Added preliminary support for encoder

ChibiOS

@@ -1 +1 @@
-Subproject commit ba3518f69287f7a11c974c77175bf29a5b01392f
+Subproject commit 2bbd155b3385520afedc49e8e3d7fdbf060525be

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.
  */

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.
  */