1 //***************************************************************************** 2 // 3 // hw_qei.h - Macros used when accessing the QEI hardware. 4 // 5 // Copyright (c) 2005-2012 Texas Instruments Incorporated. All rights reserved. 6 // Software License Agreement 7 // 8 // Redistribution and use in source and binary forms, with or without 9 // modification, are permitted provided that the following conditions 10 // are met: 11 // 12 // Redistributions of source code must retain the above copyright 13 // notice, this list of conditions and the following disclaimer. 14 // 15 // Redistributions in binary form must reproduce the above copyright 16 // notice, this list of conditions and the following disclaimer in the 17 // documentation and/or other materials provided with the 18 // distribution. 19 // 20 // Neither the name of Texas Instruments Incorporated nor the names of 21 // its contributors may be used to endorse or promote products derived 22 // from this software without specific prior written permission. 23 // 24 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 25 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 26 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 27 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 28 // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 29 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 30 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 31 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 32 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 33 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 34 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 35 // 36 // This is part of revision 9453 of the Stellaris Firmware Development Package. 37 // 38 //***************************************************************************** 39 40 #ifndef __HW_QEI_H__ 41 #define __HW_QEI_H__ 42 43 //***************************************************************************** 44 // 45 // The following are defines for the QEI register offsets. 46 // 47 //***************************************************************************** 48 #define QEI_O_CTL 0x00000000 // QEI Control 49 #define QEI_O_STAT 0x00000004 // QEI Status 50 #define QEI_O_POS 0x00000008 // QEI Position 51 #define QEI_O_MAXPOS 0x0000000C // QEI Maximum Position 52 #define QEI_O_LOAD 0x00000010 // QEI Timer Load 53 #define QEI_O_TIME 0x00000014 // QEI Timer 54 #define QEI_O_COUNT 0x00000018 // QEI Velocity Counter 55 #define QEI_O_SPEED 0x0000001C // QEI Velocity 56 #define QEI_O_INTEN 0x00000020 // QEI Interrupt Enable 57 #define QEI_O_RIS 0x00000024 // QEI Raw Interrupt Status 58 #define QEI_O_ISC 0x00000028 // QEI Interrupt Status and Clear 59 60 //***************************************************************************** 61 // 62 // The following are defines for the bit fields in the QEI_O_CTL register. 63 // 64 //***************************************************************************** 65 #define QEI_CTL_FILTCNT_M 0x000F0000 // Input Filter Prescale Count 66 #define QEI_CTL_FILTEN 0x00002000 // Enable Input Filter 67 #define QEI_CTL_STALLEN 0x00001000 // Stall QEI 68 #define QEI_CTL_INVI 0x00000800 // Invert Index Pulse 69 #define QEI_CTL_INVB 0x00000400 // Invert PhB 70 #define QEI_CTL_INVA 0x00000200 // Invert PhA 71 #define QEI_CTL_VELDIV_M 0x000001C0 // Predivide Velocity 72 #define QEI_CTL_VELDIV_1 0x00000000 // QEI clock /1 73 #define QEI_CTL_VELDIV_2 0x00000040 // QEI clock /2 74 #define QEI_CTL_VELDIV_4 0x00000080 // QEI clock /4 75 #define QEI_CTL_VELDIV_8 0x000000C0 // QEI clock /8 76 #define QEI_CTL_VELDIV_16 0x00000100 // QEI clock /16 77 #define QEI_CTL_VELDIV_32 0x00000140 // QEI clock /32 78 #define QEI_CTL_VELDIV_64 0x00000180 // QEI clock /64 79 #define QEI_CTL_VELDIV_128 0x000001C0 // QEI clock /128 80 #define QEI_CTL_VELEN 0x00000020 // Capture Velocity 81 #define QEI_CTL_RESMODE 0x00000010 // Reset Mode 82 #define QEI_CTL_CAPMODE 0x00000008 // Capture Mode 83 #define QEI_CTL_SIGMODE 0x00000004 // Signal Mode 84 #define QEI_CTL_SWAP 0x00000002 // Swap Signals 85 #define QEI_CTL_ENABLE 0x00000001 // Enable QEI 86 #define QEI_CTL_FILTCNT_S 16 87 88 //***************************************************************************** 89 // 90 // The following are defines for the bit fields in the QEI_O_STAT register. 91 // 92 //***************************************************************************** 93 #define QEI_STAT_DIRECTION 0x00000002 // Direction of Rotation 94 #define QEI_STAT_ERROR 0x00000001 // Error Detected 95 96 //***************************************************************************** 97 // 98 // The following are defines for the bit fields in the QEI_O_POS register. 99 // 100 //***************************************************************************** 101 #define QEI_POS_M 0xFFFFFFFF // Current Position Integrator 102 // Value 103 #define QEI_POS_S 0 104 105 //***************************************************************************** 106 // 107 // The following are defines for the bit fields in the QEI_O_MAXPOS register. 