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rt-thread/bsp/nuvoton/libraries/m460/StdDriver/inc/nu_eqei.h

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/**************************************************************************//**
* @file nu_eqei.h
* @version V3.00
* @brief Enhanced Quadrature Encoder Interface (EQEI) driver header file
*
* SPDX-License-Identifier: Apache-2.0
* @copyright (C) 2021 Nuvoton Technology Corp. All rights reserved.
*****************************************************************************/
#ifndef __NU_EQEI_H__
#define __NU_EQEI_H__
#ifdef __cplusplus
extern "C"
{
#endif
/** @addtogroup Standard_Driver Standard Driver
@{
*/
/** @addtogroup EQEI_Driver EQEI Driver
@{
*/
/** @addtogroup EQEI_EXPORTED_CONSTANTS EQEI Exported Constants
@{
*/
/*---------------------------------------------------------------------------------------------------------*/
/* EQEI counting mode selection constants definitions */
/*---------------------------------------------------------------------------------------------------------*/
#define EQEI_CTL_X4_FREE_COUNTING_MODE (0x0<<EQEI_CTL_MODE_Pos) /*!<EQEI operate in X4 free-counting mode \hideinitializer */
#define EQEI_CTL_X2_FREE_COUNTING_MODE (0x1<<EQEI_CTL_MODE_Pos) /*!<EQEI operate in X2 free-counting mode \hideinitializer */
#define EQEI_CTL_X4_COMPARE_COUNTING_MODE (0x2<<EQEI_CTL_MODE_Pos) /*!<EQEI operate in X4 compare-counting mode \hideinitializer */
#define EQEI_CTL_X2_COMPARE_COUNTING_MODE (0x3<<EQEI_CTL_MODE_Pos) /*!<EQEI operate in X2 compare-counting mode \hideinitializer */
#define EQEI_CTL_PHASE_COUNTING_MODE_TYPE1 (0x4<<EQEI_CTL_MODE_Pos) /*!<EQEI operate in phase counting mode type 1 \hideinitializer */
#define EQEI_CTL_PHASE_COUNTING_MODE_TYPE2 (0x5<<EQEI_CTL_MODE_Pos) /*!<EQEI operate in phase counting mode type 1 \hideinitializer */
#define EQEI_CTL_DIRECTIONAL_COUNTING_MODE (0x6<<EQEI_CTL_MODE_Pos) /*!<EQEI operate in directional counting mode \hideinitializer */
/*---------------------------------------------------------------------------------------------------------*/
/* EQEI noise filter clock pre-divide selection constants definitions */
/*---------------------------------------------------------------------------------------------------------*/
#define EQEI_CTL_NFCLKSEL_DIV1 (0x0<<EQEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is EQEI_CLK \hideinitializer */
#define EQEI_CTL_NFCLKSEL_DIV2 (0x1<<EQEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is EQEI_CLK/2 \hideinitializer */
#define EQEI_CTL_NFCLKSEL_DIV4 (0x2<<EQEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is EQEI_CLK/4 \hideinitializer */
#define EQEI_CTL_NFCLKSEL_DIV16 (0x3<<EQEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is EQEI_CLK/16 \hideinitializer */
#define EQEI_CTL_NFCLKSEL_DIV32 (0x4<<EQEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is EQEI_CLK/32 \hideinitializer */
#define EQEI_CTL_NFCLKSEL_DIV64 (0x5<<EQEI_CTL_NFCLKSEL_Pos) /*!< The sampling frequency of the noise filter is EQEI_CLK/64 \hideinitializer */
/*---------------------------------------------------------------------------------------------------------*/
/* EQEI Clock Rate Setting without Quadrature Mode definitions */
/*---------------------------------------------------------------------------------------------------------*/
#define EQEI_CTL2_X1_COUNT_FALLING (0x0<<EQEI_CTL2_CRS_Pos) /*!<EQEI counter only counts the falling edge \hideinitializer */
#define EQEI_CTL2_X1_COUNT_RISING (0x1<<EQEI_CTL2_CRS_Pos) /*!<EQEI counter only counts the rising edge \hideinitializer */
#define EQEI_CTL2_X2_COUNT_FALLING_AND_RISING (0x2<<EQEI_CTL2_CRS_Pos) /*!<EQEI counter counts the rising and falling edge \hideinitializer */
/*---------------------------------------------------------------------------------------------------------*/
/* EQEI Direction Signal Source Select definitions */
/*---------------------------------------------------------------------------------------------------------*/
#define EQEI_CTL2_DIRCTION_FROM_EQEI_CALC (0x0<<EQEI_CTL2_DIRSRC_Pos) /*!<Direction signal is determined from EQEI system calculation \hideinitializer */
#define EQEI_CTL2_DIRCTION_TIED_HIGH (0x2<<EQEI_CTL2_DIRSRC_Pos) /*!<Direction signal is tied 1 only for direction up count mode \hideinitializer */
#define EQEI_CTL2_DIRCTION_TIED_LOW (0x3<<EQEI_CTL2_DIRSRC_Pos) /*!<Direction signal is tied 0 only for direction down count mode \hideinitializer */
/*@}*/ /* end of group EQEI_EXPORTED_CONSTANTS */
/** @addtogroup EQEI_EXPORTED_FUNCTIONS EQEI Exported Functions
@{
*/
/**
* @brief Disable EQEI compare function
* @param[in] eqei The pointer of the specified EQEI module.
