amiro-os / os / hal / ports / STM32 / LLD / QEIv1 / hal_qei_lld.h @ e545e620
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | 3f899f5d | Thomas Schöpping | /**
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| 20 | e545e620 | Thomas Schöpping | * @file STM32/hal_qei_lld.h
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| 21 | 3f899f5d | Thomas Schöpping | * @brief STM32 QEI subsystem low level driver header.
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| 22 | *
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| 23 | * @addtogroup QEI
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| 24 | * @{
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| 25 | */
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| 26 | |||
| 27 | e545e620 | Thomas Schöpping | #ifndef _HAL_QEI_LLD_H_
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| 28 | #define _HAL_QEI_LLD_H_
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| 29 | 58fe0e0b | Thomas Schöpping | |
| 30 | #include "stm32_tim.h" |
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| 31 | |||
| 32 | #if HAL_USE_QEI || defined(__DOXYGEN__)
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| 33 | |||
| 34 | /*===========================================================================*/
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| 35 | /* Driver constants. */
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| 36 | /*===========================================================================*/
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| 37 | |||
| 38 | /**
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| 39 | * @brief Number of input channels per QEI driver.
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| 40 | */
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| 41 | #define QEI_CHANNELS 2 |
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| 42 | |||
| 43 | /*===========================================================================*/
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| 44 | /* Driver pre-compile time settings. */
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| 45 | /*===========================================================================*/
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| 46 | |||
| 47 | /**
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| 48 | * @name Configuration options
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| 49 | * @{
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| 50 | */
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| 51 | /**
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| 52 | * @brief QEID1 driver enable switch.
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| 53 | * @details If set to @p TRUE the support for QEID1 is included.
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| 54 | * @note The default is @p TRUE.
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| 55 | */
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| 56 | #if !defined(STM32_QEI_USE_TIM1) || defined(__DOXYGEN__)
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| 57 | #define STM32_QEI_USE_TIM1 TRUE
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| 58 | #endif
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| 59 | |||
| 60 | /**
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| 61 | * @brief QEID2 driver enable switch.
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| 62 | * @details If set to @p TRUE the support for QEID2 is included.
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| 63 | * @note The default is @p TRUE.
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| 64 | */
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| 65 | #if !defined(STM32_QEI_USE_TIM2) || defined(__DOXYGEN__)
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| 66 | #define STM32_QEI_USE_TIM2 TRUE
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| 67 | #endif
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| 68 | |||
| 69 | /**
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| 70 | * @brief QEID3 driver enable switch.
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| 71 | * @details If set to @p TRUE the support for QEID3 is included.
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| 72 | * @note The default is @p TRUE.
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| 73 | */
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| 74 | #if !defined(STM32_QEI_USE_TIM3) || defined(__DOXYGEN__)
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| 75 | #define STM32_QEI_USE_TIM3 TRUE
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| 76 | #endif
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| 77 | |||
| 78 | /**
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| 79 | * @brief QEID4 driver enable switch.
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| 80 | * @details If set to @p TRUE the support for QEID4 is included.
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| 81 | * @note The default is @p TRUE.
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| 82 | */
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| 83 | #if !defined(STM32_QEI_USE_TIM4) || defined(__DOXYGEN__)
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| 84 | #define STM32_QEI_USE_TIM4 TRUE
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| 85 | #endif
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| 86 | |||
| 87 | /**
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| 88 | * @brief QEID5 driver enable switch.
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| 89 | * @details If set to @p TRUE the support for QEID5 is included.
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| 90 | * @note The default is @p TRUE.
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| 91 | */
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| 92 | #if !defined(STM32_QEI_USE_TIM5) || defined(__DOXYGEN__)
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| 93 | #define STM32_QEI_USE_TIM5 TRUE
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| 94 | #endif
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| 95 | |||
| 96 | /**
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| 97 | * @brief QEID8 driver enable switch.
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| 98 | * @details If set to @p TRUE the support for QEID8 is included.
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| 99 | * @note The default is @p TRUE.
