Introduction

This module contains APIs to program and use the EQEP module.

Files
file	eqep/v0/eqep.h
	EQEP Driver API/interface file.

Functions
void	EQEP_enableModule (uint32_t baseAddr)
	Enables the eQEP module. More...

void	EQEP_disableModule (uint32_t baseAddr)
	Disables the eQEP module. More...

void	EQEP_setDecoderConfig (uint32_t baseAddr, uint16_t config)
	Configures eQEP module's quadrature decoder unit. More...

void	EQEP_setPositionCounterConfig (uint32_t baseAddr, eqepPositionResetMode_t mode, uint32_t maxPosition)
	Configures eQEP module position counter unit. More...

uint32_t	EQEP_getPosition (uint32_t baseAddr)
	Gets the current encoder position. More...

void	EQEP_setPosition (uint32_t baseAddr, uint32_t position)
	Sets the current encoder position. More...

int32_t	EQEP_getDirection (uint32_t baseAddr)
	Gets the current direction of rotation. More...

void	EQEP_enableInterrupt (uint32_t baseAddr, uint16_t intFlags)
	Enables individual eQEP module interrupt sources. More...

void	EQEP_disableInterrupt (uint32_t baseAddr, uint16_t intFlags)
	Disables individual eQEP module interrupt sources. More...

uint16_t	EQEP_getEnabledInterrupt (uint32_t baseAddr)
	Get Enabled interrupts of eQEP module. More...

uint16_t	EQEP_getInterruptStatus (uint32_t baseAddr)
	Gets the current interrupt status. More...

void	EQEP_clearInterruptStatus (uint32_t baseAddr, uint16_t intFlags)
	Clears eQEP module interrupt sources. More...

void	EQEP_forceInterrupt (uint32_t baseAddr, uint16_t intFlags)
	Forces individual eQEP module interrupts. More...

Bool	EQEP_isErrorSet (uint32_t baseAddr)
	Gets the encoder error indicator. More...

uint32_t	EQEP_getStatus (uint32_t baseAddr)
	Returns content of the eQEP module status register. More...

void	EQEP_clearStatus (uint32_t baseAddr, uint16_t statusFlags)
	Clears selected fields of the eQEP module status register. More...

void	EQEP_setCaptureConfig (uint32_t baseAddr, eqepCapClkPrescale_t capPrescale, eqeqUpEvntPrescale_t evntPrescale)
	Configures eQEP module edge-capture unit. More...

void	EQEP_enableCapture (uint32_t baseAddr)
	Enables the eQEP module edge-capture unit. More...

void	EQEP_disableCapture (uint32_t baseAddr)
	Disables the eQEP module edge-capture unit. More...

uint32_t	EQEP_getCapturePeriod (uint32_t baseAddr)
	Gets the encoder capture period. More...

uint32_t	EQEP_getCaptureTimer (uint32_t baseAddr)
	Gets the encoder capture timer value. More...

void	EQEP_enableCompare (uint32_t baseAddr)
	Enables the eQEP module position-compare unit. More...

void	EQEP_disableCompare (uint32_t baseAddr)
	Disables the eQEP module position-compare unit. More...

int32_t	EQEP_setComparePulseWidth (uint32_t baseAddr, uint16_t cycles)
	Configures the position-compare unit's sync output pulse width. More...

void	EQEP_enableUnitTimer (uint32_t baseAddr, uint32_t period)
	Enables the eQEP module unit timer. More...

void	EQEP_disableUnitTimer (uint32_t baseAddr)
	Disables the eQEP module unit timer. More...

void	EQEP_enableWatchdog (uint32_t baseAddr, uint16_t period)
	Enables the eQEP module watchdog timer. More...

void	EQEP_disableWatchdog (uint32_t baseAddr)
	Disables the eQEP module watchdog timer. More...

void	EQEP_setWatchdogTimerValue (uint32_t baseAddr, uint16_t value)
	Sets the eQEP module watchdog timer value. More...

uint32_t	EQEP_getWatchdogTimerValue (uint32_t baseAddr)
	Gets the eQEP module watchdog timer value. More...

void	EQEP_setPositionInitMode (uint32_t baseAddr, uint16_t initMode)
	Configures the mode in which the position counter is initialized. More...

void	EQEP_setSWPositionInit (uint32_t baseAddr, Bool initialize)
	Sets the software initialization of the encoder position counter. More...

void	EQEP_setInitialPosition (uint32_t baseAddr, uint32_t position)
	Sets the init value for the encoder position counter. More...

void	EQEP_setLatchMode (uint32_t baseAddr, uint32_t latchMode)
	Configures the quadrature modes in which the position count can be latched. More...

uint32_t	EQEP_getIndexPositionLatch (uint32_t baseAddr)
	Gets the encoder position that was latched on an index event. More...

uint32_t	EQEP_getStrobePositionLatch (uint32_t baseAddr)
	Gets the encoder position that was latched on a strobe event. More...

uint32_t	EQEP_getPositionLatch (uint32_t baseAddr)
	Gets the encoder position that was latched on a unit time-out event. More...

uint32_t	EQEP_getCaptureTimerLatch (uint32_t baseAddr)
	Gets the encoder capture timer latch. More...

uint32_t	EQEP_getCapturePeriodLatch (uint32_t baseAddr)
	Gets the encoder capture period latch. More...

void	EQEP_setQMAModuleMode (uint32_t baseAddr, eqepQmaMode_t qmaMode)
	Set the quadrature mode adapter (QMA) module mode. More...

void	EQEP_setStrobeSource (uint32_t baseAddr, eqepStrobeSource_t strobeSrc)
	Set the strobe input source of the eQEP module. More...

void	EQEP_setEmulationMode (uint32_t baseAddr, eqepEmulationMode_t emuMode)
	Set the emulation mode of the eQEP module. More...

void	EQEP_setCompareConfig (uint32_t baseAddr, uint16_t config, uint32_t compareValue, uint16_t cycles)
	Configures eQEP module position-compare unit. More...

void	EQEP_setInputPolarity (uint32_t baseAddr, Bool invertQEPA, Bool invertQEPB, Bool invertIndex, Bool invertStrobe)
	Sets the polarity of the eQEP module's input signals. More...

EQEP Decoder Configuration

#define	EQEP_CONFIG_QUADRATURE (0x0000U)
	Values that can be passed to EQEP_setDecoderConfig() as the config parameter. More...

#define	EQEP_CONFIG_CLOCK_DIR (0x4000U)
	Quadrature-clock Direction-count mode. More...

#define	EQEP_CONFIG_UP_COUNT (0x8000U)
	Up-count mode, QDIR = 1. More...

#define	EQEP_CONFIG_DOWN_COUNT (0xC000U)
	Down-count mode, QDIR = 0. More...

#define	EQEP_CONFIG_2X_RESOLUTION (0x0000U)
	Resolution Count rising and falling edge. More...

#define	EQEP_CONFIG_1X_RESOLUTION (0x0800U)
	Resolution Count rising edge only. More...

#define	EQEP_CONFIG_NO_SWAP (0x0000U)
	Do not swap QEPA and QEPB. More...

#define	EQEP_CONFIG_SWAP (0x0400U)
	Swap QEPA and QEPB. More...

EQEP Compare Configuration

#define	EQEP_COMPARE_NO_SYNC_OUT (0x0000U)
	Values that can be passed to EQEP_setCompareConfig() as the config parameter. More...

