//***************************************************************************** // // qei.h - Prototypes for the Quadrature Encoder Driver. // // Copyright (c) 2005-2017 Texas Instruments Incorporated. All rights reserved. // 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. // //***************************************************************************** #ifndef __DRIVERLIB_QEI_H__ #define __DRIVERLIB_QEI_H__ #include #include //***************************************************************************** // // 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 //***************************************************************************** // // 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 //***************************************************************************** // // 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); extern void QEIFilterEnable(uint32_t ui32Base); extern void QEIFilterDisable(uint32_t ui32Base); extern void QEIFilterConfigure(uint32_t ui32Base, uint32_t ui32FiltCnt); 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__