diff options
Diffstat (limited to 'os/hal/src')
| -rw-r--r-- | os/hal/src/hal_community.c | 4 | ||||
| -rw-r--r-- | os/hal/src/hal_qei.c | 214 |
2 files changed, 218 insertions, 0 deletions
diff --git a/os/hal/src/hal_community.c b/os/hal/src/hal_community.c index 981aa25..8a39bf1 100644 --- a/os/hal/src/hal_community.c +++ b/os/hal/src/hal_community.c @@ -76,6 +76,10 @@ void halCommunityInit(void) { #if HAL_USE_TIMCAP || defined(__DOXYGEN__)
timcapInit();
#endif
+
+#if HAL_USE_QEI || defined(__DOXYGEN__)
+ qeiInit();
+#endif
}
#endif /* HAL_USE_COMMUNITY */
diff --git a/os/hal/src/hal_qei.c b/os/hal/src/hal_qei.c new file mode 100644 index 0000000..a2b7303 --- /dev/null +++ b/os/hal/src/hal_qei.c @@ -0,0 +1,214 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 Martino Migliavacca
+
+ 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.c
+ * @brief QEI Driver code.
+ *
+ * @addtogroup QEI
+ * @{
+ */
+
+#include "hal.h"
+
+#if (HAL_USE_QEI == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief QEI Driver initialization.
+ * @note This function is implicitly invoked by @p halInit(), there is
+ * no need to explicitly initialize the driver.
+ *
+ * @init
+ */
+void qeiInit(void) {
+
+ qei_lld_init();
+}
+
+/**
+ * @brief Initializes the standard part of a @p QEIDriver structure.
+ *
+ * @param[out] qeip pointer to the @p QEIDriver object
+ *
+ * @init
+ */
+void qeiObjectInit(QEIDriver *qeip) {
+
+ qeip->state = QEI_STOP;
+ qeip->last = 0;
+ qeip->config = NULL;
+}
+
+/**
+ * @brief Configures and activates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @param[in] config pointer to the @p QEIConfig object
+ *
+ * @api
+ */
+void qeiStart(QEIDriver *qeip, const QEIConfig *config) {
+
+ osalDbgCheck((qeip != NULL) && (config != NULL));
+
+ osalSysLock();
+ osalDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY),
+ "invalid state");
+ qeip->config = config;
+ qei_lld_start(qeip);
+ qeip->state = QEI_READY;
+ osalSysUnlock();
+}
+
+/**
+ * @brief Deactivates the QEI peripheral.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @api
+ */
+void qeiStop(QEIDriver *qeip) {
+
+ osalDbgCheck(qeip != NULL);
+
+ osalSysLock();
+ osalDbgAssert((qeip->state == QEI_STOP) || (qeip->state == QEI_READY),
+ "invalid state");
+ qei_lld_stop(qeip);
+ qeip->state = QEI_STOP;
+ osalSysUnlock();
+}
+
+/**
+ * @brief Enables the quadrature encoder interface.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @api
+ */
+void qeiEnable(QEIDriver *qeip) {
+
+ osalDbgCheck(qeip != NULL);
+
+ osalSysLock();
+ osalDbgAssert(qeip->state == QEI_READY, "invalid state");
+ qei_lld_enable(qeip);
+ qeip->state = QEI_ACTIVE;
+ osalSysUnlock();
+}
+
+/**
+ * @brief Disables the quadrature encoder interface.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ *
+ * @api
+ */
+void qeiDisable(QEIDriver *qeip) {
+
+ osalDbgCheck(qeip != NULL);
+
+ osalSysLock();
+ osalDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE),
+ "invalid state");
+ qei_lld_disable(qeip);
+ qeip->state = QEI_READY;
+ osalSysUnlock();
+}
+
+/**
+ * @brief Returns the counter value.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @return The current counter value.
+ *
+ * @api
+ */
+qeicnt_t qeiGetCount(QEIDriver *qeip) {
+ qeicnt_t cnt;
+
+ osalSysLock();
+ cnt = qeiGetCountI(qeip);
+ osalSysUnlock();
+
+ return cnt;
+}
+
+/**
+ * @brief Returns the counter delta from last reading.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @return The delta from last read.
+ *
+ * @api
+ */
+qeidelta_t qeiUpdate(QEIDriver *qeip) {
+ qeidelta_t diff;
+
+ osalSysLock();
+ diff = qeiUpdateI(qeip);
+ osalSysUnlock();
+
+ return diff;
+}
+
+/**
+ * @brief Returns the counter delta from last reading.
+ *
+ * @param[in] qeip pointer to the @p QEIDriver object
+ * @return The delta from last read.
+ *
+ * @iclass
+ */
+qeidelta_t qeiUpdateI(QEIDriver *qeip) {
+ qeicnt_t cnt;
+ qeidelta_t delta;
+
+ osalDbgCheckClassI();
+ osalDbgCheck(qeip != NULL);
+ osalDbgAssert((qeip->state == QEI_READY) || (qeip->state == QEI_ACTIVE),
+ "invalid state");
+
+ cnt = qei_lld_get_count(qeip);
+ delta = cnt - qeip->last;
+ qeip->last = cnt;
+
+ return delta;
+}
+
+#endif /* HAL_USE_QEI == TRUE */
+
+/** @} */
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