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| 100 | */
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| 101 | #if !defined(STM32_QEI_USE_TIM8) || defined(__DOXYGEN__)
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| 102 | #define STM32_QEI_USE_TIM8 TRUE
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| 103 | #endif
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| 104 | /** @} */
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| 105 | |||
| 106 | /*===========================================================================*/
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| 107 | /* Derived constants and error checks. */
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| 108 | /*===========================================================================*/
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| 109 | |||
| 110 | #if STM32_QEI_USE_TIM1 && !STM32_HAS_TIM1
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| 111 | #error "TIM1 not present in the selected device" |
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| 112 | #endif
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| 113 | |||
| 114 | #if STM32_QEI_USE_TIM2 && !STM32_HAS_TIM2
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| 115 | #error "TIM2 not present in the selected device" |
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| 116 | #endif
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| 117 | |||
| 118 | #if STM32_QEI_USE_TIM3 && !STM32_HAS_TIM3
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| 119 | #error "TIM3 not present in the selected device" |
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| 120 | #endif
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| 121 | |||
| 122 | #if STM32_QEI_USE_TIM4 && !STM32_HAS_TIM4
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| 123 | #error "TIM4 not present in the selected device" |
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| 124 | #endif
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| 125 | |||
| 126 | #if STM32_QEI_USE_TIM5 && !STM32_HAS_TIM5
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| 127 | #error "TIM5 not present in the selected device" |
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| 128 | #endif
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| 129 | |||
| 130 | #if STM32_QEI_USE_TIM8 && !STM32_HAS_TIM8
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| 131 | #error "TIM8 not present in the selected device" |
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| 132 | #endif
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| 133 | |||
| 134 | #if !STM32_QEI_USE_TIM1 && !STM32_QEI_USE_TIM2 && \
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| 135 | !STM32_QEI_USE_TIM3 && !STM32_QEI_USE_TIM4 && \ |
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| 136 | !STM32_QEI_USE_TIM5 && !STM32_QEI_USE_TIM8 |
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| 137 | #error "QEI driver activated but no TIM peripheral assigned" |
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| 138 | #endif
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| 139 | |||
| 140 | /*===========================================================================*/
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| 141 | /* Driver data structures and types. */
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| 142 | /*===========================================================================*/
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| 143 | |||
| 144 | /**
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| 145 | * @brief QEI driver mode.
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| 146 | */
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| 147 | typedef enum { |
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| 148 | QEI_COUNT_BOTH = 0,
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| 149 | QEI_COUNT_CH1 = 1,
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| 150 | QEI_COUNT_CH2 = 2,
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| 151 | } qeimode_t; |
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| 152 | |||
| 153 | /**
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| 154 | * @brief QEI input mode.
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| 155 | */
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| 156 | typedef enum { |
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| 157 | QEI_INPUT_NONINVERTED = 0, /**< Input channel noninverted.*/ |
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| 158 | QEI_INPUT_INVERTED = 1, /**< Input channel inverted.*/ |
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| 159 | } qeiinputmode_t; |
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| 160 | |||
| 161 | /**
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| 162 | * @brief QEI count type.
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| 163 | */
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| 164 | typedef uint32_t qeicnt_t;
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| 165 | |||
| 166 | /**
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| 167 | * @brief Driver channel configuration structure.
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| 168 | */
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| 169 | typedef struct { |
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| 170 | /**
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| 171 | * @brief Channel input logic.
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| 172 | */
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| 173 | qeiinputmode_t mode; |
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| 174 | /* End of the mandatory fields.*/
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| 175 | } QEIChannelConfig; |
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| 176 | |||
| 177 | /**
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| 178 | * @brief Driver configuration structure.
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| 179 | */
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| 180 | typedef struct { |
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| 181 | /**
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| 182 | * @brief Driver mode.
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| 183 | */
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| 184 | qeimode_t mode; |
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| 185 | /**
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| 186 | * @brief Channels configurations.
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| 187 | */
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| 188 | QEIChannelConfig channels[QEI_CHANNELS]; |
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| 189 | /**
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| 190 | * @brief Range in pulses.
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| 191 | */
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| 192 | qeicnt_t range; |
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| 193 | /* End of the mandatory fields.*/
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| 194 | } QEIConfig; |
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| 195 | |||
| 196 | /**
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| 197 | * @brief Structure representing an QEI driver.
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| 198 | */
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| 199 | struct QEIDriver {
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| 200 | /**
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| 201 | * @brief Driver state.
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| 202 | */
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| 203 | qeistate_t state; |
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| 204 | /**
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| 205 | * @brief Current configuration data.
