2014-07-18 17:17:56 +08:00
|
|
|
//*****************************************************************************
|
|
|
|
|
//
|
|
|
|
|
// qei.h - Prototypes for the Quadrature Encoder Driver.
|
|
|
|
|
//
|
2017-04-25 18:02:51 +08:00
|
|
|
// Copyright (c) 2005-2017 Texas Instruments Incorporated. All rights reserved.
|
2014-07-18 17:17:56 +08:00
|
|
|
// Software License Agreement
|
|
|
|
|
//
|
|
|
|
|
// Redistribution and use in source and binary forms, with or without
|
|
|
|
|
// modification, are permitted provided that the following conditions
|
|
|
|
|
// are met:
|
|
|
|
|
//
|
|
|
|
|
// Redistributions of source code must retain the above copyright
|
|
|
|
|
// notice, this list of conditions and the following disclaimer.
|
|
|
|
|
//
|
|
|
|
|
// Redistributions in binary form must reproduce the above copyright
|
|
|
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
|
|
|
// documentation and/or other materials provided with the
|
|
|
|
|
// distribution.
|
|
|
|
|
//
|
|
|
|
|
// Neither the name of Texas Instruments Incorporated nor the names of
|
|
|
|
|
// its contributors may be used to endorse or promote products derived
|
|
|
|
|
// from this software without specific prior written permission.
|
|
|
|
|
//
|
|
|
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
|
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
|
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
|
|
|
|
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
|
|
|
|
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
|
|
|
|
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
|
|
|
|
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
|
|
|
|
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
|
|
|
|
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
|
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
|
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
|
|
|
//
|
2017-04-25 18:02:51 +08:00
|
|
|
// This is part of revision 2.1.4.178 of the Tiva Peripheral Driver Library.
|
2014-07-18 17:17:56 +08:00
|
|
|
//
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
|
|
|
|
|
#ifndef __DRIVERLIB_QEI_H__
|
|
|
|
|
#define __DRIVERLIB_QEI_H__
|
|
|
|
|
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
//
|
|
|
|
|
// If building with a C++ compiler, make all of the definitions in this header
|
|
|
|
|
// have a C binding.
|
|
|
|
|
//
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
#ifdef __cplusplus
|
|
|
|
|
extern "C"
|
|
|
|
|
{
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
//
|
|
|
|
|
// Values that can be passed to QEIConfigure as the ui32Config paramater.
|
|
|
|
|
//
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
#define QEI_CONFIG_CAPTURE_A 0x00000000 // Count on ChA edges only
|
|
|
|
|
#define QEI_CONFIG_CAPTURE_A_B 0x00000008 // Count on ChA and ChB edges
|
|
|
|
|
#define QEI_CONFIG_NO_RESET 0x00000000 // Do not reset on index pulse
|
|
|
|
|
#define QEI_CONFIG_RESET_IDX 0x00000010 // Reset position on index pulse
|
|
|
|
|
#define QEI_CONFIG_QUADRATURE 0x00000000 // ChA and ChB are quadrature
|
|
|
|
|
#define QEI_CONFIG_CLOCK_DIR 0x00000004 // ChA and ChB are clock and dir
|
|
|
|
|
#define QEI_CONFIG_NO_SWAP 0x00000000 // Do not swap ChA and ChB
|
|
|
|
|
#define QEI_CONFIG_SWAP 0x00000002 // Swap ChA and ChB
|
|
|
|
|
|
2017-04-25 18:02:51 +08:00
|
|
|
//*****************************************************************************
|
|
|
|
|
//
|
|
|
|
|
// Values that can be passed to QEIFilterConfigure as the ui32PreDiv
|
|
|
|
|
// parameter.
|
|
|
|
|
//
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
#define QEI_FILTCNT_2 0x00000000 // Filter Count of 2 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_3 0x00010000 // Filter Count of 3 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_4 0x00020000 // Filter Count of 4 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_5 0x00030000 // Filter Count of 5 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_6 0x00040000 // Filter Count of 6 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_7 0x00050000 // Filter Count of 7 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_8 0x00060000 // Filter Count of 8 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_9 0x00070000 // Filter Count of 9 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_10 0x00080000 // Filter Count of 10 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_11 0x00090000 // Filter Count of 11 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_12 0x000A0000 // Filter Count of 12 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_13 0x000B0000 // Filter Count of 13 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_14 0x000C0000 // Filter Count of 14 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_15 0x000D0000 // Filter Count of 15 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_16 0x000E0000 // Filter Count of 16 System Clocks
|
|
|
|
|
#define QEI_FILTCNT_17 0x000F0000 // Filter Count of 17 System Clocks
|
|
|
|
|
|
2014-07-18 17:17:56 +08:00
|
|
|
//*****************************************************************************
|
|
|
|
|
//
|
|
|
|
|
// Values that can be passed to QEIVelocityConfigure as the ui32PreDiv
|
|
|
|
|
// parameter.
