From 2ccced1deb1d8e8b6b5085e7b19ff15f1549be95 Mon Sep 17 00:00:00 2001
From: Marshal Horn <kamocat@gmail.com>
Date: Thu, 9 Jul 2020 10:37:46 -0700
Subject: [PATCH] Added preliminary support for encoder

---
 ChibiOS                               |  2 +-
 NIL-STM32F051-DISCOVERY/cfg/halconf.h |  7 +++++++
 NIL-STM32F051-DISCOVERY/cfg/mcuconf.h | 10 ++++++++++
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/ChibiOS b/ChibiOS
index ba3518f..2bbd155 160000
--- a/ChibiOS
+++ b/ChibiOS
@@ -1 +1 @@
-Subproject commit ba3518f69287f7a11c974c77175bf29a5b01392f
+Subproject commit 2bbd155b3385520afedc49e8e3d7fdbf060525be
diff --git a/NIL-STM32F051-DISCOVERY/cfg/halconf.h b/NIL-STM32F051-DISCOVERY/cfg/halconf.h
index 41b9125..007d026 100644
--- a/NIL-STM32F051-DISCOVERY/cfg/halconf.h
+++ b/NIL-STM32F051-DISCOVERY/cfg/halconf.h
@@ -117,6 +117,13 @@
 #define HAL_USE_MMC_SPI                     FALSE
 #endif
 
+/**
+ * @brief   Enables the Quadrature Encoder subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI                         TRUE
+#endif
+
 /**
  * @brief   Enables the PWM subsystem.
  */
diff --git a/NIL-STM32F051-DISCOVERY/cfg/mcuconf.h b/NIL-STM32F051-DISCOVERY/cfg/mcuconf.h
index 5087a9c..6ee4c69 100644
--- a/NIL-STM32F051-DISCOVERY/cfg/mcuconf.h
+++ b/NIL-STM32F051-DISCOVERY/cfg/mcuconf.h
@@ -146,6 +146,16 @@
 #define STM32_ICU_TIM2_IRQ_PRIORITY         3
 #define STM32_ICU_TIM3_IRQ_PRIORITY         3
 
+/*
+ * Quadrature Encoder driver settings
+ */
+#define STM32_QEI_USE_TIM1                  TRUE
+#define STM32_QEI_USE_TIM2                  FALSE
+#define STM32_QEI_USE_TIM3                  FALSE
+#define STM32_QEI_USE_TIM4                  FALSE
+#define STM32_QEI_USE_TIM5                  FALSE
+#define STM32_QEI_USE_TIM8                  FALSE
+
 /*
  * PWM driver system settings.
  */