* @return None
* @details This macro disable EQEI counter compare function.
* \hideinitializer
*/
#define EQEI_DISABLE_CNT_CMP(eqei) ((eqei)->CTL &= (~EQEI_CTL_CMPEN_Msk))
/**
* @brief Enable EQEI compare function
* @param[in] eqei The pointer of the specified EQEI module.
* @return None
* @details This macro enable EQEI counter compare function.
* \hideinitializer
*/
#define EQEI_ENABLE_CNT_CMP(eqei) ((eqei)->CTL |= EQEI_CTL_CMPEN_Msk)
/**
* @brief Disable EQEI index latch function
* @param[in] eqei The pointer of the specified EQEI module.
* @return None
* @details This macro disable EQEI index trigger counter latch function.
* \hideinitializer
*/
#define EQEI_DISABLE_INDEX_LATCH(eqei) ((eqei)->CTL &= (~EQEI_CTL_IDXLATEN_Msk))
/**
* @brief Enable EQEI index latch function
* @param[in] eqei The pointer of the specified EQEI module.
* @return None
* @details This macro enable EQEI index trigger counter latch function.
* \hideinitializer
*/
#define EQEI_ENABLE_INDEX_LATCH(eqei) ((eqei)->CTL |= EQEI_CTL_IDXLATEN_Msk)
/**
* @brief Disable EQEI index reload function
* @param[in] eqei The pointer of the specified EQEI module.
* @return None
* @details This macro disable EQEI index trigger counter reload function.
* \hideinitializer
*/
#define EQEI_DISABLE_INDEX_RELOAD(eqei) ((eqei)->CTL &= (~EQEI_CTL_IDXRLDEN_Msk))
/**
* @brief Enable EQEI index reload function
* @param[in] eqei The pointer of the specified EQEI module.
* @return None
* @details This macro enable EQEI index trigger counter reload function.
* \hideinitializer
*/
#define EQEI_ENABLE_INDEX_RELOAD(eqei) ((eqei)->CTL |= EQEI_CTL_IDXRLDEN_Msk)
/**
* @brief Disable EQEI input
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32InputType Input signal type.
* - \ref EQEI_CTL_CHAEN_Msk : QEA input
* - \ref EQEI_CTL_CHAEN_Msk : QEB input
* - \ref EQEI_CTL_IDXEN_Msk : IDX input
* @return None
* @details This macro disable specified EQEI signal input.
* \hideinitializer
*/
#define EQEI_DISABLE_INPUT(eqei, u32InputType) ((eqei)->CTL &= ~(u32InputType))
/**
* @brief Enable EQEI input
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32InputType Input signal type .
* - \ref EQEI_CTL_CHAEN_Msk : QEA input
* - \ref EQEI_CTL_CHBEN_Msk : QEB input
* - \ref EQEI_CTL_IDXEN_Msk : IDX input
* @return None
* @details This macro enable specified EQEI signal input.
* \hideinitializer
*/
#define EQEI_ENABLE_INPUT(eqei, u32InputType) ((eqei)->CTL |= (u32InputType))
/**
* @brief Disable inverted input polarity
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32InputType Input signal type .
