | * @brief QEI Driver code.
|
||
| 4 | *
|
||
| 5 | * @addtogroup QEI
|
||
| 6 | * @{
|
||
| 7 | */
|
||
| 8 | |||
| 9 | 58fe0e0b | Thomas Schöpping | #include "ch.h" |
| 10 | #include "hal.h" |
||
| 11 | #include "qei.h" |
||
| 12 | |||
| 13 | #if HAL_USE_QEI || defined(__DOXYGEN__)
|
||
| 14 | |||
| 15 | /*===========================================================================*/
|
||
| 16 | /* Driver local definitions. */
|
||
| 17 | /*===========================================================================*/
|
||
| 18 | |||
| 19 | /*===========================================================================*/
|
||
| 20 | /* Driver exported variables. */
|
||
| 21 | /*===========================================================================*/
|
||
| 22 | |||
| 23 | /*===========================================================================*/
|
||
| 24 | /* Driver local variables. */
|
||
| 25 | /*===========================================================================*/
|
||
| 26 | |||
| 27 | /*===========================================================================*/
|
||
| 28 | /* Driver local functions. */
|
||
| 29 | /*===========================================================================*/
|
||
| 30 | |||
| 31 | /*===========================================================================*/
|
||
| 32 | /* Driver exported functions. */
|
||
| 33 | /*===========================================================================*/
|
||
| 34 | |||
| 35 | /**
|
||
| 36 | * @brief QEI Driver initialization.
|
||
| 37 | * @note This function is implicitly invoked by @p halInit(), there is
|
||
| 38 | * no need to explicitly initialize the driver.
|
||
| 39 | *
|
||
| 40 | * @init
|
||
| 41 | */
|
||
| 42 | void qeiInit(void) { |
||
| 43 | |||
| 44 | qei_lld_init(); |
||
| 45 | } |
||
| 46 | |||
| 47 | /**
|
||
| 48 | * @brief Initializes the standard part of a @p QEIDriver structure.
|
||
| 49 | *
|
||
| 50 | * @param[out] qeip pointer to the @p QEIDriver object
|
||
| 51 | *
|
||
| 52 | * @init
|
||
| 53 | */
|
||
| 54 | void qeiObjectInit(QEIDriver *qeip) {
|
||
| 55 | |||
| 56 | qeip->state = QEI_STOP; |
||
| 57 | qeip->config = NULL;
|
||
| 58 | } |
||
| 59 | |||
| 60 | /**
|
||
| 61 | * @brief Configures and activates the QEI peripheral.
|
||
| 62 | *
|
||
| 63 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 64 | * @param[in] config pointer to the @p QEIConfig object
|
||
| 65 | *
|
||
| 66 | * @api
|
||
| 67 | */
|
||
| 68 | void qeiStart(QEIDriver *qeip, const QEIConfig *config) { |
||
| 69 | |||
| 70 | chDbgCheck((qeip != NULL) && (config != NULL), "qeiStart"); |
||
| 71 | |||
| 72 | chSysLock(); |
||
| 73 | chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
||
| 74 | "qeiStart(), #1", "invalid state"); |
||
| 75 | qeip->config = config; |
||
| 76 | qei_lld_start(qeip); |
||
| 77 | qeip->state = QEI_READY; |
||
| 78 | chSysUnlock(); |
||
| 79 | } |
||
| 80 | |||
| 81 | /**
|
||
| 82 | * @brief Deactivates the QEI peripheral.
|
||
| 83 | *
|
||
| 84 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 85 | *
|
||
| 86 | * @api
|
||
| 87 | */
|
||
| 88 | void qeiStop(QEIDriver *qeip) {
|
||
| 89 | |||
| 90 | chDbgCheck(qeip != NULL, "qeiStop"); |
||
| 91 | |||
| 92 | chSysLock(); |
||
| 93 | chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY), |
||
| 94 | "qeiStop(), #1", "invalid state"); |
||
| 95 | qei_lld_stop(qeip); |
||
| 96 | qeip->state = QEI_STOP; |
||
| 97 | chSysUnlock(); |
||
| 98 | } |
||
| 99 | |||
| 100 | /**
|
||
| 101 | * @brief Enables the quadrature encoder.
|
||
| 102 | *
|
||
| 103 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 104 | *
|
||
| 105 | * @api
|
||
| 106 | */
|
||
| 107 | void qeiEnable(QEIDriver *qeip) {
|
||
| 108 | |||
| 109 | chDbgCheck(qeip != NULL, "qeiEnable"); |
||
| 110 | |||
| 111 | chSysLock(); |
||
| 112 | chDbgAssert(qeip->state == QEI_READY, "qeiEnable(), #1", "invalid state"); |
||
| 113 | qei_lld_enable(qeip); |
||
| 114 | qeip->state = QEI_ACTIVE; |
||
| 115 | chSysUnlock(); |
||
| 116 | } |
||
| 117 | |||
| 118 | /**
|
||
| 119 | * @brief Disables the quadrature encoder.
|
||
| 120 | *
|
||
| 121 | * @param[in] qeip pointer to the @p QEIDriver object
|
||
| 122 | *
|
||
| 123 | * @api
|
||
| 124 | */
|
||
| 125 | void qeiDisable(QEIDriver *qeip) {
|
||
| 126 | |||
| 127 | chDbgCheck(qeip != NULL, "qeiDisable"); |
||
| 128 | |||
| 129 | chSysLock(); |
||
| 130 | chDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE), |
||
| 131 | "qeiDisable(), #1", "invalid state"); |
||
| 132 | qei_lld_disable(qeip); |
||
| 133 | qeip->state = QEI_READY; |
||
| 134 | chSysUnlock(); |
||
| 135 | } |
||
| 136 | |||
| 137 | #endif /* HAL_USE_QEI */ |
||
| 138 | |||
| 139 | 3f899f5d | Thomas Schöpping | /** @} */ |