eqep/v0/eqep.h

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/*
 * Copyright (C) 2021 Texas Instruments Incorporated
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 *   Redistributions of source code must retain the above copyright
 *   notice, this list of conditions and the following disclaimer.
 *
 *   Redistributions in binary form must reproduce the above copyright
 *   notice, this list of conditions and the following disclaimer in the
 *   documentation and/or other materials provided with the
 *   distribution.
 *
 *   Neither the name of Texas Instruments Incorporated nor the names of
 *   its contributors may be used to endorse or promote products derived
 *   from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef EQEP_V0_H_
#define EQEP_V0_H_
 
/* ========================================================================== */
/*                             Include Files                                  */
/* ========================================================================== */
 
#include <drivers/hw_include/cslr.h>
#include <drivers/hw_include/cslr_eqep.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* ========================================================================== */
/*                             Macros & Typedefs                              */
/* ========================================================================== */
#define EQEP_CONFIG_QUADRATURE      (0x0000U)
 
#define EQEP_CONFIG_CLOCK_DIR       (0x4000U)
 
#define EQEP_CONFIG_UP_COUNT        (0x8000U)
 
#define EQEP_CONFIG_DOWN_COUNT      (0xC000U)
 
#define EQEP_CONFIG_2X_RESOLUTION   (0x0000U)
 
#define EQEP_CONFIG_1X_RESOLUTION   (0x0800U)
 
#define EQEP_CONFIG_NO_SWAP         (0x0000U)
 
#define EQEP_CONFIG_SWAP            (0x0400U)
 
#define EQEP_COMPARE_NO_SYNC_OUT      (0x0000U)
 
#define EQEP_COMPARE_IDX_SYNC_OUT     (0x2000U)
 
#define EQEP_COMPARE_STROBE_SYNC_OUT  (0x3000U)
 
#define EQEP_COMPARE_NO_SHADOW        (0x0000U)
 
#define EQEP_COMPARE_LOAD_ON_ZERO     (0x8000U)
 
#define EQEP_COMPARE_LOAD_ON_MATCH    (0xC000U)
 
#define EQEP_INT_GLOBAL               (0x0001U)
 
#define EQEP_INT_POS_CNT_ERROR        (0x0002U)
 
#define EQEP_INT_PHASE_ERROR          (0x0004U)
 
#define EQEP_INT_DIR_CHANGE           (0x0008U)
 
#define EQEP_INT_WATCHDOG             (0x0010U)
 
#define EQEP_INT_UNDERFLOW            (0x0020U)
 
#define EQEP_INT_OVERFLOW             (0x0040U)
 
#define EQEP_INT_POS_COMP_READY       (0x0080U)
 
#define EQEP_INT_POS_COMP_MATCH       (0x0100U)
 
#define EQEP_INT_STROBE_EVNT_LATCH    (0x0200U)
 
#define EQEP_INT_INDEX_EVNT_LATCH     (0x0400U)
 
#define EQEP_INT_UNIT_TIME_OUT        (0x0800U)
 
#define EQEP_INT_QMA_ERROR            (0x1000U)
 
#define EQEP_STS_UNIT_POS_EVNT        (0x0080U)
 
#define EQEP_STS_DIR_ON_1ST_IDX       (0x0040U)
 
#define EQEP_STS_DIR_FLAG             (0x0020U)
 
#define EQEP_STS_DIR_LATCH            (0x0010U)
 
#define EQEP_STS_CAP_OVRFLW_ERROR     (0x0008U)
 
#define EQEP_STS_CAP_DIR_ERROR        (0x0004U)
 
#define EQEP_STS_1ST_IDX_FLAG         (0x0002U)
 
#define EQEP_STS_POS_CNT_ERROR        (0x0001U)
 
#define EQEP_LATCH_CNT_READ_BY_CPU    (0x0000U)
 
#define EQEP_LATCH_UNIT_TIME_OUT      (0x0004U)
 
#define EQEP_LATCH_RISING_STROBE      (0x0000U)
 
#define EQEP_LATCH_EDGE_DIR_STROBE    (0x0040U)
 
#define EQEP_LATCH_RISING_INDEX       (0x0010U)
 
#define EQEP_LATCH_FALLING_INDEX      (0x0020U)
 