* - \ref EQEI_CTL_CHAINV_Msk : QEA Input
* - \ref EQEI_CTL_CHBINV_Msk : QEB Input
* - \ref EQEI_CTL_IDXINV_Msk : IDX Input
* @return None
* @details This macro disable specified EQEI signal inverted input polarity.
* \hideinitializer
*/
#define EQEI_DISABLE_INPUT_INV(eqei, u32InputType) ((eqei)->CTL &= ~(u32InputType))
/**
* @brief Enable inverted input polarity
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32InputType Input signal type.
* - \ref EQEI_CTL_CHAINV_Msk : QEA Input
* - \ref EQEI_CTL_CHBINV_Msk : QEB Input
* - \ref EQEI_CTL_IDXINV_Msk : IDX Input
* @return None
* @details This macro inverse specified EQEI signal input polarity.
* \hideinitializer
*/
#define EQEI_ENABLE_INPUT_INV(eqei, u32InputType) ((qei)->CTL |= (u32InputType))
/**
* @brief Disable EQEI interrupt
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32IntSel Interrupt type selection.
* - \ref EQEI_CTL_DIRIEN_Msk : Direction change interrupt
* - \ref EQEI_CTL_OVUNIEN_Msk : Counter overflow or underflow interrupt
* - \ref EQEI_CTL_CMPIEN_Msk : Compare-match interrupt
* - \ref EQEI_CTL_IDXIEN_Msk : Index detected interrupt
* @return None
* @details This macro disable specified EQEI interrupt.
* \hideinitializer
*/
#define EQEI_DISABLE_INT(eqei, u32IntSel) ((eqei)->CTL &= ~(u32IntSel))
/**
* @brief Enable EQEI interrupt
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32IntSel Interrupt type selection.
* - \ref EQEI_CTL_DIRIEN_Msk : Direction change interrupt
* - \ref EQEI_CTL_OVUNIEN_Msk : Counter overflow or underflow interrupt
* - \ref EQEI_CTL_CMPIEN_Msk : Compare-match interrupt
* - \ref EQEI_CTL_IDXIEN_Msk : Index detected interrupt
* @return None
* @details This macro enable specified EQEI interrupt.
* \hideinitializer
*/
#define EQEI_ENABLE_INT(eqei, u32IntSel) ((eqei)->CTL |= (u32IntSel))
/**
* @brief Disable EQEI noise filter
* @param[in] eqei The pointer of the specified EQEI module.
* @return None
* @details This macro disable EQEI noise filter function.
* \hideinitializer
*/
#define EQEI_DISABLE_NOISE_FILTER(eqei) ((eqei)->CTL |= EQEI_CTL_NFDIS_Msk)
/**
* @brief Enable EQEI noise filter
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32ClkSel The sampling frequency of the noise filter clock.
* - \ref EQEI_CTL_NFCLKSEL_DIV1
* - \ref EQEI_CTL_NFCLKSEL_DIV2
* - \ref EQEI_CTL_NFCLKSEL_DIV4
* - \ref EQEI_CTL_NFCLKSEL_DIV16
* - \ref EQEI_CTL_NFCLKSEL_DIV32
* - \ref EQEI_CTL_NFCLKSEL_DIV64
* @return None
* @details This macro enable EQEI noise filter function and select noise filter clock.
* \hideinitializer
*/
#define EQEI_ENABLE_NOISE_FILTER(eqei, u32ClkSel) ((eqei)->CTL = ((eqei)->CTL & (~(EQEI_CTL_NFDIS_Msk|EQEI_CTL_NFCLKSEL_Msk))) | (u32ClkSel))
/**
* @brief Get EQEI counter value
* @param[in] eqei The pointer of the specified EQEI module.
* @return EQEI pulse counter register value.
* @details This macro get EQEI pulse counter value.
* \hideinitializer
*/
#define EQEI_GET_CNT_VALUE(eqei) ((eqei)->CNT)
/**
* @brief Get EQEI counting direction
* @param[in] eqei The pointer of the specified EQEI module.
* @retval 0 EQEI counter is in down-counting.
* @retval 1 EQEI counter is in up-counting.
* @details This macro get EQEI counting direction.