#define	EQEP_COMPARE_IDX_SYNC_OUT (0x2000U)
	Sync output on index pin. More...

#define	EQEP_COMPARE_STROBE_SYNC_OUT (0x3000U)
	Sync output on strobe pin. More...

#define	EQEP_COMPARE_NO_SHADOW (0x0000U)
	Disable shadow of QPOSCMP. More...

#define	EQEP_COMPARE_LOAD_ON_ZERO (0x8000U)
	Load on QPOSCNT = 0. More...

#define	EQEP_COMPARE_LOAD_ON_MATCH (0xC000U)
	Load on QPOSCNT = QPOSCMP. More...

EQEP Interrupt Sources

#define	EQEP_INT_GLOBAL (0x0001U)
	Values that can be passed to EQEP_enableInterrupt(), EQEP_disableInterrupt(), and EQEP_clearInterruptStatus() as the intFlags parameter and returned by EQEP_clearInterruptStatus(). More...

#define	EQEP_INT_POS_CNT_ERROR (0x0002U)
	Position counter error. More...

#define	EQEP_INT_PHASE_ERROR (0x0004U)
	Quadrature phase error. More...

#define	EQEP_INT_DIR_CHANGE (0x0008U)
	Quadrature direction change. More...

#define	EQEP_INT_WATCHDOG (0x0010U)
	Watchdog time-out. More...

#define	EQEP_INT_UNDERFLOW (0x0020U)
	Position counter underflow. More...

#define	EQEP_INT_OVERFLOW (0x0040U)
	Position counter overflow. More...

#define	EQEP_INT_POS_COMP_READY (0x0080U)
	Position-compare ready. More...

#define	EQEP_INT_POS_COMP_MATCH (0x0100U)
	Position-compare match. More...

#define	EQEP_INT_STROBE_EVNT_LATCH (0x0200U)
	Strobe event latch. More...

#define	EQEP_INT_INDEX_EVNT_LATCH (0x0400U)
	Index event latch. More...

#define	EQEP_INT_UNIT_TIME_OUT (0x0800U)
	Unit time-out. More...

#define	EQEP_INT_QMA_ERROR (0x1000U)
	QMA error. More...

EQEP Get Module Status

#define	EQEP_STS_UNIT_POS_EVNT (0x0080U)
	Values that can be returned by EQEP_getStatus(). More...

#define	EQEP_STS_DIR_ON_1ST_IDX (0x0040U)
	Direction was clockwise on first index event. More...

#define	EQEP_STS_DIR_FLAG (0x0020U)
	Direction is CW (forward) More...

#define	EQEP_STS_DIR_LATCH (0x0010U)
	Direction was CW on index. More...

#define	EQEP_STS_CAP_OVRFLW_ERROR (0x0008U)
	Capture timer overflow. More...

#define	EQEP_STS_CAP_DIR_ERROR (0x0004U)
	Direction changed between position capture events. More...

#define	EQEP_STS_1ST_IDX_FLAG (0x0002U)
	First index pulse occurred. More...

#define	EQEP_STS_POS_CNT_ERROR (0x0001U)
	Position counter error. More...

EQEP Set Latch Mode

#define	EQEP_LATCH_CNT_READ_BY_CPU (0x0000U)
	Values that can be passed to EQEP_setLatchMode() as the latchMode parameter. More...

#define	EQEP_LATCH_UNIT_TIME_OUT (0x0004U)
	On position counter read. More...

#define	EQEP_LATCH_RISING_STROBE (0x0000U)
	On unit time-out event. More...

#define	EQEP_LATCH_EDGE_DIR_STROBE (0x0040U)
	On rising edge when clockwise, on falling when counter clockwise. More...

#define	EQEP_LATCH_RISING_INDEX (0x0010U)
	Index position counter latch event. More...

#define	EQEP_LATCH_FALLING_INDEX (0x0020U)
	On rising edge of index. More...

#define	EQEP_LATCH_SW_INDEX_MARKER (0x0030U)
	On falling edge of index. More...

EQEP Set Position Init Mode
On software index marker
#define	EQEP_INIT_DO_NOTHING (0x0000U)
	Values that can be passed to EQEP_setPositionInitMode() as the initMode parameter. More...

#define	EQEP_INIT_RISING_STROBE (0x0800U)
	Strobe events On rising edge of strobe. More...

#define	EQEP_INIT_EDGE_DIR_STROBE (0x0C00U)
	Strobe events On rising edge when clockwise, on falling when counter clockwise. More...

#define	EQEP_INIT_RISING_INDEX (0x0200U)
	Index events, On rising edge of index. More...

#define	EQEP_INIT_FALLING_INDEX (0x0300U)
	Index events, On falling edge of index. More...

EQEP get direction

#define	EQEP_MOD_FORWARD_DIR (1)
	Values that can be return from EQEP_getDirection() . More...

#define	EQEP_MOD_BACKWARD_DIR (-1)
	Moving in the reverse direction. More...

EQEP Position Reset Mode

typedef uint32_t	eqepPositionResetMode_t
	Enum Values that can be passed to EQEP_setPositionCounterConfig() as the mode parameter. More...

#define	EQEP_POSITION_RESET_IDX (0x0000)
	Reset position on index pulse. More...

#define	EQEP_POSITION_RESET_MAX_POS (0x1000)
	Reset position on maximum position. More...

#define	EQEP_POSITION_RESET_1ST_IDX (0x2000)
	Reset position on the first index pulse. More...

#define	EQEP_POSITION_RESET_UNIT_TIME_OUT (0x3000)
	Reset position on a unit time event. More...

EQEP CapPrescalar parameter

typedef uint32_t	eqepCapClkPrescale_t
	Enum Values that can be passed to EQEP_setCaptureConfig() as the capPrescale parameter. More...

#define	EQEP_CAPTURE_CLK_DIV_1 (0x00)
	CAPCLK = SYSCLKOUT/1. More...

#define	EQEP_CAPTURE_CLK_DIV_2 (0x10)
	CAPCLK = SYSCLKOUT/2. More...

#define	EQEP_CAPTURE_CLK_DIV_4 (0x20)
	CAPCLK = SYSCLKOUT/4. More...

#define	EQEP_CAPTURE_CLK_DIV_8 (0x30)
	CAPCLK = SYSCLKOUT/8. More...

#define	EQEP_CAPTURE_CLK_DIV_16 (0x40)
	CAPCLK = SYSCLKOUT/16. More...

#define	EQEP_CAPTURE_CLK_DIV_32 (0x50)
	CAPCLK = SYSCLKOUT/32. More...

#define	EQEP_CAPTURE_CLK_DIV_64 (0x60)
	CAPCLK = SYSCLKOUT/64. More...

#define	EQEP_CAPTURE_CLK_DIV_128 (0x070)
	CAPCLK = SYSCLKOUT/128. More...

EQEP unit position event frequency

typedef uint32_t	eqeqUpEvntPrescale_t
	Enum Values that can be passed to EQEP_setCaptureConfig() as the evntPrescaleparameter. More...

#define	EQEP_UNIT_POS_EVNT_DIV_1 (0)
	UPEVNT = QCLK/1. More...

#define	EQEP_UNIT_POS_EVNT_DIV_2 (1)
	UPEVNT = QCLK/2. More...

#define	EQEP_UNIT_POS_EVNT_DIV_4 (2)
	UPEVNT = QCLK/4. More...

