784 lines
24 KiB
C
784 lines
24 KiB
C
//*****************************************************************************
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//
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// qei.c - Driver for the Quadrature Encoder with Index.
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//
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// Copyright (c) 2005-2017 Texas Instruments Incorporated. All rights reserved.
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// Software License Agreement
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// This is part of revision 2.1.4.178 of the Tiva Peripheral Driver Library.
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//
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//*****************************************************************************
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//*****************************************************************************
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//
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//! \addtogroup qei_api
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//! @{
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//
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//*****************************************************************************
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#include <stdbool.h>
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#include <stdint.h>
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#include "inc/hw_ints.h"
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#include "inc/hw_memmap.h"
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#include "inc/hw_qei.h"
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#include "inc/hw_types.h"
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#include "inc/hw_sysctl.h"
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#include "driverlib/debug.h"
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#include "driverlib/interrupt.h"
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#include "driverlib/qei.h"
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//*****************************************************************************
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//
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//! Enables the quadrature encoder.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function enables operation of the quadrature encoder module. The
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//! module must be configured before it is enabled.
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//!
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//! \sa QEIConfigure()
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIEnable(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Enable the QEI module.
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//
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HWREG(ui32Base + QEI_O_CTL) |= QEI_CTL_ENABLE;
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}
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//*****************************************************************************
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//
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//! Disables the quadrature encoder.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function disables operation of the quadrature encoder module.
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIDisable(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Disable the QEI module.
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//
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HWREG(ui32Base + QEI_O_CTL) &= ~(QEI_CTL_ENABLE);
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}
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//*****************************************************************************
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//
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//! Configures the quadrature encoder.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//! \param ui32Config is the configuration for the quadrature encoder. See
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//! below for a description of this parameter.
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//! \param ui32MaxPosition specifies the maximum position value.
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//!
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//! This function configures the operation of the quadrature encoder. The
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//! \e ui32Config parameter provides the configuration of the encoder and is
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//! the logical OR of several values:
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//!
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//! - \b QEI_CONFIG_CAPTURE_A or \b QEI_CONFIG_CAPTURE_A_B specify if edges
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//! on channel A or on both channels A and B should be counted by the
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//! position integrator and velocity accumulator.
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//! - \b QEI_CONFIG_NO_RESET or \b QEI_CONFIG_RESET_IDX specify if the
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//! position integrator should be reset when the index pulse is detected.
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//! - \b QEI_CONFIG_QUADRATURE or \b QEI_CONFIG_CLOCK_DIR specify if
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//! quadrature signals are being provided on ChA and ChB, or if a direction
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//! signal and a clock are being provided instead.
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//! - \b QEI_CONFIG_NO_SWAP or \b QEI_CONFIG_SWAP to specify if the signals
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//! provided on ChA and ChB should be swapped before being processed.
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//!
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//! \e ui32MaxPosition is the maximum value of the position integrator and is
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//! the value used to reset the position capture when in index reset mode and
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//! moving in the reverse (negative) direction.
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIConfigure(uint32_t ui32Base, uint32_t ui32Config,
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uint32_t ui32MaxPosition)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Write the new configuration to the hardware.
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//
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HWREG(ui32Base + QEI_O_CTL) = ((HWREG(ui32Base + QEI_O_CTL) &
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~(QEI_CTL_CAPMODE | QEI_CTL_RESMODE |
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QEI_CTL_SIGMODE | QEI_CTL_SWAP)) |
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ui32Config);
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//
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// Set the maximum position.
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//
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HWREG(ui32Base + QEI_O_MAXPOS) = ui32MaxPosition;
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}
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//*****************************************************************************
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//
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//! Gets the current encoder position.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function returns the current position of the encoder. Depending upon
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//! the configuration of the encoder, and the incident of an index pulse, this
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//! value may or may not contain the expected data (that is, if in reset on
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//! index mode, if an index pulse has not been encountered, the position
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//! counter is not yet aligned with the index pulse).
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//!
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//! \return The current position of the encoder.
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//
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//*****************************************************************************
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uint32_t
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QEIPositionGet(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Return the current position counter.
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//
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return(HWREG(ui32Base + QEI_O_POS));
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}
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//*****************************************************************************
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//
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//! Sets the current encoder position.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//! \param ui32Position is the new position for the encoder.
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//!
