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amiro-os / os / hal / src / hal_qei.c @ 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.c
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 * @brief   QEI Driver code.
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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 local definitions.                                                 */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables.                                                */
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/*===========================================================================*/
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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 exported functions.                                                */
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/*===========================================================================*/
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/**
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 * @brief   QEI Driver initialization.
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 * @note    This function is implicitly invoked by @p halInit(), there is
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 *          no need to explicitly initialize the driver.
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 *
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 * @init
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 */
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void qeiInit(void) {
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  qei_lld_init();
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}
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/**
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 * @brief   Initializes the standard part of a @p QEIDriver structure.
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 *
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 * @param[out] qeip     pointer to the @p QEIDriver object
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 *
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 * @init
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 */
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void qeiObjectInit(QEIDriver *qeip) {
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  qeip->state  = QEI_STOP;
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  qeip->config = NULL;
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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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 * @param[in] config    pointer to the @p QEIConfig object
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 *
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 * @api
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 */
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void qeiStart(QEIDriver *qeip, const QEIConfig *config) {
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  chDbgCheck((qeip != NULL) && (config != NULL) /*, "qeiStart"*/);
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  chSysLock();
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  chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY),
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              "qeiStart(), #1" /*, "invalid state"*/);
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  qeip->config = config;
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  qei_lld_start(qeip);
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  qeip->state = QEI_READY;
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  chSysUnlock();
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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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 * @api
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 */
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void qeiStop(QEIDriver *qeip) {
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  chDbgCheck(qeip != NULL /*, "qeiStop"*/);
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  chSysLock();
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  chDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY),
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              "qeiStop(), #1" /*, "invalid state"*/);
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  qei_lld_stop(qeip);
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  qeip->state = QEI_STOP;
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  chSysUnlock();
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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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 * @api
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 */
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void qeiEnable(QEIDriver *qeip) {
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  chDbgCheck(qeip != NULL /*, "qeiEnable"*/);
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  chSysLock();
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  chDbgAssert(qeip->state == QEI_READY, "qeiEnable(), #1" /*, "invalid state"*/);
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  qei_lld_enable(qeip);
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  qeip->state = QEI_ACTIVE;
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  chSysUnlock();
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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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 * @api
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 */
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void qeiDisable(QEIDriver *qeip) {
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  chDbgCheck(qeip != NULL /*, "qeiDisable"*/);
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  chSysLock();
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  chDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE),
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              "qeiDisable(), #1" /*, "invalid state"*/);
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  qei_lld_disable(qeip);
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  qeip->state = QEI_READY;
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  chSysUnlock();
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}
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#endif /* HAL_USE_QEI */
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/** @} */