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| 206 | */
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| 207 | const QEIConfig *config;
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| 208 | #if defined(QEI_DRIVER_EXT_FIELDS)
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| 209 | QEI_DRIVER_EXT_FIELDS |
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| 210 | #endif
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| 211 | /* End of the mandatory fields.*/
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| 212 | /**
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| 213 | * @brief Pointer to the TIMx registers block.
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| 214 | */
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| 215 | stm32_tim_t *tim; |
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| 216 | }; |
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| 217 | |||
| 218 | /*===========================================================================*/
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| 219 | /* Driver macros. */
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| 220 | /*===========================================================================*/
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| 221 | |||
| 222 | /**
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| 223 | * @brief Returns the direction of the last transition.
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| 224 | * @details The direction is defined as boolean and is
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| 225 | * calculated at each transition on any input.
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| 226 | *
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| 227 | * @param[in] qeip pointer to the @p QEIDriver object
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| 228 | * @return The request direction.
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| 229 | * @retval FALSE Position counted up.
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| 230 | * @retval TRUE Position counted down.
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| 231 | *
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| 232 | * @iclass
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| 233 | */
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| 234 | #define qei_lld_get_direction(qeip) !!((qeip)->tim->CR1 & TIM_CR1_DIR)
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| 235 | |||
| 236 | /**
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| 237 | * @brief Returns the position of the encoder.
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| 238 | * @details The position is defined as number of pulses since last reset.
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| 239 | *
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| 240 | * @param[in] qeip pointer to the @p QEIDriver object
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| 241 | * @return The number of pulses.
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| 242 | *
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| 243 | * @iclass
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| 244 | */
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| 245 | #define qei_lld_get_position(qeip) ((qeip)->tim->CNT)
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| 246 | |||
| 247 | /**
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| 248 | * @brief Returns the range of the encoder.
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| 249 | * @details The range is defined as number of maximum pulse count.
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| 250 | *
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| 251 | * @param[in] qeip pointer to the @p QEIDriver object
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| 252 | * @return The number of pulses.
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| 253 | *
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| 254 | * @iclass
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| 255 | */
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| 256 | #define qei_lld_get_range(qeip) ((qeip)->tim->ARR + 1) |
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| 257 | |||
| 258 | /*===========================================================================*/
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| 259 | /* External declarations. */
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| 260 | /*===========================================================================*/
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| 261 | |||
| 262 | #if STM32_QEI_USE_TIM1 && !defined(__DOXYGEN__)
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| 263 | extern QEIDriver QEID1;
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| 264 | #endif
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| 265 | |||
| 266 | #if STM32_QEI_USE_TIM2 && !defined(__DOXYGEN__)
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| 267 | extern QEIDriver QEID2;
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| 268 | #endif
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| 269 | |||
| 270 | #if STM32_QEI_USE_TIM3 && !defined(__DOXYGEN__)
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| 271 | extern QEIDriver QEID3;
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| 272 | #endif
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| 273 | |||
| 274 | #if STM32_QEI_USE_TIM4 && !defined(__DOXYGEN__)
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| 275 | extern QEIDriver QEID4;
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| 276 | #endif
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| 277 | |||
| 278 | #if STM32_QEI_USE_TIM5 && !defined(__DOXYGEN__)
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| 279 | extern QEIDriver QEID5;
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| 280 | #endif
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| 281 | |||
| 282 | #if STM32_QEI_USE_TIM8 && !defined(__DOXYGEN__)
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| 283 | extern QEIDriver QEID8;
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| 284 | #endif
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| 285 | |||
| 286 | #ifdef __cplusplus
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| 287 | extern "C" { |
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| 288 | #endif
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| 289 | void qei_lld_init(void); |
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| 290 | void qei_lld_start(QEIDriver *qeip);
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| 291 | void qei_lld_stop(QEIDriver *qeip);
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| 292 | void qei_lld_enable(QEIDriver *qeip);
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| 293 | void qei_lld_disable(QEIDriver *qeip);
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| 294 | #ifdef __cplusplus
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| 295 | } |
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| 296 | #endif
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| 297 | |||
| 298 | #endif /* HAL_USE_QEI */ |
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| 299 | |||
| 300 | e545e620 | Thomas Schöpping | #endif /* _HAL_QEI_LLD_H_ */ |
| 301 | 3f899f5d | Thomas Schöpping | |
| 302 | /** @} */ |