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//! This function sets the current position of the encoder; the encoder
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//! position is then measured relative to this value.
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIPositionSet(uint32_t ui32Base, uint32_t ui32Position)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Set the position counter.
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//
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HWREG(ui32Base + QEI_O_POS) = ui32Position;
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}
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//*****************************************************************************
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//
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//! Gets the current direction of rotation.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function returns the current direction of rotation. In this case,
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//! current means the most recently detected direction of the encoder; it may
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//! not be presently moving but this is the direction it last moved before it
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//! stopped.
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//!
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//! \return Returns 1 if moving in the forward direction or -1 if moving in the
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//! reverse direction.
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//
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//*****************************************************************************
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int32_t
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QEIDirectionGet(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Return the direction of rotation.
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//
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return((HWREG(ui32Base + QEI_O_STAT) & QEI_STAT_DIRECTION) ? -1 : 1);
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}
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//*****************************************************************************
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//
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//! Gets the encoder error indicator.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function returns the error indicator for the quadrature encoder. It
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//! is an error for both of the signals of the quadrature input to change at
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//! the same time.
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//!
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//! \return Returns \b true if an error has occurred and \b false otherwise.
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//
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//*****************************************************************************
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bool
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QEIErrorGet(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Return the error indicator.
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//
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return((HWREG(ui32Base + QEI_O_STAT) & QEI_STAT_ERROR) ? true : false);
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}
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//*****************************************************************************
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//
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//! Enables the input filter.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function enables operation of the input filter in the quadrature
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//! encoder module. The module must be configured before input filter is
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//! enabled.
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//!
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//! \sa QEIFilterConfigure() and QEIEnable()
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIFilterEnable(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Enable the input filter.
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//
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HWREG(ui32Base + QEI_O_CTL) |= QEI_CTL_FILTEN;
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}
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//*****************************************************************************
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//
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//! Disables the input filter.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function disables operation of the input filter in the quadrature
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//! encoder module.
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIFilterDisable(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Disable the input filter.
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//
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HWREG(ui32Base + QEI_O_CTL) &= ~(QEI_CTL_FILTEN);
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}
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//*****************************************************************************
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//
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//! Configures the input filter.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//! \param ui32FiltCnt specifies the filter count applied to the input quadrature
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//! signal before it is counted; can be one of \b QEI_FILTCNT_2,
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//! \b QEI_FILTCNT_3, \b QEI_FILTCNT_4, \b QEI_FILTCNT_5, \b QEI_FILTCNT_6,
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//! \b QEI_FILTCNT_7, \b QEI_FILTCNT_8, \b QEI_FILTCNT_9, \b QEI_FILTCNT_10,
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//! \b QEI_FILTCNT_11, \b QEI_FILTCNT_12, \b QEI_FILTCNT_13, \b QEI_FILTCNT_14,
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//! \b QEI_FILTCNT_15, \b QEI_FILTCNT_16 or \b QEI_FILTCNT_17
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//!
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//! This function configures the operation of the input filter prescale count.
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//! as specified by \e ui32FiltCnt before the input signals are sent to the
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//! quadrature encoder module.
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIFilterConfigure(uint32_t ui32Base, uint32_t ui32FiltCnt)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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ASSERT(!(ui32FiltCnt & ~(QEI_CTL_FILTCNT_M)));
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//
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// Set the input filter prescale count.
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//
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HWREG(ui32Base + QEI_O_CTL) = ((HWREG(ui32Base + QEI_O_CTL) &
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~(QEI_CTL_FILTCNT_M)) | ui32FiltCnt);
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}
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//*****************************************************************************
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//
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//! Enables the velocity capture.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function enables operation of the velocity capture in the quadrature
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//! encoder module. The module must be configured before velocity capture is
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//! enabled.
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//!
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//! \sa QEIVelocityConfigure() and QEIEnable()
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIVelocityEnable(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Enable the velocity capture.
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//
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HWREG(ui32Base + QEI_O_CTL) |= QEI_CTL_VELEN;
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}
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//*****************************************************************************
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//
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//! Disables the velocity capture.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//!
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//! This function disables operation of the velocity capture in the quadrature
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//! encoder module.
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIVelocityDisable(uint32_t ui32Base)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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//
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// Disable the velocity capture.
