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amiro-os / os / hal / include / hal_qei.h @ e545e620

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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.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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#ifndef _HAL_QEI_H_
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#define _HAL_QEI_H_
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#if HAL_USE_QEI || defined(__DOXYGEN__)
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/*===========================================================================*/
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/* Driver constants.                                                         */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver pre-compile time settings.                                         */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks.                                       */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types.                                         */
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/*===========================================================================*/
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/**
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 * @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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 * @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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#include "hal_qei_lld.h"
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/*===========================================================================*/
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/* Driver macros.                                                            */
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/*===========================================================================*/
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/**
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 * @name    Macro Functions
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 * @{
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 */
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/**
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 * @brief   Enables the quadrature encoder.
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 *
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 * @param[in] qeip      pointer to the @p QEIDriver object
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 *
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 * @iclass
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 */
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#define qeiEnableI(qeip) qei_lld_enable(qeip)
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/**
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 * @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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 * @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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 * @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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 * @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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/* External declarations.                                                    */
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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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#endif /* HAL_USE_QEI */
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#endif /* _HAL_QEI_H_ */
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/** @} */