#define	EQEP_UNIT_POS_EVNT_DIV_8 (3)
	UPEVNT = QCLK/8. More...

#define	EQEP_UNIT_POS_EVNT_DIV_16 (4)
	UPEVNT = QCLK/16. More...

#define	EQEP_UNIT_POS_EVNT_DIV_32 (5)
	UPEVNT = QCLK/32. More...

#define	EQEP_UNIT_POS_EVNT_DIV_64 (6)
	UPEVNT = QCLK/64. More...

#define	EQEP_UNIT_POS_EVNT_DIV_128 (7)
	UPEVNT = QCLK/128. More...

#define	EQEP_UNIT_POS_EVNT_DIV_256 (8)
	UPEVNT = QCLK/256. More...

#define	EQEP_UNIT_POS_EVNT_DIV_512 (9)
	UPEVNT = QCLK/512. More...

#define	EQEP_UNIT_POS_EVNT_DIV_1024 (10)
	UPEVNT = QCLK/1024. More...

#define	EQEP_UNIT_POS_EVNT_DIV_2048 (11)
	UPEVNT = QCLK/2048. More...

EQEP strobeSrc parameter

typedef uint32_t	eqepStrobeSource_t
	Enum Values that can be passed to EQEP_setStrobeSource() as the strobeSrc parameter. More...

#define	EQEP_STROBE_FROM_GPIO (0)
	Strobe signal comes from GPIO. More...

#define	EQEP_STROBE_OR_ADCSOCA (2)
	Strobe signal is OR'd with ADCSOCA. More...

#define	EQEP_STROBE_OR_ADCSOCB (3)
	Strobe signal is OR'd with ADCSOCB. More...

EQEP qmaMode parameter

typedef uint32_t	eqepQmaMode_t
	Enum Values that can be passed to EQEP_setQMAModuleMode() as the qmaMode parameter. More...

#define	EQEP_QMA_MODE_BYPASS (0)
	QMA module is bypassed. More...

#define	EQEP_QMA_MODE_1 (1)
	QMA mode-1 operation is selected. More...

#define	EQEP_QMA_MODE_2 (2)
	QMA mode-2 operation is selected. More...

EQEP emuMode parameter

typedef uint32_t	eqepEmulationMode_t
	Enum Values that can be passed to EQEP_setEmulationMode() as the emuMode parameter. More...

#define	EQEP_EMULATIONMODE_STOPIMMEDIATELY (0)
	Counters stop immediately. More...

#define	EQEP_EMULATIONMODE_STOPATROLLOVER (1)
	Counters stop at period rollover. More...

#define	EQEP_EMULATIONMODE_RUNFREE (2)
	Counter unaffected by suspend. More...

EQEP direction

#define	EQEP_DIR_ANTI_CLOCKWISE (CSL_EQEP_QEPSTS_TYPE1_QDF_VAL_QDF_COUNTERCLK)
	Moving in the anticlockwise direction. More...

#define	EQEP_DIR_CLOCKWISE (CSL_EQEP_QEPSTS_TYPE1_QDF_VAL_QDF_CLK)
	Moving in the clockwise direction. More...

Macro Definition Documentation

◆ EQEP_CONFIG_QUADRATURE

#define EQEP_CONFIG_QUADRATURE (0x0000U)

Values that can be passed to EQEP_setDecoderConfig() as the config parameter.

Operation Mode

◆ EQEP_CONFIG_CLOCK_DIR

#define EQEP_CONFIG_CLOCK_DIR (0x4000U)

Quadrature-clock Direction-count mode.

◆ EQEP_CONFIG_UP_COUNT

#define EQEP_CONFIG_UP_COUNT (0x8000U)

Up-count mode, QDIR = 1.

◆ EQEP_CONFIG_DOWN_COUNT

#define EQEP_CONFIG_DOWN_COUNT (0xC000U)

Down-count mode, QDIR = 0.

◆ EQEP_CONFIG_2X_RESOLUTION

#define EQEP_CONFIG_2X_RESOLUTION (0x0000U)

Resolution Count rising and falling edge.

◆ EQEP_CONFIG_1X_RESOLUTION

#define EQEP_CONFIG_1X_RESOLUTION (0x0800U)

Resolution Count rising edge only.

◆ EQEP_CONFIG_NO_SWAP

#define EQEP_CONFIG_NO_SWAP (0x0000U)

Do not swap QEPA and QEPB.

◆ EQEP_CONFIG_SWAP

#define EQEP_CONFIG_SWAP (0x0400U)

Swap QEPA and QEPB.

◆ EQEP_COMPARE_NO_SYNC_OUT

#define EQEP_COMPARE_NO_SYNC_OUT (0x0000U)

Values that can be passed to EQEP_setCompareConfig() as the config parameter.

Sync pulse pin, Disable sync output

◆ EQEP_COMPARE_IDX_SYNC_OUT

#define EQEP_COMPARE_IDX_SYNC_OUT (0x2000U)

Sync output on index pin.

◆ EQEP_COMPARE_STROBE_SYNC_OUT

#define EQEP_COMPARE_STROBE_SYNC_OUT (0x3000U)

Sync output on strobe pin.

◆ EQEP_COMPARE_NO_SHADOW

#define EQEP_COMPARE_NO_SHADOW (0x0000U)

Disable shadow of QPOSCMP.

◆ EQEP_COMPARE_LOAD_ON_ZERO

#define EQEP_COMPARE_LOAD_ON_ZERO (0x8000U)

Load on QPOSCNT = 0.

◆ EQEP_COMPARE_LOAD_ON_MATCH

#define EQEP_COMPARE_LOAD_ON_MATCH (0xC000U)

Load on QPOSCNT = QPOSCMP.

◆ EQEP_INT_GLOBAL

#define EQEP_INT_GLOBAL (0x0001U)

Values that can be passed to EQEP_enableInterrupt(), EQEP_disableInterrupt(), and EQEP_clearInterruptStatus() as the intFlags parameter and returned by EQEP_clearInterruptStatus().

Global interrupt flag

◆ EQEP_INT_POS_CNT_ERROR

#define EQEP_INT_POS_CNT_ERROR (0x0002U)

Position counter error.

◆ EQEP_INT_PHASE_ERROR

#define EQEP_INT_PHASE_ERROR (0x0004U)

Quadrature phase error.

◆ EQEP_INT_DIR_CHANGE

#define EQEP_INT_DIR_CHANGE (0x0008U)

Quadrature direction change.

◆ EQEP_INT_WATCHDOG

#define EQEP_INT_WATCHDOG (0x0010U)

Watchdog time-out.

◆ EQEP_INT_UNDERFLOW

#define EQEP_INT_UNDERFLOW (0x0020U)

Position counter underflow.

◆ EQEP_INT_OVERFLOW

#define EQEP_INT_OVERFLOW (0x0040U)

Position counter overflow.

◆ EQEP_INT_POS_COMP_READY

#define EQEP_INT_POS_COMP_READY (0x0080U)

Position-compare ready.

◆ EQEP_INT_POS_COMP_MATCH

#define EQEP_INT_POS_COMP_MATCH (0x0100U)

Position-compare match.

◆ EQEP_INT_STROBE_EVNT_LATCH

#define EQEP_INT_STROBE_EVNT_LATCH (0x0200U)

Strobe event latch.

◆ EQEP_INT_INDEX_EVNT_LATCH

#define EQEP_INT_INDEX_EVNT_LATCH (0x0400U)

Index event latch.

