1 //***************************************************************************** 2 // 3 // qei.h - Prototypes for the Quadrature Encoder Driver. 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 __DRIVERLIB_QEI_H__ 39 #define __DRIVERLIB_QEI_H__ 40 41 #include <stdint.h> 42 #include <stdbool.h> 43 44 //***************************************************************************** 45 // 46 // If building with a C++ compiler, make all of the definitions in this header 47 // have a C binding. 48 // 49 //***************************************************************************** 50 #ifdef __cplusplus 51 extern "C" 52 { 53 #endif 54 55 //***************************************************************************** 56 // 57 // Values that can be passed to QEIConfigure as the ui32Config paramater. 58 // 59 //***************************************************************************** 60 #define QEI_CONFIG_CAPTURE_A 0x00000000 // Count on ChA edges only 61 #define QEI_CONFIG_CAPTURE_A_B 0x00000008 // Count on ChA and ChB edges 62 #define QEI_CONFIG_NO_RESET 0x00000000 // Do not reset on index pulse 63 #define QEI_CONFIG_RESET_IDX 0x00000010 // Reset position on index pulse 64 #define QEI_CONFIG_QUADRATURE 0x00000000 // ChA and ChB are quadrature 65 #define QEI_CONFIG_CLOCK_DIR 0x00000004 // ChA and ChB are clock and dir 66 #define QEI_CONFIG_NO_SWAP 0x00000000 // Do not swap ChA and ChB 67 #define QEI_CONFIG_SWAP 0x00000002 // Swap ChA and ChB 68 69 //***************************************************************************** 70 // 71 // Values that can be passed to QEIFilterConfigure as the ui32PreDiv 72 // parameter. 73 // 74 //***************************************************************************** 75 #define QEI_FILTCNT_2 0x00000000 // Filter Count of 2 System Clocks 76 #define QEI_FILTCNT_3 0x00010000 // Filter Count of 3 System Clocks 77 #define QEI_FILTCNT_4 0x00020000 // Filter Count of 4 System Clocks 78 #define QEI_FILTCNT_5 0x00030000 // Filter Count of 5 System Clocks 79 #define QEI_FILTCNT_6 0x00040000 // Filter Count of 6 System Clocks 80 #define QEI_FILTCNT_7 0x00050000 // Filter Count of 7 System Clocks 81 #define QEI_FILTCNT_8 0x00060000 // Filter Count of 8 System Clocks 82 #define QEI_FILTCNT_9 0x00070000 // Filter Count of 9 System Clocks 83 #define QEI_FILTCNT_10 0x00080000 // Filter Count of 10 System Clocks 84 #define QEI_FILTCNT_11 0x00090000 // Filter Count of 11 System Clocks 85 #define QEI_FILTCNT_12 0x000A0000 // Filter Count of 12 System Clocks 86 #define QEI_FILTCNT_13 0x000B0000 // Filter Count of 13 System Clocks 87 #define QEI_FILTCNT_14 0x000C0000 // Filter Count of 14 System Clocks 88 #define QEI_FILTCNT_15 0x000D0000 // Filter Count of 15 System Clocks 89 #define QEI_FILTCNT_16 0x000E0000 // Filter Count of 16 System Clocks 90 #define QEI_FILTCNT_17 0x000F0000 // Filter Count of 17 System Clocks 91 92 //***************************************************************************** 93 // 94 // Values that can be passed to QEIVelocityConfigure as the ui32PreDiv 95 // parameter. 96 // 97 //***************************************************************************** 98 #define QEI_VELDIV_1 0x00000000 // Predivide by 1 99 #define QEI_VELDIV_2 0x00000040 // Predivide by 2 100 #define QEI_VELDIV_4 0x00000080 // Predivide by 4 101 #define QEI_VELDIV_8 0x000000C0 // Predivide by 8 102 #define QEI_VELDIV_16 0x00000100 // Predivide by 16 103 #define QEI_VELDIV_32 0x00000140 // Predivide by 32 104 #define QEI_VELDIV_64 0x00000180 // Predivide by 64 105 #define QEI_VELDIV_128 0x000001C0 // Predivide by 128 106 107 //***************************************************************************** 108 // 109 // Values that can be passed to QEIEnableInts, QEIDisableInts, and QEIClearInts 110 // as the ui32IntFlags parameter, and returned by QEIGetIntStatus. 111 // 112 //***************************************************************************** 113 #define QEI_INTERROR 0x00000008 // Phase error detected 114 #define QEI_INTDIR 0x00000004 // Direction change 115 #define QEI_INTTIMER 0x00000002 // Velocity timer expired 116 #define QEI_INTINDEX 0x00000001 // Index pulse detected 117 118 //***************************************************************************** 119 // 120 // Prototypes for the APIs. 121 // 122 //***************************************************************************** 123 extern void QEIEnable(uint32_t ui32Base); 124 extern void QEIDisable(uint32_t ui32Base); 125 extern void QEIConfigure(uint32_t ui32Base, uint32_t ui32Config, 126 uint32_t ui32MaxPosition); 127 extern uint32_t QEIPositionGet(uint32_t ui32Base); 128 extern void QEIPositionSet(uint32_t ui32Base, uint32_t ui32Position); 129 extern int32_t QEIDirectionGet(uint32_t ui32Base); 130 extern bool QEIErrorGet(uint32_t ui32Base); 131 extern void QEIFilterEnable(uint32_t ui32Base); 132 extern void QEIFilterDisable(uint32_t ui32Base); 133 extern void QEIFilterConfigure(uint32_t ui32Base, uint32_t ui32FiltCnt); 134 extern void QEIVelocityEnable(uint32_t ui32Base); 135 extern void QEIVelocityDisable(uint32_t ui32Base); 136 extern void QEIVelocityConfigure(uint32_t ui32Base, uint32_t ui32PreDiv, 137 uint32_t ui32Period); 138 extern uint32_t QEIVelocityGet(uint32_t ui32Base); 139 extern void QEIIntRegister(uint32_t ui32Base, void (*pfnHandler)(void)); 140 extern void QEIIntUnregister(uint32_t ui32Base); 141 extern void QEIIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags); 142 extern void QEIIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags); 143 extern uint32_t QEIIntStatus(uint32_t ui32Base, bool bMasked); 144 extern void QEIIntClear(uint32_t ui32Base, uint32_t ui32IntFlags); 145 146 //***************************************************************************** 147 // 148 // Mark the end of the C bindings section for C++ compilers. 149 // 150 //***************************************************************************** 151 #ifdef __cplusplus 152 } 153 #endif 154 155 #endif // __DRIVERLIB_QEI_H__ 156