389 lines
16 KiB
C
389 lines
16 KiB
C
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/**************************************************************************//**
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* @file nu_qei.h
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* @version V3.00
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* @brief Quadrature Encoder Interface (QEI) driver header file
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*
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* @copyright SPDX-License-Identifier: Apache-2.0
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* @copyright Copyright (C) 2020 Nuvoton Technology Corp. All rights reserved.
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*****************************************************************************/
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#ifndef __NU_QEI_H__
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#define __NU_QEI_H__
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/** @addtogroup Standard_Driver Standard Driver
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@{
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*/
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/** @addtogroup QEI_Driver QEI Driver
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@{
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*/
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/** @addtogroup QEI_EXPORTED_CONSTANTS QEI Exported Constants
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@{
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*/
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/*---------------------------------------------------------------------------------------------------------*/
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/* QEI counting mode selection constants definitions */
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/*---------------------------------------------------------------------------------------------------------*/
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#define QEI_CTL_X4_FREE_COUNTING_MODE (0x0<<QEI_CTL_MODE_Pos) /*!< QEI operate in X4 free-counting mode \hideinitializer */
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#define QEI_CTL_X2_FREE_COUNTING_MODE (0x1<<QEI_CTL_MODE_Pos) /*!< QEI operate in X2 free-counting mode \hideinitializer */
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#define QEI_CTL_X4_COMPARE_COUNTING_MODE (0x2<<QEI_CTL_MODE_Pos) /*!< QEI operate in X4 compare-counting mode \hideinitializer */
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#define QEI_CTL_X2_COMPARE_COUNTING_MODE (0x3<<QEI_CTL_MODE_Pos) /*!< QEI operate in X2 compare-counting mode \hideinitializer */
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/*---------------------------------------------------------------------------------------------------------*/
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/* QEI noise filter clock pre-divide selection constants definitions */
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/*---------------------------------------------------------------------------------------------------------*/
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#define QEI_CTL_NFCLKSEL_DIV1 (0x0<<QEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is QEI_CLK \hideinitializer */
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#define QEI_CTL_NFCLKSEL_DIV2 (0x1<<QEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is QEI_CLK/2 \hideinitializer */
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#define QEI_CTL_NFCLKSEL_DIV4 (0x2<<QEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is QEI_CLK/4 \hideinitializer */
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#define QEI_CTL_NFCLKSEL_DIV16 (0x3<<QEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is QEI_CLK/16 \hideinitializer */
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#define QEI_CTL_NFCLKSEL_DIV32 (0x4<<QEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is QEI_CLK/32 \hideinitializer */
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#define QEI_CTL_NFCLKSEL_DIV64 (0x5<<QEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is QEI_CLK/64 \hideinitializer */
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/**@}*/ /* end of group QEI_EXPORTED_CONSTANTS */
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/** @addtogroup QEI_EXPORTED_FUNCTIONS QEI Exported Functions
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@{
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*/
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/**
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* @brief Disable QEI compare function
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* @param[in] qei The pointer of the specified QEI module.
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* @return None
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* @details This macro disable QEI counter compare function.
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* \hideinitializer
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*/
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#define QEI_DISABLE_CNT_CMP(qei) ((qei)->CTL &= (~QEI_CTL_CMPEN_Msk))
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/**
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* @brief Enable QEI compare function
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* @param[in] qei The pointer of the specified QEI module.
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* @return None
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* @details This macro enable QEI counter compare function.
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* \hideinitializer
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*/
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#define QEI_ENABLE_CNT_CMP(qei) ((qei)->CTL |= QEI_CTL_CMPEN_Msk)
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/**
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* @brief Disable QEI index latch function
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* @param[in] qei The pointer of the specified QEI module.
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* @return None
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* @details This macro disable QEI index trigger counter latch function.
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* \hideinitializer
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*/
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#define QEI_DISABLE_INDEX_LATCH(qei) ((qei)->CTL &= (~QEI_CTL_IDXLATEN_Msk))
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/**
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* @brief Enable QEI index latch function
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* @param[in] qei The pointer of the specified QEI module.
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* @return None
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* @details This macro enable QEI index trigger counter latch function.
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* \hideinitializer
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*/
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#define QEI_ENABLE_INDEX_LATCH(qei) ((qei)->CTL |= QEI_CTL_IDXLATEN_Msk)
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/**
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* @brief Disable QEI index reload function
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* @param[in] qei The pointer of the specified QEI module.
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* @return None
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* @details This macro disable QEI index trigger counter reload function.