◆ EQEP_INT_UNIT_TIME_OUT

#define EQEP_INT_UNIT_TIME_OUT (0x0800U)

Unit time-out.

◆ EQEP_INT_QMA_ERROR

#define EQEP_INT_QMA_ERROR (0x1000U)

QMA error.

◆ EQEP_STS_UNIT_POS_EVNT

#define EQEP_STS_UNIT_POS_EVNT (0x0080U)

Values that can be returned by EQEP_getStatus().

Unit position event detected

◆ EQEP_STS_DIR_ON_1ST_IDX

#define EQEP_STS_DIR_ON_1ST_IDX (0x0040U)

Direction was clockwise on first index event.

◆ EQEP_STS_DIR_FLAG

#define EQEP_STS_DIR_FLAG (0x0020U)

Direction is CW (forward)

◆ EQEP_STS_DIR_LATCH

#define EQEP_STS_DIR_LATCH (0x0010U)

Direction was CW on index.

◆ EQEP_STS_CAP_OVRFLW_ERROR

#define EQEP_STS_CAP_OVRFLW_ERROR (0x0008U)

Capture timer overflow.

◆ EQEP_STS_CAP_DIR_ERROR

#define EQEP_STS_CAP_DIR_ERROR (0x0004U)

Direction changed between position capture events.

◆ EQEP_STS_1ST_IDX_FLAG

#define EQEP_STS_1ST_IDX_FLAG (0x0002U)

First index pulse occurred.

◆ EQEP_STS_POS_CNT_ERROR

#define EQEP_STS_POS_CNT_ERROR (0x0001U)

Position counter error.

◆ EQEP_LATCH_CNT_READ_BY_CPU

#define EQEP_LATCH_CNT_READ_BY_CPU (0x0000U)

Values that can be passed to EQEP_setLatchMode() as the latchMode parameter.

Position counter latch event

◆ EQEP_LATCH_UNIT_TIME_OUT

#define EQEP_LATCH_UNIT_TIME_OUT (0x0004U)

On position counter read.

◆ EQEP_LATCH_RISING_STROBE

#define EQEP_LATCH_RISING_STROBE (0x0000U)

On unit time-out event.

Strobe position counter latch event On rising edge of strobe

◆ EQEP_LATCH_EDGE_DIR_STROBE

#define EQEP_LATCH_EDGE_DIR_STROBE (0x0040U)

On rising edge when clockwise, on falling when counter clockwise.

◆ EQEP_LATCH_RISING_INDEX

#define EQEP_LATCH_RISING_INDEX (0x0010U)

Index position counter latch event.

◆ EQEP_LATCH_FALLING_INDEX

#define EQEP_LATCH_FALLING_INDEX (0x0020U)

On rising edge of index.

◆ EQEP_LATCH_SW_INDEX_MARKER

#define EQEP_LATCH_SW_INDEX_MARKER (0x0030U)

On falling edge of index.

◆ EQEP_INIT_DO_NOTHING

#define EQEP_INIT_DO_NOTHING (0x0000U)

Values that can be passed to EQEP_setPositionInitMode() as the initMode parameter.

Action is disabled

◆ EQEP_INIT_RISING_STROBE

#define EQEP_INIT_RISING_STROBE (0x0800U)

Strobe events On rising edge of strobe.

◆ EQEP_INIT_EDGE_DIR_STROBE

#define EQEP_INIT_EDGE_DIR_STROBE (0x0C00U)

Strobe events On rising edge when clockwise, on falling when counter clockwise.

◆ EQEP_INIT_RISING_INDEX

#define EQEP_INIT_RISING_INDEX (0x0200U)

Index events, On rising edge of index.

◆ EQEP_INIT_FALLING_INDEX

#define EQEP_INIT_FALLING_INDEX (0x0300U)

Index events, On falling edge of index.

◆ EQEP_MOD_FORWARD_DIR

#define EQEP_MOD_FORWARD_DIR (1)

Values that can be return from EQEP_getDirection() .

Moving in the forward direction

◆ EQEP_MOD_BACKWARD_DIR

#define EQEP_MOD_BACKWARD_DIR (-1)

Moving in the reverse direction.

◆ EQEP_POSITION_RESET_IDX

#define EQEP_POSITION_RESET_IDX (0x0000)

Reset position on index pulse.

◆ EQEP_POSITION_RESET_MAX_POS

#define EQEP_POSITION_RESET_MAX_POS (0x1000)

Reset position on maximum position.

◆ EQEP_POSITION_RESET_1ST_IDX

#define EQEP_POSITION_RESET_1ST_IDX (0x2000)

Reset position on the first index pulse.

◆ EQEP_POSITION_RESET_UNIT_TIME_OUT

#define EQEP_POSITION_RESET_UNIT_TIME_OUT (0x3000)

Reset position on a unit time event.

◆ EQEP_CAPTURE_CLK_DIV_1

#define EQEP_CAPTURE_CLK_DIV_1 (0x00)

CAPCLK = SYSCLKOUT/1.

◆ EQEP_CAPTURE_CLK_DIV_2

#define EQEP_CAPTURE_CLK_DIV_2 (0x10)

CAPCLK = SYSCLKOUT/2.

◆ EQEP_CAPTURE_CLK_DIV_4

#define EQEP_CAPTURE_CLK_DIV_4 (0x20)

CAPCLK = SYSCLKOUT/4.

◆ EQEP_CAPTURE_CLK_DIV_8

#define EQEP_CAPTURE_CLK_DIV_8 (0x30)

CAPCLK = SYSCLKOUT/8.

◆ EQEP_CAPTURE_CLK_DIV_16

#define EQEP_CAPTURE_CLK_DIV_16 (0x40)

CAPCLK = SYSCLKOUT/16.

◆ EQEP_CAPTURE_CLK_DIV_32

#define EQEP_CAPTURE_CLK_DIV_32 (0x50)

CAPCLK = SYSCLKOUT/32.

◆ EQEP_CAPTURE_CLK_DIV_64

#define EQEP_CAPTURE_CLK_DIV_64 (0x60)

CAPCLK = SYSCLKOUT/64.

◆ EQEP_CAPTURE_CLK_DIV_128

#define EQEP_CAPTURE_CLK_DIV_128 (0x070)

CAPCLK = SYSCLKOUT/128.

◆ EQEP_UNIT_POS_EVNT_DIV_1

#define EQEP_UNIT_POS_EVNT_DIV_1 (0)

UPEVNT = QCLK/1.

◆ EQEP_UNIT_POS_EVNT_DIV_2

#define EQEP_UNIT_POS_EVNT_DIV_2 (1)

UPEVNT = QCLK/2.

◆ EQEP_UNIT_POS_EVNT_DIV_4

#define EQEP_UNIT_POS_EVNT_DIV_4 (2)

UPEVNT = QCLK/4.

◆ EQEP_UNIT_POS_EVNT_DIV_8

#define EQEP_UNIT_POS_EVNT_DIV_8 (3)

UPEVNT = QCLK/8.

◆ EQEP_UNIT_POS_EVNT_DIV_16

#define EQEP_UNIT_POS_EVNT_DIV_16 (4)

UPEVNT = QCLK/16.

◆ EQEP_UNIT_POS_EVNT_DIV_32

#define EQEP_UNIT_POS_EVNT_DIV_32 (5)

UPEVNT = QCLK/32.