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//
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HWREG(ui32Base + QEI_O_CTL) &= ~(QEI_CTL_VELEN);
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}
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//*****************************************************************************
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//
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//! Configures the velocity capture.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
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//! \param ui32PreDiv specifies the predivider applied to the input quadrature
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//! signal before it is counted; can be one of \b QEI_VELDIV_1,
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//! \b QEI_VELDIV_2, \b QEI_VELDIV_4, \b QEI_VELDIV_8, \b QEI_VELDIV_16,
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//! \b QEI_VELDIV_32, \b QEI_VELDIV_64, or \b QEI_VELDIV_128.
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//! \param ui32Period specifies the number of clock ticks over which to measure
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//! the velocity; must be non-zero.
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//!
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//! This function configures the operation of the velocity capture portion of
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//! the quadrature encoder. The position increment signal is predivided as
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//! specified by \e ui32PreDiv before being accumulated by the velocity
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//! capture. The divided signal is accumulated over \e ui32Period system clock
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//! before being saved and resetting the accumulator.
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//!
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//! \return None.
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//
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//*****************************************************************************
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void
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QEIVelocityConfigure(uint32_t ui32Base, uint32_t ui32PreDiv,
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uint32_t ui32Period)
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{
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//
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// Check the arguments.
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//
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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ASSERT(!(ui32PreDiv & ~(QEI_CTL_VELDIV_M)));
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ASSERT(ui32Period != 0);
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//
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// Set the velocity predivider.
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//
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HWREG(ui32Base + QEI_O_CTL) = ((HWREG(ui32Base + QEI_O_CTL) &
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~(QEI_CTL_VELDIV_M)) | ui32PreDiv);
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|
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//
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// Set the timer period.
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//
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HWREG(ui32Base + QEI_O_LOAD) = ui32Period - 1;
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}
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|
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//*****************************************************************************
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//
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//! Gets the current encoder speed.
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//!
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//! \param ui32Base is the base address of the quadrature encoder module.
|
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//!
|
|
//! This function returns the current speed of the encoder. The value returned
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//! is the number of pulses detected in the specified time period; this number
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|
//! can be multiplied by the number of time periods per second and divided by
|
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//! the number of pulses per revolution to obtain the number of revolutions per
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//! second.
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//!
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//! \return Returns the number of pulses captured in the given time period.
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//
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//*****************************************************************************
|
|
uint32_t
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QEIVelocityGet(uint32_t ui32Base)
|
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{
|
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//
|
|
// Check the arguments.
|
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//
|
|
ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
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|
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//
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// Return the speed capture value.
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//
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return(HWREG(ui32Base + QEI_O_SPEED));
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}
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|
|
//*****************************************************************************
|
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//
|
|
//! Returns the quadrature encoder interrupt number.
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|
//!
|
|
//! \param ui32Base is the base address of the selected quadrature encoder
|
|
//!
|
|
//! This function returns the interrupt number for the quadrature encoder with
|
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//! the base address passed in the \e ui32Base parameter.
|
|
//!
|
|
//! \return Returns a quadrature encoder interrupt number or 0 if the interrupt
|
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//! does not exist.
|
|
//
|
|
//*****************************************************************************
|
|
static uint32_t
|
|
_QEIIntNumberGet(uint32_t ui32Base)
|
|
{
|
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uint32_t ui32Int;
|
|
|
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ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
|
|
|
|
//
|
|
// Find the valid interrupt number for this quadrature encoder.
|
|
//
|
|
if(CLASS_IS_TM4C123)
|
|
{
|
|
if(ui32Base == QEI0_BASE)
|
|
{
|
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ui32Int = INT_QEI0_TM4C123;
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|
}
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|
else
|
|
{
|
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ui32Int = INT_QEI1_TM4C123;
|
|
}
|
|
}
|
|
else if(CLASS_IS_TM4C129)
|
|
{
|
|
if(ui32Base == QEI0_BASE)
|
|
{
|
|
ui32Int = INT_QEI0_TM4C129;
|
|
}
|
|
else
|
|
{
|
|
ui32Int = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
ui32Int = 0;
|
|
}
|
|
|
|
return(ui32Int);
|
|
}
|
|
|
|
//*****************************************************************************
|
|
//
|
|
//! Registers an interrupt handler for the quadrature encoder interrupt.
|
|
//!
|
|
//! \param ui32Base is the base address of the quadrature encoder module.
