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

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+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
 Copyright (C) 2016..2018  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 <http://www.gnu.org/licenses/>.
 */
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+/**
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+ * @file    hal_qei.h
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+ * @brief   QEI Driver macros and structures.
+ *
  * @addtogroup QEI
  * @{
  */
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+#ifndef _HAL_QEI_H_
 #define _HAL_QEI_H_
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+            Thomas Schöpping
 #if HAL_USE_QEI || 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;
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+#include "hal_qei_lld.h"
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+            Thomas Schöpping
 /*===========================================================================*/
 /* 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 */
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+#endif /* _HAL_QEI_H_ */
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+            Thomas Schöpping
 /** @} */