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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.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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