|
|
//! \param pfnHandler is a pointer to the function to be called when the
|
|
//! quadrature encoder interrupt occurs.
|
|
//!
|
|
//! This function registers the handler to be called when a quadrature encoder
|
|
//! interrupt occurs. This function enables the global interrupt in the
|
|
//! interrupt controller; specific quadrature encoder interrupts must be
|
|
//! enabled via QEIIntEnable(). It is the interrupt handler's responsibility
|
|
//! to clear the interrupt source via QEIIntClear().
|
|
//!
|
|
//! \sa IntRegister() for important information about registering interrupt
|
|
//! handlers.
|
|
//!
|
|
//! \return None.
|
|
//
|
|
//*****************************************************************************
|
|
void
|
|
QEIIntRegister(uint32_t ui32Base, void (*pfnHandler)(void))
|
|
{
|
|
uint32_t ui32Int;
|
|
|
|
//
|
|
// Check the arguments.
|
|
//
|
|
ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
|
|
|
|
//
|
|
// Determine the interrupt number based on the QEI module.
|
|
//
|
|
ui32Int = _QEIIntNumberGet(ui32Base);
|
|
|
|
ASSERT(ui32Int != 0);
|
|
|
|
//
|
|
// Register the interrupt handler, returning an error if an error occurs.
|
|
//
|
|
IntRegister(ui32Int, pfnHandler);
|
|
|
|
//
|
|
// Enable the quadrature encoder interrupt.
|
|
//
|
|
IntEnable(ui32Int);
|
|
}
|
|
|
|
//*****************************************************************************
|
|
//
|
|
//! Unregisters an interrupt handler for the quadrature encoder interrupt.
|
|
//!
|
|
//! \param ui32Base is the base address of the quadrature encoder module.
|
|
//!
|
|
//! This function unregisters the handler to be called when a quadrature
|
|
//! encoder interrupt occurs. This function also masks off the interrupt in
|
|
//! the interrupt controller so that the interrupt handler no longer is called.
|
|
//!
|
|
//! \sa IntRegister() for important information about registering interrupt
|
|
//! handlers.
|
|
//!
|
|
//! \return None.
|
|
//
|
|
//*****************************************************************************
|
|
void
|
|
QEIIntUnregister(uint32_t ui32Base)
|
|
{
|
|
uint32_t ui32Int;
|
|
|
|
//
|
|
// Check the arguments.
|
|
//
|
|
ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
|
|
|
|
//
|
|
// Determine the interrupt number based on the QEI module.
|
|
//
|
|
ui32Int = _QEIIntNumberGet(ui32Base);
|
|
|
|
ASSERT(ui32Int != 0);
|
|
|
|
//
|
|
// Disable the interrupt.
|
|
//
|
|
IntDisable(ui32Int);
|
|
|
|
//
|
|
// Unregister the interrupt handler.
|
|
//
|
|
IntUnregister(ui32Int);
|
|
}
|
|
|
|
//*****************************************************************************
|
|
//
|
|
//! Enables individual quadrature encoder interrupt sources.
|
|
//!
|
|
//! \param ui32Base is the base address of the quadrature encoder module.
|
|
//! \param ui32IntFlags is a bit mask of the interrupt sources to be enabled.
|
|
//! Can be any of the \b QEI_INTERROR, \b QEI_INTDIR, \b QEI_INTTIMER, or
|
|
//! \b QEI_INTINDEX values.
|
|
//!
|
|
//! This function enables the indicated quadrature encoder interrupt sources.
|
|
//! Only the sources that are enabled can be reflected to the processor
|
|
//! interrupt; disabled sources have no effect on the processor.
|
|
//!
|
|
//! \return None.
|
|
//
|
|
//*****************************************************************************
|
|
void
|
|
QEIIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags)
|
|
{
|
|
//
|
|
// Check the arguments.
|
|
//
|
|
ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
|
|
|
|
//
|
|
// Enable the specified interrupts.
|
|
//
|
|
HWREG(ui32Base + QEI_O_INTEN) |= ui32IntFlags;
|
|
}
|
|
|
|
//*****************************************************************************
|
|
//
|
|
//! Disables individual quadrature encoder interrupt sources.
|
|
//!
|
|
//! \param ui32Base is the base address of the quadrature encoder module.
|
|
//! \param ui32IntFlags is a bit mask of the interrupt sources to be disabled.