◆ EQEP_UNIT_POS_EVNT_DIV_64

#define EQEP_UNIT_POS_EVNT_DIV_64 (6)

UPEVNT = QCLK/64.

◆ EQEP_UNIT_POS_EVNT_DIV_128

#define EQEP_UNIT_POS_EVNT_DIV_128 (7)

UPEVNT = QCLK/128.

◆ EQEP_UNIT_POS_EVNT_DIV_256

#define EQEP_UNIT_POS_EVNT_DIV_256 (8)

UPEVNT = QCLK/256.

◆ EQEP_UNIT_POS_EVNT_DIV_512

#define EQEP_UNIT_POS_EVNT_DIV_512 (9)

UPEVNT = QCLK/512.

◆ EQEP_UNIT_POS_EVNT_DIV_1024

#define EQEP_UNIT_POS_EVNT_DIV_1024 (10)

UPEVNT = QCLK/1024.

◆ EQEP_UNIT_POS_EVNT_DIV_2048

#define EQEP_UNIT_POS_EVNT_DIV_2048 (11)

UPEVNT = QCLK/2048.

◆ EQEP_STROBE_FROM_GPIO

#define EQEP_STROBE_FROM_GPIO (0)

Strobe signal comes from GPIO.

◆ EQEP_STROBE_OR_ADCSOCA

#define EQEP_STROBE_OR_ADCSOCA (2)

Strobe signal is OR'd with ADCSOCA.

◆ EQEP_STROBE_OR_ADCSOCB

#define EQEP_STROBE_OR_ADCSOCB (3)

Strobe signal is OR'd with ADCSOCB.

◆ EQEP_QMA_MODE_BYPASS

#define EQEP_QMA_MODE_BYPASS (0)

QMA module is bypassed.

◆ EQEP_QMA_MODE_1

#define EQEP_QMA_MODE_1 (1)

QMA mode-1 operation is selected.

◆ EQEP_QMA_MODE_2

#define EQEP_QMA_MODE_2 (2)

QMA mode-2 operation is selected.

◆ EQEP_EMULATIONMODE_STOPIMMEDIATELY

#define EQEP_EMULATIONMODE_STOPIMMEDIATELY (0)

Counters stop immediately.

◆ EQEP_EMULATIONMODE_STOPATROLLOVER

#define EQEP_EMULATIONMODE_STOPATROLLOVER (1)

Counters stop at period rollover.

◆ EQEP_EMULATIONMODE_RUNFREE

#define EQEP_EMULATIONMODE_RUNFREE (2)

Counter unaffected by suspend.

◆ EQEP_DIR_ANTI_CLOCKWISE

#define EQEP_DIR_ANTI_CLOCKWISE (CSL_EQEP_QEPSTS_TYPE1_QDF_VAL_QDF_COUNTERCLK)

Moving in the anticlockwise direction.

◆ EQEP_DIR_CLOCKWISE

#define EQEP_DIR_CLOCKWISE (CSL_EQEP_QEPSTS_TYPE1_QDF_VAL_QDF_CLK)

Moving in the clockwise direction.

Typedef Documentation

◆ eqepPositionResetMode_t

typedef uint32_t eqepPositionResetMode_t

Enum Values that can be passed to EQEP_setPositionCounterConfig() as the mode parameter.

◆ eqepCapClkPrescale_t

typedef uint32_t eqepCapClkPrescale_t

Enum Values that can be passed to EQEP_setCaptureConfig() as the capPrescale parameter.

    CAPCLK is the capture timer clock frequency.

◆ eqeqUpEvntPrescale_t

typedef uint32_t eqeqUpEvntPrescale_t

Enum Values that can be passed to EQEP_setCaptureConfig() as the evntPrescaleparameter.

    UPEVNT is the unit position event frequency.

◆ eqepStrobeSource_t

typedef uint32_t eqepStrobeSource_t

Enum Values that can be passed to EQEP_setStrobeSource() as the strobeSrc parameter.

◆ eqepQmaMode_t

typedef uint32_t eqepQmaMode_t

Enum Values that can be passed to EQEP_setQMAModuleMode() as the qmaMode parameter.

◆ eqepEmulationMode_t

typedef uint32_t eqepEmulationMode_t

Enum Values that can be passed to EQEP_setEmulationMode() as the emuMode parameter.

Function Documentation

◆ EQEP_enableModule()

void EQEP_enableModule ( uint32_t baseAddr )

Enables the eQEP module.

Parameters

baseAddr is the base address of the eQEP module.

This function enables operation of the enhanced quadrature encoder pulse (eQEP) module. The module must be configured before it is enabled.

◆ EQEP_disableModule()

void EQEP_disableModule ( uint32_t baseAddr )

Disables the eQEP module.

Parameters

baseAddr is the base address of the enhanced quadrature encoder pulse (eQEP) module

This function disables operation of the eQEP module.

◆ EQEP_setDecoderConfig()

void EQEP_setDecoderConfig	(	uint32_t	baseAddr,
		uint16_t	config
	)

Configures eQEP module's quadrature decoder unit.

Parameters

baseAddr	is the base address of the eQEP module.
config	is the configuration for the eQEP module decoder unit.

This function configures the operation of the eQEP module's quadrature decoder unit. The config parameter provides the configuration of the decoder and is the logical OR of several values:

EQEP_CONFIG_2X_RESOLUTION or EQEP_CONFIG_1X_RESOLUTION specify if both rising and falling edges should be counted or just rising edges.
EQEP_CONFIG_QUADRATURE, EQEP_CONFIG_CLOCK_DIR, EQEP_CONFIG_UP_COUNT, or EQEP_CONFIG_DOWN_COUNT specify if quadrature signals are being provided on QEPA and QEPB, if a direction signal and a clock are being provided, or if the direction should be hard-wired for a single direction with QEPA used for input.
EQEP_CONFIG_NO_SWAP or EQEP_CONFIG_SWAP to specify if the signals provided on QEPA and QEPB should be swapped before being processed.
- Eqep_DecoderConfig_t.

◆ EQEP_setPositionCounterConfig()

void EQEP_setPositionCounterConfig	(	uint32_t	baseAddr,
		eqepPositionResetMode_t	mode,
		uint32_t	maxPosition
	)

Configures eQEP module position counter unit.

Parameters

baseAddr	is the base address of the eQEP module.
mode	is the configuration for the eQEP module position counter.
maxPosition	specifies the maximum position value.

This function configures the operation of the eQEP module position counter. The mode parameter determines the event on which the position counter gets reset. It should be passed one of the following values: EQEP_POSITION_RESET_IDX, EQEP_POSITION_RESET_MAX_POS, EQEP_POSITION_RESET_1ST_IDX, or EQEP_POSITION_RESET_UNIT_TIME_OUT.

Eqep_PositionResetMode_t.

maxPosition is the maximum value of the position counter and is the value used to reset the position capture when moving in the reverse (negative) direction.

◆ EQEP_getPosition()

uint32_t EQEP_getPosition ( uint32_t baseAddr )

Gets the current encoder position.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the current position of the encoder. Depending upon the configuration of the encoder, and the incident of an index pulse, this value may or may not contain the expected data (that is, if in reset on index mode, if an index pulse has not been encountered, the position counter is not yet aligned with the index pulse).

Returns: The current position of the encoder.

◆ EQEP_setPosition()

void EQEP_setPosition	(	uint32_t	baseAddr,
		uint32_t	position
	)

Sets the current encoder position.

