//*****************************************************************************
//
// hw_qei.h - Macros used when accessing the QEI hardware.
//
// Copyright (c) 2005-2017 Texas Instruments Incorporated.  All rights reserved.
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//
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//
//*****************************************************************************

#ifndef __HW_QEI_H__
#define __HW_QEI_H__

//*****************************************************************************
//
// The following are defines for the QEI register offsets.
//
//*****************************************************************************
#define QEI_O_CTL               0x00000000  // QEI Control
#define QEI_O_STAT              0x00000004  // QEI Status
#define QEI_O_POS               0x00000008  // QEI Position
#define QEI_O_MAXPOS            0x0000000C  // QEI Maximum Position
#define QEI_O_LOAD              0x00000010  // QEI Timer Load
#define QEI_O_TIME              0x00000014  // QEI Timer
#define QEI_O_COUNT             0x00000018  // QEI Velocity Counter
#define QEI_O_SPEED             0x0000001C  // QEI Velocity
#define QEI_O_INTEN             0x00000020  // QEI Interrupt Enable
#define QEI_O_RIS               0x00000024  // QEI Raw Interrupt Status
#define QEI_O_ISC               0x00000028  // QEI Interrupt Status and Clear

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_CTL register.
//
//*****************************************************************************
#define QEI_CTL_FILTCNT_M       0x000F0000  // Input Filter Prescale Count
#define QEI_CTL_FILTEN          0x00002000  // Enable Input Filter
#define QEI_CTL_STALLEN         0x00001000  // Stall QEI
#define QEI_CTL_INVI            0x00000800  // Invert Index Pulse
#define QEI_CTL_INVB            0x00000400  // Invert PhB
#define QEI_CTL_INVA            0x00000200  // Invert PhA
#define QEI_CTL_VELDIV_M        0x000001C0  // Predivide Velocity
#define QEI_CTL_VELDIV_1        0x00000000  // QEI clock /1
#define QEI_CTL_VELDIV_2        0x00000040  // QEI clock /2
#define QEI_CTL_VELDIV_4        0x00000080  // QEI clock /4
#define QEI_CTL_VELDIV_8        0x000000C0  // QEI clock /8
#define QEI_CTL_VELDIV_16       0x00000100  // QEI clock /16
#define QEI_CTL_VELDIV_32       0x00000140  // QEI clock /32
#define QEI_CTL_VELDIV_64       0x00000180  // QEI clock /64
#define QEI_CTL_VELDIV_128      0x000001C0  // QEI clock /128
#define QEI_CTL_VELEN           0x00000020  // Capture Velocity
#define QEI_CTL_RESMODE         0x00000010  // Reset Mode
#define QEI_CTL_CAPMODE         0x00000008  // Capture Mode
#define QEI_CTL_SIGMODE         0x00000004  // Signal Mode
#define QEI_CTL_SWAP            0x00000002  // Swap Signals
#define QEI_CTL_ENABLE          0x00000001  // Enable QEI
#define QEI_CTL_FILTCNT_S       16

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_STAT register.
//
//*****************************************************************************
#define QEI_STAT_DIRECTION      0x00000002  // Direction of Rotation
#define QEI_STAT_ERROR          0x00000001  // Error Detected

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_POS register.
//
//*****************************************************************************
#define QEI_POS_M               0xFFFFFFFF  // Current Position Integrator
                                            // Value
#define QEI_POS_S               0

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_MAXPOS register.
//
//*****************************************************************************
#define QEI_MAXPOS_M            0xFFFFFFFF  // Maximum Position Integrator
                                            // Value
#define QEI_MAXPOS_S            0

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_LOAD register.
//
//*****************************************************************************
#define QEI_LOAD_M              0xFFFFFFFF  // Velocity Timer Load Value
#define QEI_LOAD_S              0

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_TIME register.
//
//*****************************************************************************
#define QEI_TIME_M              0xFFFFFFFF  // Velocity Timer Current Value
#define QEI_TIME_S              0

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_COUNT register.
//
//*****************************************************************************
#define QEI_COUNT_M             0xFFFFFFFF  // Velocity Pulse Count
#define QEI_COUNT_S             0

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_SPEED register.
//
//*****************************************************************************
#define QEI_SPEED_M             0xFFFFFFFF  // Velocity
#define QEI_SPEED_S             0

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_INTEN register.
//
//*****************************************************************************
#define QEI_INTEN_ERROR         0x00000008  // Phase Error Interrupt Enable
#define QEI_INTEN_DIR           0x00000004  // Direction Change Interrupt
                                            // Enable
#define QEI_INTEN_TIMER         0x00000002  // Timer Expires Interrupt Enable
#define QEI_INTEN_INDEX         0x00000001  // Index Pulse Detected Interrupt
                                            // Enable

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_RIS register.
//
//*****************************************************************************
#define QEI_RIS_ERROR           0x00000008  // Phase Error Detected
#define QEI_RIS_DIR             0x00000004  // Direction Change Detected
#define QEI_RIS_TIMER           0x00000002  // Velocity Timer Expired
#define QEI_RIS_INDEX           0x00000001  // Index Pulse Asserted

//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_ISC register.
//
//*****************************************************************************
#define QEI_ISC_ERROR           0x00000008  // Phase Error Interrupt
#define QEI_ISC_DIR             0x00000004  // Direction Change Interrupt
#define QEI_ISC_TIMER           0x00000002  // Velocity Timer Expired Interrupt
#define QEI_ISC_INDEX           0x00000001  // Index Pulse Interrupt

#endif // __HW_QEI_H__