------------------------------------------------------------------------------
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--                 Copyright (C) 2015-2016, AdaCore                         --
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--  This package acts as if it is a motor containing a quadrature encoder. As
--  such, one can query the current wheel rotation direction, which is based
--  on the internal encoder inputs.

--  It is this package that contains and manages the timer that is in quad
--  encoder mode, taking the two signals as inputs and providing the counts
--  and direction information. In effect is is decoding the hardware signals
--  produced by the encoder hardware, but they are not known as "decoders" in
--  the industry.

--  The set up and use of the timer in this "encoder mode" is the purpose of
--  the demonstration.

with STM32.GPIO;         use STM32.GPIO;
with STM32.Timers;       use STM32.Timers;
with STM32.Device;       use STM32.Device;
with HAL;                use HAL;

package Motor is
   pragma Elaborate_Body;

   function Encoder_Count return UInt32;

   type Direction is (Forward, Backward);

   function Current_Direction return Direction;

private

   Encoder_Tach0 : constant GPIO_Point := PA8;
   Encoder_Tach1 : constant GPIO_Point := PE11;

   Encoder_Timer : Timer renames Timer_1;

   Encoder_AF : constant STM32.GPIO_Alternate_Function := GPIO_AF_TIM1_1;

end Motor;
