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