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vexencoder.h
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1 /*-----------------------------------------------------------------------------*/
2 /* */
3 /* Copyright (c) James Pearman */
4 /* 2013 */
5 /* All Rights Reserved */
6 /* */
7 /*-----------------------------------------------------------------------------*/
8 /* */
9 /* Module: vexencoder.h */
10 /* Author: James Pearman */
11 /* Created: 7 May 2013 */
12 /* */
13 /* Revisions: */
14 /* V1.00 4 July 2013 - Initial release */
15 /* */
16 /*-----------------------------------------------------------------------------*/
17 /* */
18 /* This file is part of ConVEX. */
19 /* */
20 /* The author is supplying this software for use with the VEX cortex */
21 /* control system. ConVEX is free software; you can redistribute it */
22 /* and/or modify it under the terms of the GNU General Public License */
23 /* as published by the Free Software Foundation; either version 3 of */
24 /* the License, or (at your option) any later version. */
25 /* */
26 /* ConVEX is distributed in the hope that it will be useful, */
27 /* but WITHOUT ANY WARRANTY; without even the implied warranty of */
28 /* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the */
29 /* GNU General Public License for more details. */
30 /* */
31 /* You should have received a copy of the GNU General Public License */
32 /* along with this program. If not, see <http://www.gnu.org/licenses/>. */
33 /* */
34 /* A special exception to the GPL can be applied should you wish to */
35 /* distribute a combined work that includes ConVEX, without being obliged */
36 /* to provide the source code for any proprietary components. */
37 /* See the file exception.txt for full details of how and when the */
38 /* exception can be applied. */
39 /* */
40 /* The author can be contacted on the vex forums as jpearman */
41 /* or electronic mail using jbpearman_at_mac_dot_com */
42 /* Mentor for team 8888 RoboLancers, Pasadena CA. */
43 /* */
44 /*-----------------------------------------------------------------------------*/
45 
46 #ifndef __VEXENCODER__
47 #define __VEXENCODER__
48 
49 /*-----------------------------------------------------------------------------*/
50 /** @file vexencoder.h
51  * @brief Header for the encoder driver
52 *//*---------------------------------------------------------------------------*/
53 
54 /*-----------------------------------------------------------------------------*/
55 /** @brief Encoder channel number */
56 /*-----------------------------------------------------------------------------*/
57 typedef enum {
58  kVexQuadEncoder_1 = 0,
59  kVexQuadEncoder_2,
60  kVexQuadEncoder_3,
61  kVexQuadEncoder_4,
62  kVexQuadEncoder_5,
63 
64  kVexQuadEncoder_Num
65  } tVexQuadEncoderChannel;
66 
67 /*-----------------------------------------------------------------------------*/
68 /** @brief Holds information relating to an encoder */
69 /*-----------------------------------------------------------------------------*/
70 /** @note
71  * pin refers to the digital pin 1 through 12, port refers to the
72  * STM32 port, GPIOA, GPIOB etc. pad refers to the bit on the digital port
73  * 0 through 15
74  */
75 
76 typedef struct _vexQuadEncoder_t {
77  volatile int32_t count; ///< current encoder count
78  int32_t offset; ///< current encoder offset (subtracted from count)
79  int16_t state; ///< flag iondicating encoder is installed
80  tVexDigitalPin pa; ///< Encoder digital pin a
81  tVexDigitalPin pb; ///< Encoder digital pin b
82  ioportid_t pa_port; ///< Encoder GPIO port a
83  int16_t pa_pad; ///< Encoder GPIO pad a
84  ioportid_t pb_port; ///< Encoder GPIO port b
85  int16_t pb_pad; ///< Encoder GPIO pad b
86 } vexQuadEncoder_t;
87 
88 
89 #ifdef __cplusplus
90 extern "C" {
91 #endif
92 
93 void vexEncoderInit(void);
94 void vexEncoderAdd( tVexQuadEncoderChannel channel, tVexDigitalPin pa, tVexDigitalPin pb );
95 void vexEncoderStart( tVexQuadEncoderChannel channel );
96 void vexEncoderStop( tVexQuadEncoderChannel channel );
97 void vexEncoderStartAll(void);
98 int32_t vexEncoderGet( int16_t channel );
99 void vexEncoderSet( int16_t channel, int32_t value );
100 int16_t vexEncoderGetId( int16_t channel );
101 void vexEncoderDebug(vexStream *chp, int argc, char *argv[]);
102 
103 #ifdef __cplusplus
104 }
105 #endif
106 
107 
108 #endif // __VEXENCODER__