* \hideinitializer
*/
#define EQEI_GET_DIR(eqei) (((eqei)->STATUS & (EQEI_STATUS_DIRF_Msk))?1:0)
/**
* @brief Get EQEI counter hold value
* @param[in] eqei The pointer of the specified EQEI module.
* @return EQEI pulse counter hold register value.
* @details This macro get EQEI pulse counter hold value, which is updated with counter value in hold counter value control.
* \hideinitializer
*/
#define EQEI_GET_HOLD_VALUE(eqei) ((eqei)->CNTHOLD)
/**
* @brief Get EQEI counter index latch value
* @param[in] eqei The pointer of the specified EQEI module.
* @return EQEI pulse counter index latch value
* @details This macro get EQEI pulse counter index latch value, which is updated with counter value when the index is detected.
* \hideinitializer
*/
#define EQEI_GET_INDEX_LATCH_VALUE(eqei) ((eqei)->CNTLATCH)
/**
* @brief Set EQEI counter index latch value
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Val The latch value.
* @return EQEI pulse counter index latch value
* @details This macro set EQEI pulse counter index latch value, which is updated with counter value when the index is detected.
* \hideinitializer
*/
#define EQEI_SET_INDEX_LATCH_VALUE(eqei,u32Val) ((eqei)->CNTLATCH = (u32Val))
/**
* @brief Get EQEI interrupt flag status
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32IntSel Interrupt type selection.
* - \ref EQEI_STATUS_DIRF_Msk : Counting direction flag
* - \ref EQEI_STATUS_DIRCHGF_Msk : Direction change flag
* - \ref EQEI_STATUS_OVUNF_Msk : Counter overflow or underflow flag
* - \ref EQEI_STATUS_CMPF_Msk : Compare-match flag
* - \ref EQEI_STATUS_IDXF_Msk : Index detected flag
* @retval 0 EQEI specified interrupt flag is not set.
* @retval 1 EQEI specified interrupt flag is set.
* @details This macro get EQEI specified interrupt flag status.
* \hideinitializer
*/
#define EQEI_GET_INT_FLAG(eqei, u32IntSel) (((eqei)->STATUS & (u32IntSel))?1:0)
/**
* @brief Clear EQEI interrupt flag
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32IntSel Interrupt type selection.
* - \ref EQEI_STATUS_DIRCHGF_Msk : Direction change flag
* - \ref EQEI_STATUS_OVUNF_Msk : Counter overflow or underflow flag
* - \ref EQEI_STATUS_CMPF_Msk : Compare-match flag
* - \ref EQEI_STATUS_IDXF_Msk : Index detected flag
* @return None
* @details This macro clear EQEI specified interrupt flag.
* \hideinitializer
*/
#define EQEI_CLR_INT_FLAG(eqei, u32IntSel) ((eqei)->STATUS = (u32IntSel))
/**
* @brief Set EQEI counter compare value
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Value The counter compare value.
* @return None
* @details This macro set EQEI pulse counter compare value.
* \hideinitializer
*/
#define EQEI_SET_CNT_CMP(eqei, u32Value) ((eqei)->CNTCMP = (u32Value))
/**
* @brief Set EQEI counter value
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Value The counter compare value.
* @return None
* @details This macro set EQEI pulse counter value.
* \hideinitializer
*/
#define EQEI_SET_CNT_VALUE(eqei, u32Value) ((eqei)->CNT = (u32Value))
/**
* @brief Enable EQEI counter hold mode
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Type The triggered type.
* - \ref EQEI_CTL_HOLDCNT_Msk : Hold EQEI_CNT control
* - \ref EQEI_CTL_HOLDTMR0_Msk : Hold EQEI_CNT by Timer0
* - \ref EQEI_CTL_HOLDTMR1_Msk : Hold EQEI_CNT by Timer1
* - \ref EQEI_CTL_HOLDTMR2_Msk : Hold EQEI_CNT by Timer2
* - \ref EQEI_CTL_HOLDTMR3_Msk : Hold EQEI_CNT by Timer3
* @return None
* @details This macro enable EQEI counter hold mode.
* \hideinitializer
*/
#define EQEI_ENABLE_HOLD_TRG_SRC(eqei, u32Type) ((eqei)->CTL |= (u32Type))
/**
* @brief Disable EQEI counter hold mode
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Type The triggered type.