108 // 109 //***************************************************************************** 110 #define QEI_MAXPOS_M 0xFFFFFFFF // Maximum Position Integrator 111 // Value 112 #define QEI_MAXPOS_S 0 113 114 //***************************************************************************** 115 // 116 // The following are defines for the bit fields in the QEI_O_LOAD register. 117 // 118 //***************************************************************************** 119 #define QEI_LOAD_M 0xFFFFFFFF // Velocity Timer Load Value 120 #define QEI_LOAD_S 0 121 122 //***************************************************************************** 123 // 124 // The following are defines for the bit fields in the QEI_O_TIME register. 125 // 126 //***************************************************************************** 127 #define QEI_TIME_M 0xFFFFFFFF // Velocity Timer Current Value 128 #define QEI_TIME_S 0 129 130 //***************************************************************************** 131 // 132 // The following are defines for the bit fields in the QEI_O_COUNT register. 133 // 134 //***************************************************************************** 135 #define QEI_COUNT_M 0xFFFFFFFF // Velocity Pulse Count 136 #define QEI_COUNT_S 0 137 138 //***************************************************************************** 139 // 140 // The following are defines for the bit fields in the QEI_O_SPEED register. 141 // 142 //***************************************************************************** 143 #define QEI_SPEED_M 0xFFFFFFFF // Velocity 144 #define QEI_SPEED_S 0 145 146 //***************************************************************************** 147 // 148 // The following are defines for the bit fields in the QEI_O_INTEN register. 149 // 150 //***************************************************************************** 151 #define QEI_INTEN_ERROR 0x00000008 // Phase Error Interrupt Enable 152 #define QEI_INTEN_DIR 0x00000004 // Direction Change Interrupt 153 // Enable 154 #define QEI_INTEN_TIMER 0x00000002 // Timer Expires Interrupt Enable 155 #define QEI_INTEN_INDEX 0x00000001 // Index Pulse Detected Interrupt 156 // Enable 157 158 //***************************************************************************** 159 // 160 // The following are defines for the bit fields in the QEI_O_RIS register. 161 // 162 //***************************************************************************** 163 #define QEI_RIS_ERROR 0x00000008 // Phase Error Detected 164 #define QEI_RIS_DIR 0x00000004 // Direction Change Detected 165 #define QEI_RIS_TIMER 0x00000002 // Velocity Timer Expired 166 #define QEI_RIS_INDEX 0x00000001 // Index Pulse Asserted 167 168 //***************************************************************************** 169 // 170 // The following are defines for the bit fields in the QEI_O_ISC register. 171 // 172 //***************************************************************************** 173 #define QEI_ISC_ERROR 0x00000008 // Phase Error Interrupt 174 #define QEI_ISC_DIR 0x00000004 // Direction Change Interrupt 175 #define QEI_ISC_TIMER 0x00000002 // Velocity Timer Expired Interrupt 176 #define QEI_ISC_INDEX 0x00000001 // Index Pulse Interrupt 177 178 //***************************************************************************** 179 // 180 // The following definitions are deprecated. 181 // 182 //***************************************************************************** 183 #ifndef DEPRECATED 184 185 //***************************************************************************** 186 // 187 // The following are deprecated defines for the bit fields in the QEI_ISC 188 // register. 189 // 190 //***************************************************************************** 191 #define QEI_INT_ERROR 0x00000008 // Phase error detected 192 #define QEI_INT_DIR 0x00000004 // Direction change 193 #define QEI_INT_TIMER 0x00000002 // Velocity timer expired 194 #define QEI_INT_INDEX 0x00000001 // Index pulse detected 195 196 //***************************************************************************** 197 // 198 // The following are deprecated defines for the reset values for the QEI 199 // registers. 200 // 201 //***************************************************************************** 202 #define QEI_RV_POS 0x00000000 // Current position register 203 #define QEI_RV_LOAD 0x00000000 // Velocity timer load register 204 #define QEI_RV_CTL 0x00000000 // Configuration and control reg 205 #define QEI_RV_RIS 0x00000000 // Raw interrupt status register 206 #define QEI_RV_ISC 0x00000000 // Interrupt status register 207 #define QEI_RV_SPEED 0x00000000 // Velocity speed register 208 #define QEI_RV_INTEN 0x00000000 // Interrupt enable register 209 #define QEI_RV_STAT 0x00000000 // Status register 210 #define QEI_RV_COUNT 0x00000000 // Velocity pulse count register 211 #define QEI_RV_MAXPOS 0x00000000 // Maximum position register 212 #define QEI_RV_TIME 0x00000000 // Velocity timer register 213 214 #endif 215 216 #endif // __HW_QEI_H__ 217