Parameters

baseAddr	is the base address of the eQEP module.
position	is the new position for the encoder.

This function sets the current position of the encoder; the encoder position is then measured relative to this value.

◆ EQEP_getDirection()

int32_t EQEP_getDirection ( uint32_t baseAddr )

Gets the current direction of rotation.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the current direction of rotation. In this case, current means the most recently detected direction of the encoder; it may not be presently moving but this is the direction it last moved before it stopped.

Eqep_getDirection_t.

Returns: 1 if moving in the forward direction -1 if moving in the reverse direction.

◆ EQEP_enableInterrupt()

void EQEP_enableInterrupt	(	uint32_t	baseAddr,
		uint16_t	intFlags
	)

Enables individual eQEP module interrupt sources.

Parameters

baseAddr	is the base address of the eQEP module.
intFlags	is a bit mask of the interrupt sources to be enabled.

This function enables eQEP module interrupt sources. The intFlags parameter can be any of the following values OR'd together:

EQEP_INT_POS_CNT_ERROR - Position counter error
EQEP_INT_PHASE_ERROR - Quadrature phase error
EQEP_INT_DIR_CHANGE - Quadrature direction change
EQEP_INT_WATCHDOG - Watchdog time-out
EQEP_INT_UNDERFLOW - Position counter underflow
EQEP_INT_OVERFLOW - Position counter overflow
EQEP_INT_POS_COMP_READY - Position-compare ready
EQEP_INT_POS_COMP_MATCH - Position-compare match
EQEP_INT_STROBE_EVNT_LATCH - Strobe event latch
EQEP_INT_INDEX_EVNT_LATCH - Index event latch
EQEP_INT_UNIT_TIME_OUT - Unit time-out
EQEP_INT_QMA_ERROR - QMA error
Eqep_IntrSrc_t.

◆ EQEP_disableInterrupt()

void EQEP_disableInterrupt	(	uint32_t	baseAddr,
		uint16_t	intFlags
	)

Disables individual eQEP module interrupt sources.

Parameters

baseAddr	is the base address of the eQEP module.
intFlags	is a bit mask of the interrupt sources to be disabled.

This function disables eQEP module interrupt sources. The intFlags parameter can be any of the following values OR'd together:

EQEP_INT_POS_CNT_ERROR - Position counter error
EQEP_INT_PHASE_ERROR - Quadrature phase error
EQEP_INT_DIR_CHANGE - Quadrature direction change
EQEP_INT_WATCHDOG - Watchdog time-out
EQEP_INT_UNDERFLOW - Position counter underflow
EQEP_INT_OVERFLOW - Position counter overflow
EQEP_INT_POS_COMP_READY - Position-compare ready
EQEP_INT_POS_COMP_MATCH - Position-compare match
EQEP_INT_STROBE_EVNT_LATCH - Strobe event latch
EQEP_INT_INDEX_EVNT_LATCH - Index event latch
EQEP_INT_UNIT_TIME_OUT - Unit time-out
EQEP_INT_QMA_ERROR - QMA error
Eqep_IntrSrc_t.

◆ EQEP_getEnabledInterrupt()

uint16_t EQEP_getEnabledInterrupt ( uint32_t baseAddr )

Get Enabled interrupts of eQEP module.

Parameters

baseAddr is the base address of the eQEP module.

Returns

the current enabled interrupts, enumerated as a bit field of the following values:

EQEP_INT_GLOBAL - Global interrupt flag
EQEP_INT_POS_CNT_ERROR - Position counter error
EQEP_INT_PHASE_ERROR - Quadrature phase error
EQEP_INT_DIR_CHANGE - Quadrature direction change
EQEP_INT_WATCHDOG - Watchdog time-out
EQEP_INT_UNDERFLOW - Position counter underflow
EQEP_INT_OVERFLOW - Position counter overflow
EQEP_INT_POS_COMP_READY - Position-compare ready
EQEP_INT_POS_COMP_MATCH - Position-compare match
EQEP_INT_STROBE_EVNT_LATCH - Strobe event latch
EQEP_INT_INDEX_EVNT_LATCH - Index event latch
EQEP_INT_UNIT_TIME_OUT - Unit time-out
EQEP_INT_QMA_ERROR - QMA error
Eqep_IntrSrc_t.

◆ EQEP_getInterruptStatus()

uint16_t EQEP_getInterruptStatus ( uint32_t baseAddr )

Gets the current interrupt status.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the interrupt status for the eQEP module module.

Returns

the current interrupt status, enumerated as a bit field of the following values:

EQEP_INT_GLOBAL - Global interrupt flag
EQEP_INT_POS_CNT_ERROR - Position counter error
EQEP_INT_PHASE_ERROR - Quadrature phase error
EQEP_INT_DIR_CHANGE - Quadrature direction change
EQEP_INT_WATCHDOG - Watchdog time-out
EQEP_INT_UNDERFLOW - Position counter underflow
EQEP_INT_OVERFLOW - Position counter overflow
EQEP_INT_POS_COMP_READY - Position-compare ready
EQEP_INT_POS_COMP_MATCH - Position-compare match
EQEP_INT_STROBE_EVNT_LATCH - Strobe event latch
EQEP_INT_INDEX_EVNT_LATCH - Index event latch
EQEP_INT_UNIT_TIME_OUT - Unit time-out
EQEP_INT_QMA_ERROR - QMA error
Eqep_IntrSrc_t.

◆ EQEP_clearInterruptStatus()

void EQEP_clearInterruptStatus	(	uint32_t	baseAddr,
		uint16_t	intFlags
	)

Clears eQEP module interrupt sources.

Parameters

baseAddr	is the base address of the eQEP module.
intFlags	is a bit mask of the interrupt sources to be cleared.

This function clears eQEP module interrupt flags. The intFlags parameter can be any of the following values OR'd together:

EQEP_INT_GLOBAL - Global interrupt flag
EQEP_INT_POS_CNT_ERROR - Position counter error
EQEP_INT_PHASE_ERROR - Quadrature phase error
EQEP_INT_DIR_CHANGE - Quadrature direction change
EQEP_INT_WATCHDOG - Watchdog time-out
EQEP_INT_UNDERFLOW - Position counter underflow
EQEP_INT_OVERFLOW - Position counter overflow
EQEP_INT_POS_COMP_READY - Position-compare ready
EQEP_INT_POS_COMP_MATCH - Position-compare match
EQEP_INT_STROBE_EVNT_LATCH - Strobe event latch
EQEP_INT_INDEX_EVNT_LATCH - Index event latch
EQEP_INT_UNIT_TIME_OUT - Unit time-out
EQEP_INT_QMA_ERROR - QMA error
Eqep_IntrSrc_t.

Note that the EQEP_INT_GLOBAL value is the global interrupt flag. In order to get any further eQEP interrupts, this flag must be cleared.

◆ EQEP_forceInterrupt()

void EQEP_forceInterrupt	(	uint32_t	baseAddr,
		uint16_t	intFlags
	)

Forces individual eQEP module interrupts.

Parameters

baseAddr	is the base address of the eQEP module.
intFlags	is a bit mask of the interrupt sources to be forced.

This function forces eQEP module interrupt flags. The intFlags parameter can be any of the following values OR'd together:

◆ EQEP_isErrorSet()

Bool EQEP_isErrorSet ( uint32_t baseAddr )

Gets the encoder error indicator.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the error indicator for the eQEP module. It is an error for both of the signals of the quadrature input to change at the same time.

