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/*
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.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);
/**
* @brief Driver possible handling of counter overflow/underflow.
*
* @details When counter is going to overflow, the new value is
* computed according to this mode in such a way that
* the counter will either wrap around, stay unchange
* or reach min/max
*
* @note All driver implementation should support the
* QEI_OVERFLOW_WRAP mode.
*
* @note Mode QEI_OVERFLOW_DISCARD and QEI_OVERFLOW_MINMAX are included
* if QEI_USE_OVERFLOW_DISCARD and QEI_USE_OVERFLOW_MINMAX are
* set to TRUE in halconf_community.h and are not necessary supported
* by all drivers
*/
typedef enum {
QEI_OVERFLOW_WRAP = 0, /**< Counter value will wrap around. */
#if defined(QEI_USE_OVERFLOW_DISCARD) && QEI_USE_OVERFLOW_DISCARD == TRUE
QEI_OVERFLOW_DISCARD = 1, /**< Counter doesn't change. */
#endif
#if defined(QEI_USE_OVERFLOW_MINMAX) && QEI_USE_OVERFLOW_MINMAX == TRUE
QEI_OVERFLOW_MINMAX = 2, /**< Counter will be updated upto min or max.*/
#endif
} qeioverflow_t;
#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);
qeidelta_t qeiAdjustI(QEIDriver *qeip, qeidelta_t delta);
#ifdef __cplusplus
}
#endif
#endif /* HAL_USE_QEI == TRUE */
#endif /* HAL_QEI_H */
/** @} */
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