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amiro-os / os / hal / ports / STM32 / LLD / QEIv1 / hal_qei_lld.c @ e545e620

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1 e545e620 Thomas Schöpping
/*
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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    STM32/hal_qei_lld.c
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 * @brief   STM32 QEI subsystem low level driver.
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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 exported variables.                                                */
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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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 * @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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 * @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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 * @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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 * @brief   QEID5 driver identifier.
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 * @note    The driver QEID5 allocates the timer TIM5 when enabled.
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 */
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#if STM32_QEI_USE_TIM5 || defined(__DOXYGEN__)
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QEIDriver QEID5;
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#endif
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/**
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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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 */
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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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/* 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 interrupt handlers.                                                */
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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   Low level QEI driver initialization.
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 *
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 * @notapi
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 */
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void qei_lld_init(void) {
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#if STM32_QEI_USE_TIM1
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  /* Driver initialization.*/
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  qeiObjectInit(&QEID1);
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  QEID1.tim = STM32_TIM1;
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#endif
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#if STM32_QEI_USE_TIM2
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  /* Driver initialization.*/
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  qeiObjectInit(&QEID2);
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  QEID2.tim = STM32_TIM2;
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#endif
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#if STM32_QEI_USE_TIM3
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  /* Driver initialization.*/
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  qeiObjectInit(&QEID3);
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  QEID3.tim = STM32_TIM3;
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#endif
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#if STM32_QEI_USE_TIM4
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  /* Driver initialization.*/
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  qeiObjectInit(&QEID4);
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  QEID4.tim = STM32_TIM4;
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#endif
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#if STM32_QEI_USE_TIM5
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  /* Driver initialization.*/
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  qeiObjectInit(&QEID5);
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  QEID5.tim = STM32_TIM5;
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#endif
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#if STM32_QEI_USE_TIM8
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  /* Driver initialization.*/
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  qeiObjectInit(&QEID8);
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  QEID8.tim = STM32_TIM8;
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#endif
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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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 *
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 * @notapi
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 */
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void qei_lld_start(QEIDriver *qeip) {
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  uint32_t arr, ccer;
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  if (qeip->state == QEI_STOP) {
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    /* Clock activation and timer reset.*/
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#if STM32_QEI_USE_TIM1
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    if (&QEID1 == qeip) {
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      rccEnableTIM1(FALSE);
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      rccResetTIM1();
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    }
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#endif
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#if STM32_QEI_USE_TIM2
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    if (&QEID2 == qeip) {
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      rccEnableTIM2(FALSE);
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      rccResetTIM2();
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    }
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#endif
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#if STM32_QEI_USE_TIM3
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    if (&QEID3 == qeip) {
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      rccEnableTIM3(FALSE);
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      rccResetTIM3();
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    }
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#endif
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#if STM32_QEI_USE_TIM4
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    if (&QEID4 == qeip) {
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      rccEnableTIM4(FALSE);
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      rccResetTIM4();
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    }
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#endif
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#if STM32_QEI_USE_TIM5
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    if (&QEID5 == qeip) {
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      rccEnableTIM5(FALSE);
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      rccResetTIM5();
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    }
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#endif
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#if STM32_QEI_USE_TIM8
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    if (&QEID8 == qeip) {
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      rccEnableTIM8(FALSE);
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      rccResetTIM8();
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    }
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#endif
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  }
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  else {
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    /* Driver re-configuration scenario, it must be stopped first.*/
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    qeip->tim->CR1    = 0;                  /* Timer disabled.              */
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    qeip->tim->DIER   = 0;                  /* All IRQs disabled.           */
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    qeip->tim->SR     = 0;                  /* Clear eventual pending IRQs. */
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    qeip->tim->CCR[0] = 0;                  /* Comparator 1 disabled.       */
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    qeip->tim->CCR[1] = 0;                  /* Comparator 2 disabled.       */
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    qeip->tim->CNT    = 0;                  /* Counter reset to zero.       */
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  }
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  /* Timer configuration.*/
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  qeip->tim->PSC  = 0;
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  arr = qeip->config->range - 1;
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  osalDbgAssert((arr <= 0xFFFF), "qei_lld_start(), #1" /*, "invalid range"*/);
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  qeip->tim->ARR  = arr & 0xFFFF;
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  /* CCMR1_CC1S = 01 - CH1 Input on TI1.
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     CCMR1_CC2S = 01 - CH2 Input on TI2.*/
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  qeip->tim->CCMR1 = TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0;
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  ccer = 0;
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  if (qeip->config->channels[0].mode == QEI_INPUT_INVERTED)
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    ccer |= TIM_CCER_CC1P;
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  if (qeip->config->channels[1].mode == QEI_INPUT_INVERTED)
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    ccer |= TIM_CCER_CC2P;
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  qeip->tim->CCER = ccer;
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  if (qeip->config->mode == QEI_COUNT_CH1)
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    qeip->tim->SMCR  = TIM_SMCR_SMS_1;
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  else if (qeip->config->mode == QEI_COUNT_CH2)
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    qeip->tim->SMCR  = TIM_SMCR_SMS_0;
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  else
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    qeip->tim->SMCR  = TIM_SMCR_SMS_0 | TIM_SMCR_SMS_1;
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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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 * @notapi
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 */
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void qei_lld_stop(QEIDriver *qeip) {
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  if (qeip->state == QEI_READY) {
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    /* Clock deactivation.*/
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    qeip->tim->CR1  = 0;                    /* Timer disabled.              */
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#if STM32_QEI_USE_TIM1
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    if (&QEID1 == qeip) {
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      rccDisableTIM1(FALSE);
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    }
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#endif
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#if STM32_QEI_USE_TIM2
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    if (&QEID2 == qeip) {
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      rccDisableTIM2(FALSE);
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    }
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#endif
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#if STM32_QEI_USE_TIM3
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    if (&QEID3 == qeip) {
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      rccDisableTIM3(FALSE);
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    }
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#endif
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#if STM32_QEI_USE_TIM4
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    if (&QEID4 == qeip) {
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      rccDisableTIM4(FALSE);
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    }
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#endif
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#if STM32_QEI_USE_TIM5
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    if (&QEID5 == qeip) {
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      rccDisableTIM5(FALSE);
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    }
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#endif
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  }
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#if STM32_QEI_USE_TIM8
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    if (&QEID8 == qeip) {
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      rccDisableTIM8(FALSE);
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    }
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#endif
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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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 * @notapi
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 */
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void qei_lld_enable(QEIDriver *qeip) {
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  qeip->tim->CR1  = TIM_CR1_CEN;
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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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 * @notapi
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 */
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void qei_lld_disable(QEIDriver *qeip) {
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  qeip->tim->CR1  = 0;
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}
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#endif /* HAL_USE_QEI */
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/** @} */