|
|
|
|
|
//
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
#define QEI_VELDIV_1 0x00000000 // Predivide by 1
|
|
|
|
|
#define QEI_VELDIV_2 0x00000040 // Predivide by 2
|
|
|
|
|
#define QEI_VELDIV_4 0x00000080 // Predivide by 4
|
|
|
|
|
#define QEI_VELDIV_8 0x000000C0 // Predivide by 8
|
|
|
|
|
#define QEI_VELDIV_16 0x00000100 // Predivide by 16
|
|
|
|
|
#define QEI_VELDIV_32 0x00000140 // Predivide by 32
|
|
|
|
|
#define QEI_VELDIV_64 0x00000180 // Predivide by 64
|
|
|
|
|
#define QEI_VELDIV_128 0x000001C0 // Predivide by 128
|
|
|
|
|
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
//
|
|
|
|
|
// Values that can be passed to QEIEnableInts, QEIDisableInts, and QEIClearInts
|
|
|
|
|
// as the ui32IntFlags parameter, and returned by QEIGetIntStatus.
|
|
|
|
|
//
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
#define QEI_INTERROR 0x00000008 // Phase error detected
|
|
|
|
|
#define QEI_INTDIR 0x00000004 // Direction change
|
|
|
|
|
#define QEI_INTTIMER 0x00000002 // Velocity timer expired
|
|
|
|
|
#define QEI_INTINDEX 0x00000001 // Index pulse detected
|
|
|
|
|
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
//
|
|
|
|
|
// Prototypes for the APIs.
|
|
|
|
|
//
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
extern void QEIEnable(uint32_t ui32Base);
|
|
|
|
|
extern void QEIDisable(uint32_t ui32Base);
|
|
|
|
|
extern void QEIConfigure(uint32_t ui32Base, uint32_t ui32Config,
|
|
|
|
|
uint32_t ui32MaxPosition);
|
|
|
|
|
extern uint32_t QEIPositionGet(uint32_t ui32Base);
|
|
|
|
|
extern void QEIPositionSet(uint32_t ui32Base, uint32_t ui32Position);
|
|
|
|
|
extern int32_t QEIDirectionGet(uint32_t ui32Base);
|
|
|
|
|
extern bool QEIErrorGet(uint32_t ui32Base);
|
2017-04-25 18:02:51 +08:00
|
|
|
extern void QEIFilterEnable(uint32_t ui32Base);
|
|
|
|
|
extern void QEIFilterDisable(uint32_t ui32Base);
|
|
|
|
|
extern void QEIFilterConfigure(uint32_t ui32Base, uint32_t ui32FiltCnt);
|
2014-07-18 17:17:56 +08:00
|
|
|
extern void QEIVelocityEnable(uint32_t ui32Base);
|
|
|
|
|
extern void QEIVelocityDisable(uint32_t ui32Base);
|
|
|
|
|
extern void QEIVelocityConfigure(uint32_t ui32Base, uint32_t ui32PreDiv,
|
|
|
|
|
uint32_t ui32Period);
|
|
|
|
|
extern uint32_t QEIVelocityGet(uint32_t ui32Base);
|
|
|
|
|
extern void QEIIntRegister(uint32_t ui32Base, void (*pfnHandler)(void));
|
|
|
|
|
extern void QEIIntUnregister(uint32_t ui32Base);
|
|
|
|
|
extern void QEIIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags);
|
|
|
|
|
extern void QEIIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags);
|
|
|
|
|
extern uint32_t QEIIntStatus(uint32_t ui32Base, bool bMasked);
|
|
|
|
|
extern void QEIIntClear(uint32_t ui32Base, uint32_t ui32IntFlags);
|
|
|
|
|
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
//
|
|
|
|
|
// Mark the end of the C bindings section for C++ compilers.
|
|
|
|
|
//
|
|
|
|
|
//*****************************************************************************
|
|
|
|
|
#ifdef __cplusplus
|
|
|
|
|
}
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#endif // __DRIVERLIB_QEI_H__
|
