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added :driver:encoder_input
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‎README.md‎

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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1631">DS1631</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds18b20">DS18B20</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">ENCODER-INPUT</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">ENCODER-INPUT-BITBANG</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">ENCODER-OUTPUT-BITBANG</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">ENCODER-OUTPUT-BITBANG</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft245">FT245</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6X06</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">GPIO-SAMPLER</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc6343">HMC6343</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503X</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23X17</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594X</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12X</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
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</tr>

‎src/modm/driver/encoder/encoder_input.hpp‎

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/*
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* Copyright (c) 2021, Thomas Sommer
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include <modm/platform.hpp>
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namespace modm
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{
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/**
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* @brief Gray code decoder using STM32 Timer mode
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*
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* @tparam Timer STM32 General purpose timer
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* @tparam SignalA First modm::platform::Gpio pin that connects to Timer::Ch1
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* @tparam SignalB Second modm::platform::Gpio pin that connects to Timer::Ch2
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* @tparam PRESCALER How many encoder pulses to count as one
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* @tparam DeltaType Fast encoders may require int16_t
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*/
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template<class Timer, typename SignalA, typename SignalB, uint16_t PRESCALER = 4,
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std::signed_integral DeltaType = int16_t>
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class EncoderInput
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{
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public:
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void
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initialize(
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const uint8_t filter = 4,
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const modm::platform::Gpio::InputType inputType = modm::platform::Gpio::InputType::PullUp
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) {
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SignalA::setInput(inputType);
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SignalB::setInput(inputType);
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Timer::template connect<typename SignalA::Ch1, typename SignalB::Ch2>();
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Timer::enable();
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Timer::setMode(Timer::Mode::UpCounter, Timer::SlaveMode::Encoder3);
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Timer::setPrescaler(PRESCALER);
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if(filter) {
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Timer::configureInputChannel(1, filter);
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Timer::configureInputChannel(2, filter);
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}
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Timer::applyAndReset();
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Timer::start();
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last = Timer::getValue();
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}
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uint16_t
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getValue()
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{
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return Timer::getValue();
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}
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DeltaType
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getDelta()
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{
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uint16_t current = Timer::getValue();
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const DeltaType delta = current - last;
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last = current;
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return delta;
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}
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private:
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uint16_t last = 0;
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};
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} // namespace modm

‎src/modm/driver/encoder/encoder_input.lb‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# Copyright (c) 2021, Thomas Sommer
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#
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# This file is part of the modm project.
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#
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# This Source Code Form is subject to the terms of the Mozilla Public
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# License, v. 2.0. If a copy of the MPL was not distributed with this
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# file, You can obtain one at http://mozilla.org/MPL/2.0/.
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# -----------------------------------------------------------------------------
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def init(module):
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module.name = ":driver:encoder_input"
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module.description = """
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# Quadrature Encoder Input using STM32 general purpose Timer
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This driver decodes an AB (incremental) encoder signal.
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"""
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def prepare(module, options):
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module.depends(":architecture:atomic")
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return options[":target"].identifier.platform =="stm32"
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def build(env):
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env.outbasepath = "modm/src/modm/driver/encoder"
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env.copy("encoder_input.hpp")

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