202 lines
10 KiB
C
202 lines
10 KiB
C
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//*****************************************************************************
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//
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// hw_qei.h - Macros used when accessing the QEI hardware.
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//
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// Copyright (c) 2005-2009 Luminary Micro, Inc. All rights reserved.
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// Software License Agreement
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//
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// Luminary Micro, Inc. (LMI) is supplying this software for use solely and
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// exclusively on LMI's microcontroller products.
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//
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// The software is owned by LMI and/or its suppliers, and is protected under
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// applicable copyright laws. All rights are reserved. You may not combine
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// this software with "viral" open-source software in order to form a larger
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// program. Any use in violation of the foregoing restrictions may subject
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// the user to criminal sanctions under applicable laws, as well as to civil
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// liability for the breach of the terms and conditions of this license.
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//
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// THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
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// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
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// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
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// LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
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// CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
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//
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// This is part of revision 4694 of the Stellaris Firmware Development Package.
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//
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//*****************************************************************************
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#ifndef __HW_QEI_H__
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#define __HW_QEI_H__
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//*****************************************************************************
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//
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// The following are defines for the QEI register offsets.
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//
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//*****************************************************************************
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#define QEI_O_CTL 0x00000000 // Configuration and control reg.
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#define QEI_O_STAT 0x00000004 // Status register
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#define QEI_O_POS 0x00000008 // Current position register
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#define QEI_O_MAXPOS 0x0000000C // Maximum position register
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#define QEI_O_LOAD 0x00000010 // Velocity timer load register
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#define QEI_O_TIME 0x00000014 // Velocity timer register
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#define QEI_O_COUNT 0x00000018 // Velocity pulse count register
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#define QEI_O_SPEED 0x0000001C // Velocity speed register
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#define QEI_O_INTEN 0x00000020 // Interrupt enable register
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#define QEI_O_RIS 0x00000024 // Raw interrupt status register
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#define QEI_O_ISC 0x00000028 // Interrupt status register
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_CTL register.
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//
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//*****************************************************************************
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#define QEI_CTL_FILTCNT_M 0x000F0000 // Input Filter Pre-Scale Count.
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#define QEI_CTL_FILTEN 0x00002000 // Enable Input Filter.
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#define QEI_CTL_STALLEN 0x00001000 // Stall enable
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#define QEI_CTL_INVI 0x00000800 // Invert Index input
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#define QEI_CTL_INVB 0x00000400 // Invert PhB input
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#define QEI_CTL_INVA 0x00000200 // Invert PhA input
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#define QEI_CTL_VELDIV_M 0x000001C0 // Velocity predivider mask
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#define QEI_CTL_VELDIV_1 0x00000000 // Predivide by 1
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#define QEI_CTL_VELDIV_2 0x00000040 // Predivide by 2
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#define QEI_CTL_VELDIV_4 0x00000080 // Predivide by 4
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#define QEI_CTL_VELDIV_8 0x000000C0 // Predivide by 8
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#define QEI_CTL_VELDIV_16 0x00000100 // Predivide by 16
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#define QEI_CTL_VELDIV_32 0x00000140 // Predivide by 32
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#define QEI_CTL_VELDIV_64 0x00000180 // Predivide by 64
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#define QEI_CTL_VELDIV_128 0x000001C0 // Predivide by 128
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#define QEI_CTL_VELEN 0x00000020 // Velocity enable
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#define QEI_CTL_RESMODE 0x00000010 // Position counter reset mode
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#define QEI_CTL_CAPMODE 0x00000008 // Edge capture mode
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#define QEI_CTL_SIGMODE 0x00000004 // Encoder signaling mode
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#define QEI_CTL_SWAP 0x00000002 // Swap input signals
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#define QEI_CTL_ENABLE 0x00000001 // QEI enable
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#define QEI_CTL_FILTCNT_S 16
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_STAT register.
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//
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//*****************************************************************************
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#define QEI_STAT_DIRECTION 0x00000002 // Direction of rotation
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#define QEI_STAT_ERROR 0x00000001 // Signalling error detected
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_POS register.