#define EQEP_LATCH_SW_INDEX_MARKER    (0x0030U)
 
#define EQEP_INIT_DO_NOTHING          (0x0000U)
 
#define EQEP_INIT_RISING_STROBE       (0x0800U)
 
#define EQEP_INIT_EDGE_DIR_STROBE     (0x0C00U)
 
#define EQEP_INIT_RISING_INDEX        (0x0200U)
 
#define EQEP_INIT_FALLING_INDEX       (0x0300U)
 
#define EQEP_MOD_FORWARD_DIR          (1)
 
#define EQEP_MOD_BACKWARD_DIR         (-1)
 
typedef uint32_t eqepPositionResetMode_t;
#define EQEP_POSITION_RESET_IDX                     (0x0000)
 
#define EQEP_POSITION_RESET_MAX_POS                 (0x1000)
 
#define EQEP_POSITION_RESET_1ST_IDX                 (0x2000)
 
#define EQEP_POSITION_RESET_UNIT_TIME_OUT           (0x3000)
 
typedef uint32_t eqepCapClkPrescale_t;
#define EQEP_CAPTURE_CLK_DIV_1                      (0x00)
 
#define EQEP_CAPTURE_CLK_DIV_2                      (0x10)
 
#define EQEP_CAPTURE_CLK_DIV_4                      (0x20)
 
#define EQEP_CAPTURE_CLK_DIV_8                      (0x30)
 
#define EQEP_CAPTURE_CLK_DIV_16                     (0x40)
 
#define EQEP_CAPTURE_CLK_DIV_32                     (0x50)
 
#define EQEP_CAPTURE_CLK_DIV_64                     (0x60)
 
#define EQEP_CAPTURE_CLK_DIV_128                    (0x070)
 
typedef uint32_t eqeqUpEvntPrescale_t;
#define EQEP_UNIT_POS_EVNT_DIV_1                    (0)
 
#define EQEP_UNIT_POS_EVNT_DIV_2                    (1)
 
#define EQEP_UNIT_POS_EVNT_DIV_4                    (2)
 
#define EQEP_UNIT_POS_EVNT_DIV_8                    (3)
 
#define EQEP_UNIT_POS_EVNT_DIV_16                   (4)
 
#define EQEP_UNIT_POS_EVNT_DIV_32                   (5)
 
#define EQEP_UNIT_POS_EVNT_DIV_64                   (6)
 
#define EQEP_UNIT_POS_EVNT_DIV_128                  (7)
 
#define EQEP_UNIT_POS_EVNT_DIV_256                  (8)
 
#define EQEP_UNIT_POS_EVNT_DIV_512                  (9)
 
#define EQEP_UNIT_POS_EVNT_DIV_1024                 (10)
 
#define EQEP_UNIT_POS_EVNT_DIV_2048                 (11)
 
typedef uint32_t eqepStrobeSource_t;
#define EQEP_STROBE_FROM_GPIO                       (0)
 
#define EQEP_STROBE_OR_ADCSOCA                      (2)
 
#define EQEP_STROBE_OR_ADCSOCB                      (3)
 
typedef uint32_t eqepQmaMode_t;
#define EQEP_QMA_MODE_BYPASS                        (0)
 
#define EQEP_QMA_MODE_1                             (1)
 
#define EQEP_QMA_MODE_2                             (2)
 
typedef uint32_t eqepEmulationMode_t;
#define EQEP_EMULATIONMODE_STOPIMMEDIATELY          (0)
 
#define EQEP_EMULATIONMODE_STOPATROLLOVER           (1)
 
#define EQEP_EMULATIONMODE_RUNFREE                  (2)
 
#define EQEP_DIR_ANTI_CLOCKWISE   (CSL_EQEP_QEPSTS_TYPE1_QDF_VAL_QDF_COUNTERCLK)
 
#define EQEP_DIR_CLOCKWISE        (CSL_EQEP_QEPSTS_TYPE1_QDF_VAL_QDF_CLK)
 
/* ========================================================================== */
/*                         Structures and Enums                               */
/* ========================================================================== */
 
/* None */
 
/* ========================================================================== */
/*                         Global Variables Declarations                      */
/* ========================================================================== */
 
