202 lines
9.8 KiB
C
202 lines
9.8 KiB
C
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// hw_qei.h - Macros used when accessing the QEI hardware.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2005-2010 Texas Instruments Incorporated. All rights reserved.
|
||
|
|
// Software License Agreement
|
||
|
|
//
|
||
|
|
// Texas Instruments (TI) is supplying this software for use solely and
|
||
|
|
// exclusively on TI's microcontroller products. The software is owned by
|
||
|
|
// TI and/or its suppliers, and is protected under applicable copyright
|
||
|
|
// laws. You may not combine this software with "viral" open-source
|
||
|
|
// software in order to form a larger program.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
|
||
|
|
// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
|
||
|
|
// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||
|
|
// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
|
||
|
|
// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
|
||
|
|
// DAMAGES, FOR ANY REASON WHATSOEVER.
|
||
|
|
//
|
||
|
|
// This is part of revision 6459 of the Stellaris Firmware Development Package.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
|
||
|
|
#ifndef __HW_QEI_H__
|
||
|
|
#define __HW_QEI_H__
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the QEI register offsets.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_O_CTL 0x00000000 // QEI Control
|
||
|
|
#define QEI_O_STAT 0x00000004 // QEI Status
|
||
|
|
#define QEI_O_POS 0x00000008 // QEI Position
|
||
|
|
#define QEI_O_MAXPOS 0x0000000C // QEI Maximum Position
|
||
|
|
#define QEI_O_LOAD 0x00000010 // QEI Timer Load
|
||
|
|
#define QEI_O_TIME 0x00000014 // QEI Timer
|
||
|
|
#define QEI_O_COUNT 0x00000018 // QEI Velocity Counter
|
||
|
|
#define QEI_O_SPEED 0x0000001C // QEI Velocity
|
||
|
|
#define QEI_O_INTEN 0x00000020 // QEI Interrupt Enable
|
||
|
|
#define QEI_O_RIS 0x00000024 // QEI Raw Interrupt Status
|
||
|
|
#define QEI_O_ISC 0x00000028 // QEI Interrupt Status and Clear
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_CTL register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_CTL_FILTCNT_M 0x000F0000 // Input Filter Prescale Count
|
||
|
|
#define QEI_CTL_FILTEN 0x00002000 // Enable Input Filter
|
||
|
|
#define QEI_CTL_STALLEN 0x00001000 // Stall QEI
|
||
|
|
#define QEI_CTL_INVI 0x00000800 // Invert Index Pulse
|
||
|
|
#define QEI_CTL_INVB 0x00000400 // Invert PhB
|
||
|
|
#define QEI_CTL_INVA 0x00000200 // Invert PhA
|
||
|
|
#define QEI_CTL_VELDIV_M 0x000001C0 // Predivide Velocity
|
||
|
|
#define QEI_CTL_VELDIV_1 0x00000000 // QEI clock /1
|
||
|
|
#define QEI_CTL_VELDIV_2 0x00000040 // QEI clock /2
|
||
|
|
#define QEI_CTL_VELDIV_4 0x00000080 // QEI clock /4
|
||
|
|
#define QEI_CTL_VELDIV_8 0x000000C0 // QEI clock /8
|
||
|
|
#define QEI_CTL_VELDIV_16 0x00000100 // QEI clock /16
|
||
|
|
#define QEI_CTL_VELDIV_32 0x00000140 // QEI clock /32
|
||
|
|
#define QEI_CTL_VELDIV_64 0x00000180 // QEI clock /64
|
||
|
|
#define QEI_CTL_VELDIV_128 0x000001C0 // QEI clock /128
|
||
|
|
#define QEI_CTL_VELEN 0x00000020 // Capture Velocity
|
||
|
|
#define QEI_CTL_RESMODE 0x00000010 // Reset Mode
|
||
|
|
#define QEI_CTL_CAPMODE 0x00000008 // Capture Mode
|
||
|
|
#define QEI_CTL_SIGMODE 0x00000004 // Signal Mode
|
||
|
|
#define QEI_CTL_SWAP 0x00000002 // Swap Signals
|
||
|
|
#define QEI_CTL_ENABLE 0x00000001 // Enable QEI
|
||
|
|
#define QEI_CTL_FILTCNT_S 16
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_STAT register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_STAT_DIRECTION 0x00000002 // Direction of Rotation
|
||
|
|
#define QEI_STAT_ERROR 0x00000001 // Error Detected
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_POS register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_POS_M 0xFFFFFFFF // Current Position Integrator
|
||
|
|
// Value
|
||
|
|
#define QEI_POS_S 0