|
|
//! This parameter can be any of the \b QEI_INTERROR, \b QEI_INTDIR,
|
|
//! \b QEI_INTTIMER, or \b QEI_INTINDEX values.
|
|
//!
|
|
//! This function disables the indicated quadrature encoder interrupt sources.
|
|
//! Only the sources that are enabled can be reflected to the processor
|
|
//! interrupt; disabled sources have no effect on the processor.
|
|
//!
|
|
//! \return None.
|
|
//
|
|
//*****************************************************************************
|
|
void
|
|
QEIIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags)
|
|
{
|
|
//
|
|
// Check the arguments.
|
|
//
|
|
ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
|
|
|
|
//
|
|
// Disable the specified interrupts.
|
|
//
|
|
HWREG(ui32Base + QEI_O_INTEN) &= ~(ui32IntFlags);
|
|
}
|
|
|
|
//*****************************************************************************
|
|
//
|
|
//! Gets the current interrupt status.
|
|
//!
|
|
//! \param ui32Base is the base address of the quadrature encoder module.
|
|
//! \param bMasked is false if the raw interrupt status is required and true if
|
|
//! the masked interrupt status is required.
|
|
//!
|
|
//! This function returns the interrupt status for the quadrature encoder
|
|
//! module. Either the raw interrupt status or the status of interrupts that
|
|
//! are allowed to reflect to the processor can be returned.
|
|
//!
|
|
//! \return Returns the current interrupt status, enumerated as a bit field of
|
|
//! \b QEI_INTERROR, \b QEI_INTDIR, \b QEI_INTTIMER, and \b QEI_INTINDEX.
|
|
//
|
|
//*****************************************************************************
|
|
uint32_t
|
|
QEIIntStatus(uint32_t ui32Base, bool bMasked)
|
|
{
|
|
//
|
|
// Check the arguments.
|
|
//
|
|
ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
|
|
|
|
//
|
|
// Return either the interrupt status or the raw interrupt status as
|
|
// requested.
|
|
//
|
|
if(bMasked)
|
|
{
|
|
return(HWREG(ui32Base + QEI_O_ISC));
|
|
}
|
|
else
|
|
{
|
|
return(HWREG(ui32Base + QEI_O_RIS));
|
|
}
|
|
}
|
|
|
|
//*****************************************************************************
|
|
//
|
|
//! Clears quadrature encoder interrupt sources.
|
|
//!
|
|
//! \param ui32Base is the base address of the quadrature encoder module.
|
|
//! \param ui32IntFlags is a bit mask of the interrupt sources to be cleared.
|
|
//! This parameter can be any of the \b QEI_INTERROR, \b QEI_INTDIR,
|
|
//! \b QEI_INTTIMER, or \b QEI_INTINDEX values.
|
|
//!
|
|
//! The specified quadrature encoder interrupt sources are cleared, so that
|
|
//! they no longer assert. This function must be called in the interrupt
|
|
//! handler to keep the interrupt from being triggered again immediately upon
|
|
//! exit.
|
|
//!
|
|
//! \note Because there is a write buffer in the Cortex-M processor, it may
|
|
//! take several clock cycles before the interrupt source is actually cleared.
|
|
//! Therefore, it is recommended that the interrupt source be cleared early in
|
|
//! the interrupt handler (as opposed to the very last action) to avoid
|
|
//! returning from the interrupt handler before the interrupt source is
|
|
//! actually cleared. Failure to do so may result in the interrupt handler
|
|
//! being immediately reentered (because the interrupt controller still sees
|
|
//! the interrupt source asserted).
|
|
//!
|
|
//! \return None.
|
|
//
|
|
//*****************************************************************************
|
|
void
|
|
QEIIntClear(uint32_t ui32Base, uint32_t ui32IntFlags)
|
|
{
|
|
//
|
|
// Check the arguments.
|
|
//
|
|
ASSERT((ui32Base == QEI0_BASE) || (ui32Base == QEI1_BASE));
|
|
|
|
//
|
|
// Clear the requested interrupt sources.
|
|
//
|
|
HWREG(ui32Base + QEI_O_ISC) = ui32IntFlags;
|
|
}
|
|
|
|
//*****************************************************************************
|
|
//
|
|
// Close the Doxygen group.
|
|
//! @}
|
|
//
|
|
//*****************************************************************************
|