Returns: true if an error has occurred otherwise false

◆ EQEP_getStatus()

uint32_t EQEP_getStatus ( uint32_t baseAddr )

Returns content of the eQEP module status register.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the contents of the status register. The value it returns is an OR of the following values:

EQEP_STS_UNIT_POS_EVNT - Unit position event detected
EQEP_STS_DIR_ON_1ST_IDX - If set, clockwise rotation (forward movement) occurred on the first index event
EQEP_STS_DIR_FLAG - If set, movement is clockwise rotation
EQEP_STS_DIR_LATCH - If set, clockwise rotation occurred on last index event marker
EQEP_STS_CAP_OVRFLW_ERROR - Overflow occurred in eQEP capture timer
EQEP_STS_CAP_DIR_ERROR - Direction change occurred between position capture events
EQEP_STS_1ST_IDX_FLAG - Set by the occurrence of the first index pulse
EQEP_STS_POS_CNT_ERROR - Position counter error occurred
Eqep_ModuleStatus_t.

Returns: the value of the QEP status register

◆ EQEP_clearStatus()

void EQEP_clearStatus	(	uint32_t	baseAddr,
		uint16_t	statusFlags
	)

Clears selected fields of the eQEP module status register.

Parameters

baseAddr	is the base address of the eQEP module.
statusFlags	is the bit mask of the status flags to be cleared.

This function clears the status register fields indicated by statusFlags. The statusFlags parameter is the logical OR of any of the following:

EQEP_STS_UNIT_POS_EVNT - Unit position event detected
EQEP_STS_CAP_OVRFLW_ERROR - Overflow occurred in eQEP capture timer
EQEP_STS_CAP_DIR_ERROR - Direction change occurred between position capture events
EQEP_STS_1ST_IDX_FLAG - Set by the occurrence of the first index pulse
Eqep_ModuleStatus_t.

Note: Only the above status fields can be cleared. All others are read-only, non-sticky fields.

◆ EQEP_setCaptureConfig()

void EQEP_setCaptureConfig	(	uint32_t	baseAddr,
		eqepCapClkPrescale_t	capPrescale,
		eqeqUpEvntPrescale_t	evntPrescale
	)

Configures eQEP module edge-capture unit.

Parameters

baseAddr	is the base address of the eQEP module.
capPrescale	is the prescaler setting of the eQEP capture timer clk.
evntPrescale	is the prescaler setting of the unit position event frequency.

This function configures the operation of the eQEP module edge-capture unit. The capPrescale parameter provides the configuration of the eQEP capture timer clock rate. It determines by which power of 2 between 1 and 128 inclusive SYSCLKOUT is divided. The macros for this parameter are in the format of EQEP_CAPTURE_CLK_DIV_X, where X is the divide value. For example, EQEP_CAPTURE_CLK_DIV_32 will give a capture timer clock frequency that is SYSCLKOUT/32.

The evntPrescale parameter determines how frequently a unit position event occurs. The macro that can be passed this parameter is in the format EQEP_UNIT_POS_EVNT_DIV_X, where X is the number of quadrature clock periods between unit position events. For example, EQEP_UNIT_POS_EVNT_DIV_16 will result in a unit position event frequency of QCLK/16.

Eqep_CapClkPrescale_t and - Eqep_UpEvntPrescale_t.

◆ EQEP_enableCapture()

void EQEP_enableCapture ( uint32_t baseAddr )

Enables the eQEP module edge-capture unit.

Parameters

baseAddr is the base address of the eQEP module.

This function enables operation of the eQEP module's edge-capture unit.

◆ EQEP_disableCapture()

void EQEP_disableCapture ( uint32_t baseAddr )

Disables the eQEP module edge-capture unit.

Parameters

baseAddr is the base address of the eQEP module.

This function disables operation of the eQEP module's edge-capture unit.

◆ EQEP_getCapturePeriod()

uint32_t EQEP_getCapturePeriod ( uint32_t baseAddr )

Gets the encoder capture period.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the period count value between the last successive eQEP position events.

Returns: The period count value between the last successive position events

◆ EQEP_getCaptureTimer()

uint32_t EQEP_getCaptureTimer ( uint32_t baseAddr )

Gets the encoder capture timer value.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the time base for the edge capture unit.

Returns: The capture timer value

◆ EQEP_enableCompare()

void EQEP_enableCompare ( uint32_t baseAddr )

Enables the eQEP module position-compare unit.

Parameters

baseAddr is the base address of the eQEP module.

This function enables operation of the eQEP module's position-compare unit.

◆ EQEP_disableCompare()

void EQEP_disableCompare ( uint32_t baseAddr )

Disables the eQEP module position-compare unit.

Parameters

baseAddr is the base address of the eQEP module.

This function disables operation of the eQEP module's position-compare unit.

◆ EQEP_setComparePulseWidth()

int32_t EQEP_setComparePulseWidth	(	uint32_t	baseAddr,
		uint16_t	cycles
	)

Configures the position-compare unit's sync output pulse width.

Parameters

baseAddr	is the base address of the eQEP module.
cycles	is the width of the pulse that can be generated on a position-compare event. It is in units of 4 SYSCLKOUT cycles.

This function configures the width of the sync output pulse. The width of the pulse will be cycles * 4 * the width of a SYSCLKOUT cycle. The maximum width is 4096 * 4 * SYSCLKOUT cycles.

Returns: CSL_PASS = success CSL_EBADARGS = Invalid base address parameter

◆ EQEP_enableUnitTimer()

void EQEP_enableUnitTimer	(	uint32_t	baseAddr,
		uint32_t	period
	)

Enables the eQEP module unit timer.

Parameters

baseAddr	is the base address of the eQEP module.
period	is period value at which a unit time-out interrupt is set.

This function enables operation of the eQEP module's peripheral unit timer. The unit timer is clocked by SYSCLKOUT and will set the unit time-out interrupt when it matches the value specified by period.

◆ EQEP_disableUnitTimer()

void EQEP_disableUnitTimer ( uint32_t baseAddr )

Disables the eQEP module unit timer.

Parameters

baseAddr is the base address of the eQEP module.

This function disables operation of the eQEP module's peripheral unit timer.

◆ EQEP_enableWatchdog()

void EQEP_enableWatchdog	(	uint32_t	baseAddr,
		uint16_t	period
	)

Enables the eQEP module watchdog timer.

Parameters

baseAddr	is the base address of the eQEP module.
period	is watchdog period value at which a time-out will occur if no quadrature-clock event is detected.

This function enables operation of the eQEP module's peripheral watchdog timer.

Note: When selecting period, note that the watchdog timer is clocked from SYSCLKOUT/64.

◆ EQEP_disableWatchdog()

void EQEP_disableWatchdog ( uint32_t baseAddr )

Disables the eQEP module watchdog timer.

Parameters

baseAddr is the base address of the eQEP module.

This function disables operation of the eQEP module's peripheral watchdog timer.

◆ EQEP_setWatchdogTimerValue()

void EQEP_setWatchdogTimerValue	(	uint32_t	baseAddr,
		uint16_t	value
	)

Sets the eQEP module watchdog timer value.

Parameters

baseAddr	is the base address of the eQEP module.
value	is the value to be written to the watchdog timer.

This function sets the eQEP module's watchdog timer value.

◆ EQEP_getWatchdogTimerValue()

uint32_t EQEP_getWatchdogTimerValue ( uint32_t baseAddr )

Gets the eQEP module watchdog timer value.

