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| author | Nicolas Reinecke <nr@das-labor.org> | 2016-04-30 16:03:33 +0200 |
|---|---|---|
| committer | Nicolas Reinecke <nr@das-labor.org> | 2016-05-08 18:27:11 +0200 |
| commit | 6f67aa78c3061654bb50ed86dc5f104ca49e87b8 (patch) | |
| tree | c263cbbc5d551292b03a83dc0ec9390451e55895 /os/hal/include | |
| parent | cf02c79b5aa7209542cbf1b0cefe703a2c0c60be (diff) | |
| download | ChibiOS-Contrib-6f67aa78c3061654bb50ed86dc5f104ca49e87b8.tar.gz ChibiOS-Contrib-6f67aa78c3061654bb50ed86dc5f104ca49e87b8.tar.bz2 ChibiOS-Contrib-6f67aa78c3061654bb50ed86dc5f104ca49e87b8.zip | |
add STM32 qei (quadrature encoder interface) driver
Code from tinito in forum thread:
http://forum.chibios.org/phpbb/viewtopic.php?f=14&t=685
Updated to chibios trunk.
Diffstat (limited to 'os/hal/include')
| -rw-r--r-- | os/hal/include/hal_community.h | 1 | ||||
| -rw-r--r-- | os/hal/include/hal_qei.h | 130 |
2 files changed, 131 insertions, 0 deletions
diff --git a/os/hal/include/hal_community.h b/os/hal/include/hal_community.h index 6420964..3d8ac16 100644 --- a/os/hal/include/hal_community.h +++ b/os/hal/include/hal_community.h @@ -35,6 +35,7 @@ #include "hal_rng.h"
#include "hal_usbh.h"
#include "hal_timcap.h"
+#include "hal_qei.h"
/* Complex drivers.*/
#include "hal_onewire.h"
diff --git a/os/hal/include/hal_qei.h b/os/hal/include/hal_qei.h new file mode 100644 index 0000000..b71dad2 --- /dev/null +++ b/os/hal/include/hal_qei.h @@ -0,0 +1,130 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file hal_qei.h
+ * @brief QEI Driver macros and structures.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#ifndef HAL_QEI_H
+#define HAL_QEI_H
+
+#if (HAL_USE_QEI == TRUE) || 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 = 3, /**< Active. */
+} qeistate_t;
+
+/**
+ * @brief Type of a structure representing an QEI driver.
+ */
+typedef struct QEIDriver QEIDriver;
+
+/**
+ * @brief QEI notification callback type.
+ *
+ * @param[in] qeip pointer to a @p QEIDriver object
+ */
+typedef void (*qeicallback_t)(QEIDriver *qeip);
+
+#include "hal_qei_lld.h"
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @name Macro Functions
+ * @{
+ */
+/**
+ * @brief Enables the input capture.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @iclass
+ */
+#define qeiEnableI(qeip) qei_lld_enable(qeip)
+
+/**
+ * @brief Disables the input capture.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @iclass
+ */
+#define qeiDisableI(qeip) qei_lld_disable(qeip)
+
+/**
+ * @brief Returns the counter value.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @return The current counter value.
+ *
+ * @iclass
+ */
+#define qeiGetCountI(qeip) qei_lld_get_count(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);
+ qeicnt_t qeiGetCount(QEIDriver *qeip);
+ qeidelta_t qeiUpdate(QEIDriver *qeip);
+ qeidelta_t qeiUpdateI(QEIDriver *qeip);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_QEI == TRUE */
+
+#endif /* HAL_QEI_H */
+
+/** @} */
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