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* \hideinitializer
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*/
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#define QEI_DISABLE_INDEX_RELOAD(qei) ((qei)->CTL &= (~QEI_CTL_IDXRLDEN_Msk))
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/**
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* @brief Enable QEI index reload function
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* @param[in] qei The pointer of the specified QEI module.
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* @return None
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* @details This macro enable QEI index trigger counter reload function.
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* \hideinitializer
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*/
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#define QEI_ENABLE_INDEX_RELOAD(qei) ((qei)->CTL |= QEI_CTL_IDXRLDEN_Msk)
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/**
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* @brief Disable QEI input
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32InputType Input signal type.
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* - \ref QEI_CTL_CHAEN_Msk : QEA input
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* - \ref QEI_CTL_CHAEN_Msk : QEB input
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* - \ref QEI_CTL_IDXEN_Msk : IDX input
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* @return None
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* @details This macro disable specified QEI signal input.
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* \hideinitializer
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*/
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#define QEI_DISABLE_INPUT(qei, u32InputType) ((qei)->CTL &= ~(u32InputType))
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/**
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* @brief Enable QEI input
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32InputType Input signal type .
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* - \ref QEI_CTL_CHAEN_Msk : QEA input
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* - \ref QEI_CTL_CHBEN_Msk : QEB input
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* - \ref QEI_CTL_IDXEN_Msk : IDX input
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* @return None
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* @details This macro enable specified QEI signal input.
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* \hideinitializer
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*/
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#define QEI_ENABLE_INPUT(qei, u32InputType) ((qei)->CTL |= (u32InputType))
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/**
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* @brief Disable inverted input polarity
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32InputType Input signal type .
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* - \ref QEI_CTL_CHAINV_Msk : QEA Input
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* - \ref QEI_CTL_CHBINV_Msk : QEB Input
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* - \ref QEI_CTL_IDXINV_Msk : IDX Input
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* @return None
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* @details This macro disable specified QEI signal inverted input polarity.
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* \hideinitializer
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*/
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#define QEI_DISABLE_INPUT_INV(qei, u32InputType) ((qei)->CTL &= ~(u32InputType))
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/**
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* @brief Enable inverted input polarity
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32InputType Input signal type.
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* - \ref QEI_CTL_CHAINV_Msk : QEA Input
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* - \ref QEI_CTL_CHBINV_Msk : QEB Input
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* - \ref QEI_CTL_IDXINV_Msk : IDX Input
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* @return None
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* @details This macro inverse specified QEI signal input polarity.
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* \hideinitializer
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*/
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#define QEI_ENABLE_INPUT_INV(qei, u32InputType) ((qei)->CTL |= (u32InputType))
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/**
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* @brief Disable QEI interrupt
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32IntSel Interrupt type selection.
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* - \ref QEI_CTL_DIRIEN_Msk : Direction change interrupt
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* - \ref QEI_CTL_OVUNIEN_Msk : Counter overflow or underflow interrupt
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* - \ref QEI_CTL_CMPIEN_Msk : Compare-match interrupt
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* - \ref QEI_CTL_IDXIEN_Msk : Index detected interrupt
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* @return None
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* @details This macro disable specified QEI interrupt.
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* \hideinitializer
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*/
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#define QEI_DISABLE_INT(qei, u32IntSel) ((qei)->CTL &= ~(u32IntSel))
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/**
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* @brief Enable QEI interrupt
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32IntSel Interrupt type selection.
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* - \ref QEI_CTL_DIRIEN_Msk : Direction change interrupt
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* - \ref QEI_CTL_OVUNIEN_Msk : Counter overflow or underflow interrupt
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* - \ref QEI_CTL_CMPIEN_Msk : Compare-match interrupt
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* - \ref QEI_CTL_IDXIEN_Msk : Index detected interrupt
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* @return None
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* @details This macro enable specified QEI interrupt.
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* \hideinitializer
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*/
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#define QEI_ENABLE_INT(qei, u32IntSel) ((qei)->CTL |= (u32IntSel))
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/**
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* @brief Disable QEI noise filter
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* @param[in] qei The pointer of the specified QEI module.
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* @return None
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* @details This macro disable QEI noise filter function.
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* \hideinitializer
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*/
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#define QEI_DISABLE_NOISE_FILTER(qei) ((qei)->CTL |= QEI_CTL_NFDIS_Msk)
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/**
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* @brief Enable QEI noise filter
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32ClkSel The sampling frequency of the noise filter clock.
