465 lines
18 KiB
C
465 lines
18 KiB
C
|
/*
|
||
|
|
* Copyright (c) 2015, Freescale Semiconductor, Inc.
|
||
|
|
* Copyright 2016-2017 NXP
|
||
|
|
*
|
||
|
|
* Redistribution and use in source and binary forms, with or without modification,
|
||
|
|
* are permitted provided that the following conditions are met:
|
||
|
|
*
|
||
|
|
* o Redistributions of source code must retain the above copyright notice, this list
|
||
|
|
* of conditions and the following disclaimer.
|
||
|
|
*
|
||
|
|
* o 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.
|
||
|
|
*
|
||
|
|
* o Neither the name of the copyright holder 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 HOLDER 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 _FSL_ENC_H_
|
||
|
|
#define _FSL_ENC_H_
|
||
|
|
|
||
|
|
#include "fsl_common.h"
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @addtogroup enc
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/*******************************************************************************
|
||
|
|
* Definitions
|
||
|
|
******************************************************************************/
|
||
|
|
#define FSL_ENC_DRIVER_VERSION (MAKE_VERSION(2, 0, 0)) /*!< Version 2.0.0. */
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Interrupt enable/disable mask.
|
||
|
|
*/
|
||
|
|
enum _enc_interrupt_enable
|
||
|
|
{
|
||
|
|
kENC_HOMETransitionInterruptEnable = (1U << 0U), /*!< HOME interrupt enable. */
|
||
|
|
kENC_INDEXPulseInterruptEnable = (1U << 1U), /*!< INDEX pulse interrupt enable. */
|
||
|
|
kENC_WatchdogTimeoutInterruptEnable = (1U << 2U), /*!< Watchdog timeout interrupt enable. */
|
||
|
|
kENC_PositionCompareInerruptEnable = (1U << 3U), /*!< Position compare interrupt enable. */
|
||
|
|
kENC_SimultBothPhaseChangeInterruptEnable =
|
||
|
|
(1U << 4U), /*!< Simultaneous PHASEA and PHASEB change interrupt enable. */
|
||
|
|
kENC_PositionRollOverInterruptEnable = (1U << 5U), /*!< Roll-over interrupt enable. */
|
||
|
|
kENC_PositionRollUnderInterruptEnable = (1U << 6U), /*!< Roll-under interrupt enable. */
|
||
|
|
};
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Status flag mask.
|
||
|
|
*
|
||
|
|
* These flags indicate the counter's events.
|
||
|
|
*/
|
||
|
|
enum _enc_status_flags
|
||
|
|
{
|
||
|
|
kENC_HOMETransitionFlag = (1U << 0U), /*!< HOME signal transition interrupt request. */
|
||
|
|
kENC_INDEXPulseFlag = (1U << 1U), /*!< INDEX Pulse Interrupt Request. */
|
||
|
|
kENC_WatchdogTimeoutFlag = (1U << 2U), /*!< Watchdog timeout interrupt request. */
|
||
|
|
kENC_PositionCompareFlag = (1U << 3U), /*!< Position compare interrupt request. */
|
||
|
|
kENC_SimultBothPhaseChangeFlag = (1U << 4U), /*!< Simultaneous PHASEA and PHASEB change interrupt request. */
|
||
|
|
kENC_PositionRollOverFlag = (1U << 5U), /*!< Roll-over interrupt request. */
|
||
|
|
kENC_PositionRollUnderFlag = (1U << 6U), /*!< Roll-under interrupt request. */
|
||
|
|
kENC_LastCountDirectionFlag = (1U << 7U), /*!< Last count was in the up direction, or the down direction. */
|
||
|
|
};
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Signal status flag mask.
|
||
|
|
*
|
||
|
|
* These flags indicate the counter's signal.