* - \ref EQEI_CTL_HOLDCNT_Msk : Hold EQEI_CNT control
* - \ref EQEI_CTL_HOLDTMR0_Msk : Hold EQEI_CNT by Timer0
* - \ref EQEI_CTL_HOLDTMR1_Msk : Hold EQEI_CNT by Timer1
* - \ref EQEI_CTL_HOLDTMR2_Msk : Hold EQEI_CNT by Timer2
* - \ref EQEI_CTL_HOLDTMR3_Msk : Hold EQEI_CNT by Timer3
* @return None
* @details This macro disable EQEI counter hold mode.
* \hideinitializer
*/
#define EQEI_DISABLE_HOLD_TRG_SRC(eqei, u32Type) ((eqei)->CTL &= ~(u32Type))
/**
* @brief Set EQEI maximum count value
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Value The counter maximum value.
* @return EQEI maximum count value
* @details This macro set EQEI maximum count value.
* \hideinitializer
*/
#define EQEI_SET_CNT_MAX(eqei, u32Value) ((eqei)->CNTMAX = (u32Value))
/**
* @brief Set EQEI counting mode
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Mode EQEI counting mode.
* - \ref EQEI_CTL_X4_FREE_COUNTING_MODE
* - \ref EQEI_CTL_X2_FREE_COUNTING_MODE
* - \ref EQEI_CTL_X4_COMPARE_COUNTING_MODE
* - \ref EQEI_CTL_X2_COMPARE_COUNTING_MODE
* - \ref EQEI_CTL_PHASE_COUNTING_MODE_TYPE1
* - \ref EQEI_CTL_PHASE_COUNTING_MODE_TYPE2
* - \ref EQEI_CTL_DIRECTIONAL_COUNTING_MODE
* @return None
* @details This macro set EQEI counting mode.
* \hideinitializer
*/
#define EQEI_SET_CNT_MODE(eqei, u32Mode) ((eqei)->CTL = ((eqei)->CTL & (~EQEI_CTL_MODE_Msk)) | (u32Mode))
/**
* @brief Set EQEI clock rate setting without quadrature mode
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Mode EQEI clock rate setting without quadrature mode.
* - \ref EQEI_CTL2_X1_COUNT_FALLING
* - \ref EQEI_CTL2_X1_COUNT_RISING
* - \ref EQEI_CTL2_X2_COUNT_FALLING_AND_RISING
* @return None
* @details This macro set EQEI clock rate setting without quadrature mode.
* \hideinitializer
*/
#define EQEI_SET_CRS_MODE(eqei, u32Mode) ((eqei)->CTL2 = ((eqei)->CTL2 & (~EQEI_CTL2_CRS_Msk)) | (u32Mode))
/**
* @brief Set EQEI direction signal source select
* @param[in] eqei The pointer of the specified EQEI module.
* @param[in] u32Mode EQEI direction signal source select.
* - \ref EQEI_CTL2_DIRCTION_FROM_EQEI_CALC
* - \ref EQEI_CTL2_DIRCTION_TIED_HIGH
* - \ref EQEI_CTL2_DIRCTION_TIED_LOW
* @return None
* @details This macro set EQEI direction signal source select.
* \hideinitializer
*/
#define EQEI_SET_DIRSRC_MODE(eqei, u32Mode) ((eqei)->CTL2 = ((eqei)->CTL2 & (~EQEI_CTL2_DIRSRC_Msk)) | (u32Mode))
void EQEI_Close(EQEI_T *eqei);
void EQEI_DisableInt(EQEI_T *eqei, uint32_t u32IntSel);
void EQEI_EnableInt(EQEI_T *eqei, uint32_t u32IntSel);
void EQEI_Open(EQEI_T *eqei, uint32_t u32Mode, uint32_t u32Value);
void EQEI_Start(EQEI_T *eqei);
void EQEI_Stop(EQEI_T *eqei);
/*@}*/ /* end of group EQEI_EXPORTED_FUNCTIONS */
/*@}*/ /* end of group EQEI_Driver */
/*@}*/ /* end of group Standard_Driver */
#ifdef __cplusplus
}
#endif
#endif /* __NU_EQEI_H__ */
/*** (C) COPYRIGHT 2021 Nuvoton Technology Corp. ***/
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