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* - \ref QEI_CTL_NFCLKSEL_DIV1
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* - \ref QEI_CTL_NFCLKSEL_DIV2
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* - \ref QEI_CTL_NFCLKSEL_DIV4
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* - \ref QEI_CTL_NFCLKSEL_DIV16
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* - \ref QEI_CTL_NFCLKSEL_DIV32
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* - \ref QEI_CTL_NFCLKSEL_DIV64
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* @return None
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* @details This macro enable QEI noise filter function and select noise filter clock.
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* \hideinitializer
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*/
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#define QEI_ENABLE_NOISE_FILTER(qei, u32ClkSel) ((qei)->CTL = ((qei)->CTL & (~(QEI_CTL_NFDIS_Msk|QEI_CTL_NFCLKSEL_Msk))) | (u32ClkSel))
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/**
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* @brief Get QEI counter value
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* @param[in] qei The pointer of the specified QEI module.
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* @return QEI pulse counter register value.
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* @details This macro get QEI pulse counter value.
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* \hideinitializer
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*/
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#define QEI_GET_CNT_VALUE(qei) ((qei)->CNT)
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/**
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* @brief Get QEI counting direction
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* @param[in] qei The pointer of the specified QEI module.
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* @retval 0 QEI counter is in down-counting.
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* @retval 1 QEI counter is in up-counting.
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* @details This macro get QEI counting direction.
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* \hideinitializer
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*/
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#define QEI_GET_DIR(qei) (((qei)->STATUS & (QEI_STATUS_DIRF_Msk))?1:0)
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/**
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* @brief Get QEI counter hold value
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* @param[in] qei The pointer of the specified QEI module.
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* @return QEI pulse counter hold register value.
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* @details This macro get QEI pulse counter hold value, which is updated with counter value in hold counter value control.
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* \hideinitializer
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*/
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#define QEI_GET_HOLD_VALUE(qei) ((qei)->CNTHOLD)
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/**
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* @brief Get QEI counter index latch value
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* @param[in] qei The pointer of the specified QEI module.
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* @return QEI pulse counter index latch value
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* @details This macro get QEI pulse counter index latch value, which is updated with counter value when the index is detected.
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* \hideinitializer
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*/
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#define QEI_GET_INDEX_LATCH_VALUE(qei) ((qei)->CNTLATCH)
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/**
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* @brief Set QEI counter index latch value
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32Val The latch value.
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* @return QEI pulse counter index latch value
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* @details This macro set QEI pulse counter index latch value, which is updated with counter value when the index is detected.
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* \hideinitializer
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*/
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#define QEI_SET_INDEX_LATCH_VALUE(qei,u32Val) ((qei)->CNTLATCH = (u32Val))
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/**
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* @brief Get QEI interrupt flag status
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32IntSel Interrupt type selection.
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* - \ref QEI_STATUS_DIRF_Msk : Counting direction flag
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* - \ref QEI_STATUS_DIRCHGF_Msk : Direction change flag
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* - \ref QEI_STATUS_OVUNF_Msk : Counter overflow or underflow flag
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* - \ref QEI_STATUS_CMPF_Msk : Compare-match flag
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* - \ref QEI_STATUS_IDXF_Msk : Index detected flag
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* @retval 0 QEI specified interrupt flag is not set.
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* @retval 1 QEI specified interrupt flag is set.
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* @details This macro get QEI specified interrupt flag status.
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* \hideinitializer
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*/
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#define QEI_GET_INT_FLAG(qei, u32IntSel) (((qei)->STATUS & (u32IntSel))?1:0)
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/**
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* @brief Clear QEI interrupt flag
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32IntSel Interrupt type selection.
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* - \ref QEI_STATUS_DIRCHGF_Msk : Direction change flag
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* - \ref QEI_STATUS_OVUNF_Msk : Counter overflow or underflow flag
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* - \ref QEI_STATUS_CMPF_Msk : Compare-match flag
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* - \ref QEI_STATUS_IDXF_Msk : Index detected flag
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* @return None
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* @details This macro clear QEI specified interrupt flag.
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* \hideinitializer
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*/
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#define QEI_CLR_INT_FLAG(qei, u32IntSel) ((qei)->STATUS = (u32IntSel))
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/**
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* @brief Set QEI counter compare value
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32Value The counter compare value.
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* @return None
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* @details This macro set QEI pulse counter compare value.
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* \hideinitializer
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*/
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#define QEI_SET_CNT_CMP(qei, u32Value) ((qei)->CNTCMP = (u32Value))
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/**
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* @brief Set QEI counter value
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32Value The counter compare value.