/* None */
 
/* ========================================================================== */
/*                          Function Declarations                             */
/* ========================================================================== */
 
void EQEP_enableModule(uint32_t baseAddr);
 
void EQEP_disableModule(uint32_t baseAddr);
 
void EQEP_setDecoderConfig(uint32_t baseAddr, uint16_t config);
 
void EQEP_setPositionCounterConfig(uint32_t baseAddr,
                                   eqepPositionResetMode_t mode,
                                   uint32_t maxPosition);
 
uint32_t EQEP_getPosition(uint32_t baseAddr);
 
void EQEP_setPosition(uint32_t baseAddr, uint32_t position);
 
int32_t EQEP_getDirection(uint32_t baseAddr);
 
void EQEP_enableInterrupt(uint32_t baseAddr, uint16_t intFlags);
 
void EQEP_disableInterrupt(uint32_t baseAddr, uint16_t intFlags);
 
uint16_t EQEP_getEnabledInterrupt(uint32_t baseAddr);
 
uint16_t EQEP_getInterruptStatus(uint32_t baseAddr);
 
void EQEP_clearInterruptStatus(uint32_t baseAddr, uint16_t intFlags);
 
void EQEP_forceInterrupt(uint32_t baseAddr, uint16_t intFlags);
 
Bool EQEP_isErrorSet(uint32_t baseAddr);
 
uint32_t EQEP_getStatus(uint32_t baseAddr);
 
void EQEP_clearStatus(uint32_t baseAddr, uint16_t statusFlags);
 
void EQEP_setCaptureConfig(uint32_t baseAddr,
                           eqepCapClkPrescale_t capPrescale,
                           eqeqUpEvntPrescale_t evntPrescale);
 
void EQEP_enableCapture(uint32_t baseAddr);
 
void EQEP_disableCapture(uint32_t baseAddr);
 
uint32_t EQEP_getCapturePeriod(uint32_t baseAddr);
 
uint32_t EQEP_getCaptureTimer(uint32_t baseAddr);
 
void EQEP_enableCompare(uint32_t baseAddr);
 
void EQEP_disableCompare(uint32_t baseAddr);
 
int32_t EQEP_setComparePulseWidth(uint32_t baseAddr, uint16_t cycles);
 
void EQEP_enableUnitTimer(uint32_t baseAddr, uint32_t period);
 
void EQEP_disableUnitTimer(uint32_t baseAddr);
 
void EQEP_enableWatchdog(uint32_t baseAddr, uint16_t period);
 
void EQEP_disableWatchdog(uint32_t baseAddr);
 
void EQEP_setWatchdogTimerValue(uint32_t baseAddr, uint16_t value);
 
uint32_t EQEP_getWatchdogTimerValue(uint32_t baseAddr);
 
void EQEP_setPositionInitMode(uint32_t baseAddr, uint16_t initMode);
 
void EQEP_setSWPositionInit(uint32_t baseAddr, Bool initialize);
 
void EQEP_setInitialPosition(uint32_t baseAddr, uint32_t position);
 
void EQEP_setLatchMode(uint32_t baseAddr, uint32_t latchMode);
 
uint32_t EQEP_getIndexPositionLatch(uint32_t baseAddr);
 
uint32_t EQEP_getStrobePositionLatch(uint32_t baseAddr);
 
uint32_t EQEP_getPositionLatch(uint32_t baseAddr);
 
uint32_t EQEP_getCaptureTimerLatch(uint32_t baseAddr);
 
uint32_t EQEP_getCapturePeriodLatch(uint32_t baseAddr);
 
void EQEP_setQMAModuleMode(uint32_t baseAddr, eqepQmaMode_t qmaMode);
 
void EQEP_setStrobeSource(uint32_t baseAddr, eqepStrobeSource_t strobeSrc);
 
void EQEP_setEmulationMode(uint32_t baseAddr, eqepEmulationMode_t emuMode);
 
void EQEP_setCompareConfig(uint32_t baseAddr, uint16_t config,
                           uint32_t compareValue, uint16_t cycles);
 
void EQEP_setInputPolarity(uint32_t baseAddr, Bool invertQEPA, Bool invertQEPB,
                           Bool invertIndex, Bool invertStrobe);
 
#ifdef __cplusplus
}
#endif
 
#endif  /* #ifndef EQEP_V0_H_ */