|
||
|
|
*/
|
||
|
|
enum _enc_signal_status_flags
|
||
|
|
{
|
||
|
|
kENC_RawHOMEStatusFlag = ENC_IMR_HOME_MASK, /*!< Raw HOME input. */
|
||
|
|
kENC_RawINDEXStatusFlag = ENC_IMR_INDEX_MASK, /*!< Raw INDEX input. */
|
||
|
|
kENC_RawPHBStatusFlag = ENC_IMR_PHB_MASK, /*!< Raw PHASEB input. */
|
||
|
|
kENC_RawPHAEXStatusFlag = ENC_IMR_PHA_MASK, /*!< Raw PHASEA input. */
|
||
|
|
kENC_FilteredHOMEStatusFlag = ENC_IMR_FHOM_MASK, /*!< The filtered version of HOME input. */
|
||
|
|
kENC_FilteredINDEXStatusFlag = ENC_IMR_FIND_MASK, /*!< The filtered version of INDEX input. */
|
||
|
|
kENC_FilteredPHBStatusFlag = ENC_IMR_FPHB_MASK, /*!< The filtered version of PHASEB input. */
|
||
|
|
kENC_FilteredPHAStatusFlag = ENC_IMR_FPHA_MASK, /*!< The filtered version of PHASEA input. */
|
||
|
|
};
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Define HOME signal's trigger mode.
|
||
|
|
*
|
||
|
|
* The ENC would count the trigger from HOME signal line.
|
||
|
|
*/
|
||
|
|
typedef enum _enc_home_trigger_mode
|
||
|
|
{
|
||
|
|
kENC_HOMETriggerDisabled = 0U, /*!< HOME signal's trigger is disabled. */
|
||
|
|
kENC_HOMETriggerOnRisingEdge, /*!< Use positive going edge-to-trigger initialization of position counters. */
|
||
|
|
kENC_HOMETriggerOnFallingEdge, /*!< Use negative going edge-to-trigger initialization of position counters. */
|
||
|
|
} enc_home_trigger_mode_t;
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Define INDEX signal's trigger mode.
|
||
|
|
*
|
||
|
|
* The ENC would count the trigger from INDEX signal line.
|
||
|
|
*/
|
||
|
|
typedef enum _enc_index_trigger_mode
|
||
|
|
{
|
||
|
|
kENC_INDEXTriggerDisabled = 0U, /*!< INDEX signal's trigger is disabled. */
|
||
|
|
kENC_INDEXTriggerOnRisingEdge, /*!< Use positive going edge-to-trigger initialization of position counters. */
|
||
|
|
kENC_INDEXTriggerOnFallingEdge, /*!< Use negative going edge-to-trigger initialization of position counters. */
|
||
|
|
} enc_index_trigger_mode_t;
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Define type for decoder work mode.
|
||
|
|
*
|
||
|
|
* The normal work mode uses the standard quadrature decoder with PHASEA and PHASEB. When in signal phase count mode,
|
||
|
|
* a positive transition of the PHASEA input generates a count signal while the PHASEB input and the reverse direction
|
||
|
|
* control the counter direction. If the reverse direction is not enabled, PHASEB = 0 means counting up and PHASEB = 1
|
||
|
|
* means counting down. Otherwise, the direction is reversed.
|
||
|
|
*/
|
||
|
|
typedef enum _enc_decoder_work_mode
|
||
|
|
{
|
||
|
|
kENC_DecoderWorkAsNormalMode = 0U, /*!< Use standard quadrature decoder with PHASEA and PHASEB. */
|
||
|
|
kENC_DecoderWorkAsSignalPhaseCountMode, /*!< PHASEA input generates a count signal while PHASEB input control the
|
||
|
|
direction. */
|
||
|
|
} enc_decoder_work_mode_t;
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Define type for the condition of POSMATCH pulses.
|
||
|
|
*/
|
||
|
|
typedef enum _enc_position_match_mode
|
||
|
|
{
|
||
|
|
kENC_POSMATCHOnPositionCounterEqualToComapreValue = 0U, /*!< POSMATCH pulses when a match occurs between the
|
||
|
|
position counters (POS) and the compare value (COMP). */
|
||
|
|
kENC_POSMATCHOnReadingAnyPositionCounter, /*!< POSMATCH pulses when any position counter register is read. */
|
||
|
|
} enc_position_match_mode_t;
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Define type for determining how the revolution counter (REV) is incremented/decremented.
|
||
|
|
*/
|
||
|
|
typedef enum _enc_revolution_count_condition
|
||
|
|
{
|
||
|
|
kENC_RevolutionCountOnINDEXPulse = 0U, /*!< Use INDEX pulse to increment/decrement revolution counter. */
|
||
|
|
kENC_RevolutionCountOnRollOverModulus, /*!< Use modulus counting roll-over/under to increment/decrement revolution
|
||
|
|
counter. */
|
||
|
|
} enc_revolution_count_condition_t;
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Define type for direction of self test generated signal.
