1 //***************************************************************************** 2 // 3 // hw_qei.h - Macros used when accessing the QEI hardware. 4 // 5 // Copyright (c) 2005-2017 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 //***************************************************************************** 37 38 #ifndef __HW_QEI_H__ 39 #define __HW_QEI_H__ 40 41 //***************************************************************************** 42 // 43 // The following are defines for the QEI register offsets. 44 // 45 //***************************************************************************** 46 #define QEI_O_CTL 0x00000000 // QEI Control 47 #define QEI_O_STAT 0x00000004 // QEI Status 48 #define QEI_O_POS 0x00000008 // QEI Position 49 #define QEI_O_MAXPOS 0x0000000C // QEI Maximum Position 50 #define QEI_O_LOAD 0x00000010 // QEI Timer Load 51 #define QEI_O_TIME 0x00000014 // QEI Timer 52 #define QEI_O_COUNT 0x00000018 // QEI Velocity Counter 53 #define QEI_O_SPEED 0x0000001C // QEI Velocity 54 #define QEI_O_INTEN 0x00000020 // QEI Interrupt Enable 55 #define QEI_O_RIS 0x00000024 // QEI Raw Interrupt Status 56 #define QEI_O_ISC 0x00000028 // QEI Interrupt Status and Clear 57 58 //***************************************************************************** 59 // 60 // The following are defines for the bit fields in the QEI_O_CTL register. 61 // 62 //***************************************************************************** 63 #define QEI_CTL_FILTCNT_M 0x000F0000 // Input Filter Prescale Count 64 #define QEI_CTL_FILTEN 0x00002000 // Enable Input Filter 65 #define QEI_CTL_STALLEN 0x00001000 // Stall QEI 66 #define QEI_CTL_INVI 0x00000800 // Invert Index Pulse 67 #define QEI_CTL_INVB 0x00000400 // Invert PhB 68 #define QEI_CTL_INVA 0x00000200 // Invert PhA 69 #define QEI_CTL_VELDIV_M 0x000001C0 // Predivide Velocity 70 #define QEI_CTL_VELDIV_1 0x00000000 // QEI clock /1 71 #define QEI_CTL_VELDIV_2 0x00000040 // QEI clock /2 72 #define QEI_CTL_VELDIV_4 0x00000080 // QEI clock /4 73 #define QEI_CTL_VELDIV_8 0x000000C0 // QEI clock /8 74 #define QEI_CTL_VELDIV_16 0x00000100 // QEI clock /16 75 #define QEI_CTL_VELDIV_32 0x00000140 // QEI clock /32 76 #define QEI_CTL_VELDIV_64 0x00000180 // QEI clock /64 77 #define QEI_CTL_VELDIV_128 0x000001C0 // QEI clock /128 78 #define QEI_CTL_VELEN 0x00000020 // Capture Velocity 79 #define QEI_CTL_RESMODE 0x00000010 // Reset Mode 80 #define QEI_CTL_CAPMODE 0x00000008 // Capture Mode 81 #define QEI_CTL_SIGMODE 0x00000004 // Signal Mode 82 #define QEI_CTL_SWAP 0x00000002 // Swap Signals 83 #define QEI_CTL_ENABLE 0x00000001 // Enable QEI 84 #define QEI_CTL_FILTCNT_S 16 85 86 //***************************************************************************** 87 // 88 // The following are defines for the bit fields in the QEI_O_STAT register. 89 // 90 //***************************************************************************** 91 #define QEI_STAT_DIRECTION 0x00000002 // Direction of Rotation 92 #define QEI_STAT_ERROR 0x00000001 // Error Detected 93 94 //***************************************************************************** 95 // 96 // The following are defines for the bit fields in the QEI_O_POS register. 97 // 98 //***************************************************************************** 99 #define QEI_POS_M 0xFFFFFFFF // Current Position Integrator 100 // Value 101 #define QEI_POS_S 0 102 103 //***************************************************************************** 104 // 105 // The following are defines for the bit fields in the QEI_O_MAXPOS register. 106 // 107 //***************************************************************************** 108 #define QEI_MAXPOS_M 0xFFFFFFFF // Maximum Position Integrator 109 // Value 110 #define QEI_MAXPOS_S 0 111 112 //***************************************************************************** 113 // 114 // The following are defines for the bit fields in the QEI_O_LOAD register. 115 // 116 //***************************************************************************** 117 #define QEI_LOAD_M 0xFFFFFFFF // Velocity Timer Load Value 118 #define QEI_LOAD_S 0 119 120 //***************************************************************************** 121 // 122 // The following are defines for the bit fields in the QEI_O_TIME register. 123 // 124 //***************************************************************************** 125 #define QEI_TIME_M 0xFFFFFFFF // Velocity Timer Current Value 126 #define QEI_TIME_S 0 127 128 //***************************************************************************** 129 // 130 // The following are defines for the bit fields in the QEI_O_COUNT register. 131 // 132 //***************************************************************************** 133 #define QEI_COUNT_M 0xFFFFFFFF // Velocity Pulse Count 134 #define QEI_COUNT_S 0 135 136 //***************************************************************************** 137 // 138 // The following are defines for the bit fields in the QEI_O_SPEED register. 139 // 140 //***************************************************************************** 141 #define QEI_SPEED_M 0xFFFFFFFF // Velocity 142 #define QEI_SPEED_S 0 143 144 //***************************************************************************** 145 // 146 // The following are defines for the bit fields in the QEI_O_INTEN register. 147 // 148 //***************************************************************************** 149 #define QEI_INTEN_ERROR 0x00000008 // Phase Error Interrupt Enable 150 #define QEI_INTEN_DIR 0x00000004 // Direction Change Interrupt 151 // Enable 152 #define QEI_INTEN_TIMER 0x00000002 // Timer Expires Interrupt Enable 153 #define QEI_INTEN_INDEX 0x00000001 // Index Pulse Detected Interrupt 154 // Enable 155 156 //***************************************************************************** 157 // 158 // The following are defines for the bit fields in the QEI_O_RIS register. 159 // 160 //***************************************************************************** 161 #define QEI_RIS_ERROR 0x00000008 // Phase Error Detected 162 #define QEI_RIS_DIR 0x00000004 // Direction Change Detected 163 #define QEI_RIS_TIMER 0x00000002 // Velocity Timer Expired 164 #define QEI_RIS_INDEX 0x00000001 // Index Pulse Asserted 165 166 //***************************************************************************** 167 // 168 // The following are defines for the bit fields in the QEI_O_ISC register. 169 // 170 //***************************************************************************** 171 #define QEI_ISC_ERROR 0x00000008 // Phase Error Interrupt 172 #define QEI_ISC_DIR 0x00000004 // Direction Change Interrupt 173 #define QEI_ISC_TIMER 0x00000002 // Velocity Timer Expired Interrupt 174 #define QEI_ISC_INDEX 0x00000001 // Index Pulse Interrupt 175 176 #endif // __HW_QEI_H__ 177