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_MAXPOS register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_MAXPOS_M 0xFFFFFFFF // Maximum Position Integrator
|
||
|
|
// Value
|
||
|
|
#define QEI_MAXPOS_S 0
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_LOAD register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_LOAD_M 0xFFFFFFFF // Velocity Timer Load Value
|
||
|
|
#define QEI_LOAD_S 0
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_TIME register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_TIME_M 0xFFFFFFFF // Velocity Timer Current Value
|
||
|
|
#define QEI_TIME_S 0
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_COUNT register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_COUNT_M 0xFFFFFFFF // Velocity Pulse Count
|
||
|
|
#define QEI_COUNT_S 0
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_SPEED register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_SPEED_M 0xFFFFFFFF // Velocity
|
||
|
|
#define QEI_SPEED_S 0
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_INTEN register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_INTEN_ERROR 0x00000008 // Phase Error Interrupt Enable
|
||
|
|
#define QEI_INTEN_DIR 0x00000004 // Direction Change Interrupt
|
||
|
|
// Enable
|
||
|
|
#define QEI_INTEN_TIMER 0x00000002 // Timer Expires Interrupt Enable
|
||
|
|
#define QEI_INTEN_INDEX 0x00000001 // Index Pulse Detected Interrupt
|
||
|
|
// Enable
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_RIS register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_RIS_ERROR 0x00000008 // Phase Error Detected
|
||
|
|
#define QEI_RIS_DIR 0x00000004 // Direction Change Detected
|
||
|
|
#define QEI_RIS_TIMER 0x00000002 // Velocity Timer Expired
|
||
|
|
#define QEI_RIS_INDEX 0x00000001 // Index Pulse Asserted
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are defines for the bit fields in the QEI_O_ISC register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_ISC_ERROR 0x00000008 // Phase Error Interrupt
|
||
|
|
#define QEI_ISC_DIR 0x00000004 // Direction Change Interrupt
|
||
|
|
#define QEI_ISC_TIMER 0x00000002 // Velocity Timer Expired Interrupt
|
||
|
|
#define QEI_ISC_INDEX 0x00000001 // Index Pulse Interrupt
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following definitions are deprecated.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#ifndef DEPRECATED
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are deprecated defines for the bit fields in the QEI_ISC
|
||
|
|
// register.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_INT_ERROR 0x00000008 // Phase error detected
|
||
|
|
#define QEI_INT_DIR 0x00000004 // Direction change
|
||
|
|
#define QEI_INT_TIMER 0x00000002 // Velocity timer expired
|
||
|
|
#define QEI_INT_INDEX 0x00000001 // Index pulse detected
|
||
|
|
|
||
|
|
//*****************************************************************************
|
||
|
|
//
|
||
|
|
// The following are deprecated defines for the reset values for the QEI
|
||
|
|
// registers.
|
||
|
|
//
|
||
|
|
//*****************************************************************************
|
||
|
|
#define QEI_RV_POS 0x00000000 // Current position register
|
||
|
|
#define QEI_RV_LOAD 0x00000000 // Velocity timer load register
|
||
|
|
#define QEI_RV_CTL 0x00000000 // Configuration and control reg
|
||
|
|
#define QEI_RV_RIS 0x00000000 // Raw interrupt status register
|
||
|
|
#define QEI_RV_ISC 0x00000000 // Interrupt status register
|
||
|
|
#define QEI_RV_SPEED 0x00000000 // Velocity speed register
|
||
|
|
#define QEI_RV_INTEN 0x00000000 // Interrupt enable register
|
||
|
|
#define QEI_RV_STAT 0x00000000 // Status register
|
||
|
|
#define QEI_RV_COUNT 0x00000000 // Velocity pulse count register
|
||
|
|
#define QEI_RV_MAXPOS 0x00000000 // Maximum position register
|
||
|
|
#define QEI_RV_TIME 0x00000000 // Velocity timer register
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif // __HW_QEI_H__
|