|
||
|
|
*/
|
||
|
|
typedef enum _enc_self_test_direction
|
||
|
|
{
|
||
|
|
kENC_SelfTestDirectionPositive = 0U, /*!< Self test generates the signal in positive direction. */
|
||
|
|
kENC_SelfTestDirectionNegative, /*!< Self test generates the signal in negative direction. */
|
||
|
|
} enc_self_test_direction_t;
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Define user configuration structure for ENC module.
|
||
|
|
*/
|
||
|
|
typedef struct _enc_config
|
||
|
|
{
|
||
|
|
/* Basic counter. */
|
||
|
|
bool enableReverseDirection; /*!< Enable reverse direction counting. */
|
||
|
|
enc_decoder_work_mode_t decoderWorkMode; /*!< Enable signal phase count mode. */
|
||
|
|
|
||
|
|
/* Signal detection. */
|
||
|
|
enc_home_trigger_mode_t HOMETriggerMode; /*!< Enable HOME to initialize position counters. */
|
||
|
|
enc_index_trigger_mode_t INDEXTriggerMode; /*!< Enable INDEX to initialize position counters. */
|
||
|
|
bool enableTRIGGERClearPositionCounter; /*!< Clear POSD, REV, UPOS and LPOS on rising edge of TRIGGER, or not. */
|
||
|
|
bool enableTRIGGERClearHoldPositionCounter; /*!< Enable update of hold registers on rising edge of TRIGGER, or not.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* Watchdog. */
|
||
|
|
bool enableWatchdog; /*!< Enable the watchdog to detect if the target is moving or not. */
|
||
|
|
uint16_t watchdogTimeoutValue; /*!< Watchdog timeout count value. It stores the timeout count for the quadrature
|
||
|
|
decoder module watchdog timer. This field is only available when
|
||
|
|
"enableWatchdog" = true. The available value is a 16-bit unsigned number.*/
|
||
|
|
|
||
|
|
/* Filter for PHASEA, PHASEB, INDEX and HOME. */
|
||
|
|
uint16_t filterCount; /*!< Input Filter Sample Count. This value should be chosen to reduce the probability of
|
||
|
|
noisy samples causing an incorrect transition to be recognized. The value represent the
|
||
|
|
number of consecutive samples that must agree prior to the input filter accepting an
|
||
|
|
input transition. A value of 0x0 represents 3 samples. A value of 0x7 represents 10
|
||
|
|
samples. The Available range is 0 - 7.*/
|
||
|
|
uint16_t filterSamplePeriod; /*!< Input Filter Sample Period. This value should be set such that the sampling period
|
||
|
|
is larger than the period of the expected noise. This value represents the
|
||
|
|
sampling period (in IPBus clock cycles) of the decoder input signals.
|
||
|
|
The available range is 0 - 255. */
|
||
|
|
|
||
|
|
/* Position compare. */
|
||
|
|
enc_position_match_mode_t positionMatchMode; /*!< The condition of POSMATCH pulses. */
|
||
|
|
uint32_t positionCompareValue; /*!< Position compare value. The available value is a 32-bit number.*/
|
||
|
|
|
||
|
|
/* Modulus counting. */
|
||
|
|
enc_revolution_count_condition_t revolutionCountCondition; /*!< Revolution Counter Modulus Enable. */
|
||
|
|
bool enableModuloCountMode; /*!< Enable Modulo Counting. */
|
||
|
|
uint32_t positionModulusValue; /*!< Position modulus value. This value would be available only when
|
||
|
|
"enableModuloCountMode" = true. The available value is a 32-bit number. */
|
||
|
|
uint32_t positionInitialValue; /*!< Position initial value. The available value is a 32-bit number. */
|
||
|
|
} enc_config_t;
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Define configuration structure for self test module.
|
||
|
|
*
|
||
|
|
* The self test module provides a quadrature test signal to the inputs of the quadrature decoder module.
|
||
|
|
* This is a factory test feature. It is also useful to customers' software development and testing.