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* @return None
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* @details This macro set QEI pulse counter value.
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* \hideinitializer
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*/
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#define QEI_SET_CNT_VALUE(qei, u32Value) ((qei)->CNT = (u32Value))
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/**
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* @brief Enable QEI counter hold mode
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32Type The triggered type.
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* - \ref QEI_CTL_HOLDCNT_Msk : Hold QEI_CNT control
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* - \ref QEI_CTL_HOLDTMR0_Msk : Hold QEI_CNT by Timer0
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* - \ref QEI_CTL_HOLDTMR1_Msk : Hold QEI_CNT by Timer1
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* - \ref QEI_CTL_HOLDTMR2_Msk : Hold QEI_CNT by Timer2
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* - \ref QEI_CTL_HOLDTMR3_Msk : Hold QEI_CNT by Timer3
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* @return None
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* @details This macro enable QEI counter hold mode.
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* \hideinitializer
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*/
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#define QEI_ENABLE_HOLD_TRG_SRC(qei, u32Type) ((qei)->CTL |= (u32Type))
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/**
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* @brief Disable QEI counter hold mode
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* @param[in] qei The pointer of the specified QEI module.
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* @param[in] u32Type The triggered type.
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* - \ref QEI_CTL_HOLDCNT_Msk : Hold QEI_CNT control
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* - \ref QEI_CTL_HOLDTMR0_Msk : Hold QEI_CNT by Timer0
|
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* - \ref QEI_CTL_HOLDTMR1_Msk : Hold QEI_CNT by Timer1
|
||
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* - \ref QEI_CTL_HOLDTMR2_Msk : Hold QEI_CNT by Timer2
|
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* - \ref QEI_CTL_HOLDTMR3_Msk : Hold QEI_CNT by Timer3
|
||
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* @return None
|
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* @details This macro disable QEI counter hold mode.
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* \hideinitializer
|
||
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*/
|
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#define QEI_DISABLE_HOLD_TRG_SRC(qei, u32Type) ((qei)->CTL &= ~(u32Type))
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|
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|
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/**
|
||
|
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* @brief Set QEI maximum count value
|
||
|
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* @param[in] qei The pointer of the specified QEI module.
|
||
|
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* @param[in] u32Value The counter maximum value.
|
||
|
|
* @return QEI maximum count value
|
||
|
|
* @details This macro set QEI maximum count value.
|
||
|
|
* \hideinitializer
|
||
|
|
*/
|
||
|
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#define QEI_SET_CNT_MAX(qei, u32Value) ((qei)->CNTMAX = (u32Value))
|
||
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|
||
|
|
/**
|
||
|
|
* @brief Set QEI counting mode
|
||
|
|
* @param[in] qei The pointer of the specified QEI module.
|
||
|
|
* @param[in] u32Mode QEI counting mode.
|
||
|
|
* - \ref QEI_CTL_X4_FREE_COUNTING_MODE
|
||
|
|
* - \ref QEI_CTL_X2_FREE_COUNTING_MODE
|
||
|
|
* - \ref QEI_CTL_X4_COMPARE_COUNTING_MODE
|
||
|
|
* - \ref QEI_CTL_X2_COMPARE_COUNTING_MODE
|
||
|
|
* @return None
|
||
|
|
* @details This macro set QEI counting mode.
|
||
|
|
* \hideinitializer
|
||
|
|
*/
|
||
|
|
#define QEI_SET_CNT_MODE(qei, u32Mode) ((qei)->CTL = ((qei)->CTL & (~QEI_CTL_MODE_Msk)) | (u32Mode))
|
||
|
|
|
||
|
|
|
||
|
|
void QEI_Close(QEI_T* qei);
|
||
|
|
void QEI_DisableInt(QEI_T* qei, uint32_t u32IntSel);
|
||
|
|
void QEI_EnableInt(QEI_T* qei, uint32_t u32IntSel);
|
||
|
|
void QEI_Open(QEI_T* qei, uint32_t u32Mode, uint32_t u32Value);
|
||
|
|
void QEI_Start(QEI_T* qei);
|
||
|
|
void QEI_Stop(QEI_T* qei);
|
||
|
|
|
||
|
|
|
||
|
|
/**@}*/ /* end of group QEI_EXPORTED_FUNCTIONS */
|
||
|
|
|
||
|
|
/**@}*/ /* end of group QEI_Driver */
|
||
|
|
|
||
|
|
/**@}*/ /* end of group Standard_Driver */
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif /*__NU_QEI_H__*/
|