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//
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//*****************************************************************************
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#define QEI_POS_M 0xFFFFFFFF // Current encoder position
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#define QEI_POS_S 0
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_MAXPOS register.
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//
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//*****************************************************************************
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#define QEI_MAXPOS_M 0xFFFFFFFF // Maximum encoder position
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#define QEI_MAXPOS_S 0
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_LOAD register.
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//
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//*****************************************************************************
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#define QEI_LOAD_M 0xFFFFFFFF // Velocity timer load value
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#define QEI_LOAD_S 0
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_TIME register.
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//
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//*****************************************************************************
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#define QEI_TIME_M 0xFFFFFFFF // Velocity timer current value
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#define QEI_TIME_S 0
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_COUNT register.
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//
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//*****************************************************************************
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#define QEI_COUNT_M 0xFFFFFFFF // Encoder running pulse count
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#define QEI_COUNT_S 0
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_SPEED register.
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//
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//*****************************************************************************
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#define QEI_SPEED_M 0xFFFFFFFF // Encoder pulse count
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#define QEI_SPEED_S 0
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_INTEN register.
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//
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//*****************************************************************************
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#define QEI_INTEN_ERROR 0x00000008 // Phase error detected
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#define QEI_INTEN_DIR 0x00000004 // Direction change
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#define QEI_INTEN_TIMER 0x00000002 // Velocity timer expired
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#define QEI_INTEN_INDEX 0x00000001 // Index pulse detected
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_RIS register.
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//
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//*****************************************************************************
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#define QEI_RIS_ERROR 0x00000008 // Phase error detected
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#define QEI_RIS_DIR 0x00000004 // Direction change
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#define QEI_RIS_TIMER 0x00000002 // Velocity timer expired
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#define QEI_RIS_INDEX 0x00000001 // Index pulse detected
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//*****************************************************************************
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//
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// The following are defines for the bit fields in the QEI_O_ISC register.
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//
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//*****************************************************************************
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#define QEI_ISC_ERROR 0x00000008 // Phase Error Interrupt.
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#define QEI_ISC_DIR 0x00000004 // Direction Change Interrupt.
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#define QEI_ISC_TIMER 0x00000002 // Velocity Timer Expired
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// Interrupt.
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#define QEI_ISC_INDEX 0x00000001 // Index Pulse Interrupt.
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//*****************************************************************************
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//
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// The following definitions are deprecated.
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//
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//*****************************************************************************
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#ifndef DEPRECATED
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//*****************************************************************************
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//
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// The following are deprecated defines for the bit fields in the QEI_ISC
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// register.
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//
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//*****************************************************************************
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#define QEI_INT_ERROR 0x00000008 // Phase error detected
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#define QEI_INT_DIR 0x00000004 // Direction change
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#define QEI_INT_TIMER 0x00000002 // Velocity timer expired
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#define QEI_INT_INDEX 0x00000001 // Index pulse detected
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//*****************************************************************************
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//
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// The following are deprecated defines for the reset values for the QEI
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// registers.
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//
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//*****************************************************************************
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#define QEI_RV_POS 0x00000000 // Current position register
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#define QEI_RV_LOAD 0x00000000 // Velocity timer load register
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#define QEI_RV_CTL 0x00000000 // Configuration and control reg.
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#define QEI_RV_RIS 0x00000000 // Raw interrupt status register
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#define QEI_RV_ISC 0x00000000 // Interrupt status register
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#define QEI_RV_SPEED 0x00000000 // Velocity speed register
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#define QEI_RV_INTEN 0x00000000 // Interrupt enable register
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#define QEI_RV_STAT 0x00000000 // Status register
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#define QEI_RV_COUNT 0x00000000 // Velocity pulse count register
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#define QEI_RV_MAXPOS 0x00000000 // Maximum position register
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#define QEI_RV_TIME 0x00000000 // Velocity timer register
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#endif
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#endif // __HW_QEI_H__
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