|
||
|
|
*/
|
||
|
|
typedef struct _enc_self_test_config
|
||
|
|
{
|
||
|
|
enc_self_test_direction_t signalDirection; /*!< Direction of self test generated signal. */
|
||
|
|
uint16_t signalCount; /*!< Hold the number of quadrature advances to generate. The available range is 0 - 255.*/
|
||
|
|
uint16_t signalPeriod; /*!< Hold the period of quadrature phase in IPBus clock cycles.
|
||
|
|
The available range is 0 - 31. */
|
||
|
|
} enc_self_test_config_t;
|
||
|
|
|
||
|
|
#if defined(__cplusplus)
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*******************************************************************************
|
||
|
|
* API
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @name Initialization and De-initialization
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Initialization for the ENC module.
|
||
|
|
*
|
||
|
|
* This function is to make the initialization for the ENC module. It should be called firstly before any operation to
|
||
|
|
* the ENC with the operations like:
|
||
|
|
* - Enable the clock for ENC module.
|
||
|
|
* - Configure the ENC's working attributes.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
* @param config Pointer to configuration structure. See to "enc_config_t".
|
||
|
|
*/
|
||
|
|
void ENC_Init(ENC_Type *base, const enc_config_t *config);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief De-initialization for the ENC module.
|
||
|
|
*
|
||
|
|
* This function is to make the de-initialization for the ENC module. It could be called when ENC is no longer used with
|
||
|
|
* the operations like:
|
||
|
|
* - Disable the clock for ENC module.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*/
|
||
|
|
void ENC_Deinit(ENC_Type *base);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Get an available pre-defined settings for ENC's configuration.
|
||
|
|
*
|
||
|
|
* This function initializes the ENC configuration structure with an available settings, the default value are:
|
||
|
|
* @code
|
||
|
|
* config->enableReverseDirection = false;
|
||
|
|
* config->decoderWorkMode = kENC_DecoderWorkAsNormalMode;
|
||
|
|
* config->HOMETriggerMode = kENC_HOMETriggerDisabled;
|
||
|
|
* config->INDEXTriggerMode = kENC_INDEXTriggerDisabled;
|
||
|
|
* config->enableTRIGGERClearPositionCounter = false;
|
||
|
|
* config->enableTRIGGERClearHoldPositionCounter = false;
|
||
|
|
* config->enableWatchdog = false;
|
||
|
|
* config->watchdogTimeoutValue = 0U;
|
||
|
|
* config->filterCount = 0U;
|
||
|
|
* config->filterSamplePeriod = 0U;
|
||
|
|
* config->positionMatchMode = kENC_POSMATCHOnPositionCounterEqualToComapreValue;
|
||
|
|
* config->positionCompareValue = 0xFFFFFFFFU;
|
||
|
|
* config->revolutionCountCondition = kENC_RevolutionCountOnINDEXPulse;
|
||
|
|
* config->enableModuloCountMode = false;
|
||
|
|
* config->positionModulusValue = 0U;
|
||
|
|
* config->positionInitialValue = 0U;
|
||
|
|
* @endcode
|
||
|
|
* @param config Pointer to a variable of configuration structure. See to "enc_config_t".
|
||
|
|
*/
|
||
|
|
void ENC_GetDefaultConfig(enc_config_t *config);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Load the initial position value to position counter.
|
||
|
|
*
|
||
|
|
* This function is to transfer the initial position value (UINIT and LINIT) contents to position counter (UPOS and
|
||
|
|
* LPOS), so that to provide the consistent operation the position counter registers.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*/
|
||
|
|
void ENC_DoSoftwareLoadInitialPositionValue(ENC_Type *base);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Enable and configure the self test function.
|
||
|
|
*
|
||
|
|
* This function is to enable and configuration the self test function. It controls and sets the frequency of a
|
||
|
|
* quadrature signal generator. It provides a quadrature test signal to the inputs of the quadrature decoder module.
|
||
|
|
* It is a factory test feature; however, it may be useful to customers' software development and testing.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
* @param config Pointer to configuration structure. See to "enc_self_test_config_t". Pass "NULL" to disable.
|
||
|
|
*/
|
||
|
|
void ENC_SetSelfTestConfig(ENC_Type *base, const enc_self_test_config_t *config);
|
||
|
|
|
||
|
|
/* @} */
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @name Status
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/*!
|
||
|
|
* @brief Get the status flags.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return Mask value of status flags. For available mask, see to "_enc_status_flags".
|
||
|
|
*/
|
||
|
|
uint32_t ENC_GetStatusFlags(ENC_Type *base);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Clear the status flags.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
* @param mask Mask value of status flags to be cleared. For available mask, see to "_enc_status_flags".
|
||
|
|
*/
|
||
|
|
void ENC_ClearStatusFlags(ENC_Type *base, uint32_t mask);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Get the signals' real-time status.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return Mask value of signals' real-time status. For available mask, see to "_enc_signal_status_flags"
|
||
|
|
*/
|
||
|
|
static inline uint16_t ENC_GetSignalStatusFlags(ENC_Type *base)
|
||
|
|
{
|
||
|
|
return base->IMR;
|
||
|
|
}
|
||
|
|
/* @} */
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @name Interrupts
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Enable the interrupts.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
* @param mask Mask value of interrupts to be enabled. For available mask, see to "_enc_interrupt_enable".
|
||
|
|
*/
|
||
|
|
void ENC_EnableInterrupts(ENC_Type *base, uint32_t mask);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Disable the interrupts.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
* @param mask Mask value of interrupts to be disabled. For available mask, see to "_enc_interrupt_enable".
|
||
|
|
*/
|
||
|
|
void ENC_DisableInterrupts(ENC_Type *base, uint32_t mask);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Get the enabled interrupts' flags.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return Mask value of enabled interrupts.
|
||
|
|
*/
|
||
|
|
uint32_t ENC_GetEnabledInterrupts(ENC_Type *base);
|
||
|
|
|
||
|
|
/* @} */
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @name Value Operation
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Get the current position counter's value.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return Current position counter's value.
|
||
|
|
*/
|
||
|
|
uint32_t ENC_GetPositionValue(ENC_Type *base);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Get the hold position counter's value.
|
||
|
|
*
|
||
|
|
* When any of the counter registers is read, the contents of each counter register is written to the corresponding hold
|
||
|
|
* register. Taking a snapshot of the counters' values provides a consistent view of a system position and a velocity to
|
||
|
|
* be attained.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return Hold position counter's value.
|
||
|
|
*/
|
||
|
|
uint32_t ENC_GetHoldPositionValue(ENC_Type *base);
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Get the position difference counter's value.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return The position difference counter's value.
|
||
|
|
*/
|
||
|
|
static inline uint16_t ENC_GetPositionDifferenceValue(ENC_Type *base)
|
||
|
|
{
|
||
|
|
return base->POSD;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Get the hold position difference counter's value.
|
||
|
|
*
|
||
|
|
* When any of the counter registers is read, the contents of each counter register is written to the corresponding hold
|
||
|
|
* register. Taking a snapshot of the counters' values provides a consistent view of a system position and a velocity to
|
||
|
|
* be attained.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return Hold position difference counter's value.
|
||
|
|
*/
|
||
|
|
static inline uint16_t ENC_GetHoldPositionDifferenceValue(ENC_Type *base)
|
||
|
|
{
|
||
|
|
return base->POSDH;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* @brief Get the position revolution counter's value.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return The position revolution counter's value.
|
||
|
|
*/
|
||
|
|
static inline uint16_t ENC_GetRevolutionValue(ENC_Type *base)
|
||
|
|
{
|
||
|
|
return base->REV;
|
||
|
|
}
|
||
|
|
/*!
|
||
|
|
* @brief Get the hold position revolution counter's value.
|
||
|
|
*
|
||
|
|
* When any of the counter registers is read, the contents of each counter register is written to the corresponding hold
|
||
|
|
* register. Taking a snapshot of the counters' values provides a consistent view of a system position and a velocity to
|
||
|
|
* be attained.
|
||
|
|
*
|
||
|
|
* @param base ENC peripheral base address.
|
||
|
|
*
|
||
|
|
* @return Hold position revolution counter's value.
|
||
|
|
*/
|
||
|
|
static inline uint16_t ENC_GetHoldRevolutionValue(ENC_Type *base)
|
||
|
|
{
|
||
|
|
return base->REVH;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* @} */
|
||
|
|
|
||
|
|
#if defined(__cplusplus)
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
/*
|
||
|
|
* @}
|
||
|
|
*/
|
||
|
|
#endif /* _FSL_ENC_H_ */
|