Parameters

baseAddr is the base address of the eQEP module.

Returns: Returns the current watchdog timer value.

◆ EQEP_setPositionInitMode()

void EQEP_setPositionInitMode	(	uint32_t	baseAddr,
		uint16_t	initMode
	)

Configures the mode in which the position counter is initialized.

Parameters

baseAddr	is the base address of the eQEP module.
initMode	is the configuration for initializing the position count. See below for a description of this parameter.

This function configures the events on which the position count can be initialized. The initMode parameter provides the mode as either EQEP_INIT_DO_NOTHING (no action configured) or one of the following strobe events, index events, or a logical OR of both a strobe event and an index event.

EQEP_INIT_RISING_STROBE or EQEP_INIT_EDGE_DIR_STROBE specify which strobe event will initialize the position counter.
EQEP_INIT_RISING_INDEX or EQEP_INIT_FALLING_INDEX specify which index event will initialize the position counter.
Eqep_InitMode_t.

Use EQEP_setSWPositionInit() to cause a software initialization and EQEP_setInitialPosition() to set the value that gets loaded into the position counter upon initialization.

◆ EQEP_setSWPositionInit()

void EQEP_setSWPositionInit	(	uint32_t	baseAddr,
		Bool	initialize
	)

Sets the software initialization of the encoder position counter.

Parameters

baseAddr	is the base address of the eQEP module.
initialize	is a flag to specify if software initialization of the position counter is enabled.

This function does a software initialization of the position counter when the initialize parameter is true. When false, the QEPCTL[SWI] bit is cleared and no action is taken.

The init value to be loaded into the position counter can be set with EQEP_setInitialPosition(). Additional initialization causes can be configured with EQEP_setPositionInitMode().

◆ EQEP_setInitialPosition()

void EQEP_setInitialPosition	(	uint32_t	baseAddr,
		uint32_t	position
	)

Sets the init value for the encoder position counter.

Parameters

baseAddr	is the base address of the eQEP module.
position	is the value to be written to the position counter upon. initialization.

This function sets the init value for position of the encoder. See EQEP_setPositionInitMode() to set the initialization cause or EQEP_setSWPositionInit() to cause a software initialization.

◆ EQEP_setLatchMode()

void EQEP_setLatchMode	(	uint32_t	baseAddr,
		uint32_t	latchMode
	)

Configures the quadrature modes in which the position count can be latched.

Parameters

baseAddr	is the base address of the eQEP module.
latchMode	is the configuration for latching of the position count and several other registers. See below for a description of this parameter.

This function configures the events on which the position count and several other registers can be latched. The latchMode parameter provides the mode as the logical OR of several values.

EQEP_LATCH_CNT_READ_BY_CPU or EQEP_LATCH_UNIT_TIME_OUT specify the event that latches the position counter. This latch register can be read using EQEP_getPositionLatch(). The capture timer and capture period are also latched based on this setting, and can be read using EQEP_getCaptureTimerLatch() and EQEP_getCapturePeriodLatch().
EQEP_LATCH_RISING_STROBE or EQEP_LATCH_EDGE_DIR_STROBE specify which strobe event will latch the position counter into the strobe position latch register. This register can be read with EQEP_getStrobePositionLatch().
EQEP_LATCH_RISING_INDEX, EQEP_LATCH_FALLING_INDEX, or EQEP_LATCH_SW_INDEX_MARKER specify which index event will latch the position counter into the index position latch register. This register can be read with EQEP_getIndexPositionLatch().
Eqep_LatchMode_t.

◆ EQEP_getIndexPositionLatch()

uint32_t EQEP_getIndexPositionLatch ( uint32_t baseAddr )

Gets the encoder position that was latched on an index event.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the value in the index position latch register. The position counter is latched into this register on either a rising index edge, a falling index edge, or a software index marker. This is configured using EQEP_setLatchMode().

Returns: The position count latched on an index event.

◆ EQEP_getStrobePositionLatch()

uint32_t EQEP_getStrobePositionLatch ( uint32_t baseAddr )

Gets the encoder position that was latched on a strobe event.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the value in the strobe position latch register. The position counter can be configured to be latched into this register on rising strobe edges only or on rising strobe edges while moving clockwise and falling strobe edges while moving counter-clockwise. This is configured using EQEP_setLatchMode().

Returns: The position count latched on a strobe event.

◆ EQEP_getPositionLatch()

uint32_t EQEP_getPositionLatch ( uint32_t baseAddr )

Gets the encoder position that was latched on a unit time-out event.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the value in the position latch register. The position counter is latched into this register either on a unit time-out event.

Returns: The position count latch register value.

◆ EQEP_getCaptureTimerLatch()

uint32_t EQEP_getCaptureTimerLatch ( uint32_t baseAddr )

Gets the encoder capture timer latch.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the value in the capture timer latch register. The capture timer value is latched into this register either on a unit time-out event or upon the CPU reading the eQEP position counter. This is configured using EQEP_setLatchMode().

Returns: The edge-capture timer latch value.

◆ EQEP_getCapturePeriodLatch()

uint32_t EQEP_getCapturePeriodLatch ( uint32_t baseAddr )

Gets the encoder capture period latch.

Parameters

baseAddr is the base address of the eQEP module.

This function returns the value in the capture period latch register. The capture period value is latched into this register either on a unit time-out event or upon the CPU reading the eQEP position counter. This is configured using EQEP_setLatchMode().

Returns: The edge-capture period latch value.

◆ EQEP_setQMAModuleMode()

void EQEP_setQMAModuleMode	(	uint32_t	baseAddr,
		eqepQmaMode_t	qmaMode
	)

Set the quadrature mode adapter (QMA) module mode.

Parameters

baseAddr	is the base address of the eQEP module.
qmaMode	is the mode in which the QMA module will operate.

This function sets the quadrature mode adapter module mode. The possible modes are passed to the function through the qmaMode parameter which can take the values EQEP_QMA_MODE_BYPASS, EQEP_QMA_MODE_1, or EQEP_QMA_MODE_2.

Eqep_QmaMode_t.

To use the QMA module, you must first put the eQEP module into direction-count mode (EQEP_CONFIG_CLOCK_DIR) using EQEP_setDecoderConfig().

◆ EQEP_setStrobeSource()

void EQEP_setStrobeSource	(	uint32_t	baseAddr,
		eqepStrobeSource_t	strobeSrc
	)

Set the strobe input source of the eQEP module.

Parameters

baseAddr	is the base address of the eQEP module.
strobeSrc	is the source of the strobe signal.

This function sets the source of the eQEP module's strobe signal. The possible values of the strobeSrc parameter are

EQEP_STROBE_FROM_GPIO - The strobe is used as-is after passing through the polarity select logic.
EQEP_STROBE_OR_ADCSOCA - The strobe is OR'd with the ADCSOCA signal after passing through the polarity select logic.
EQEP_STROBE_OR_ADCSOCB - The strobe is OR'd with the ADCSOCB signal after passing through the polarity select logic.
Eqep_StrobeSource_t.

◆ EQEP_setEmulationMode()

void EQEP_setEmulationMode	(	uint32_t	baseAddr,
		eqepEmulationMode_t	emuMode
	)

Set the emulation mode of the eQEP module.

Parameters

baseAddr	is the base address of the eQEP module.
emuMode	is the mode operation upon an emulation suspend.

This function sets the eQEP module's emulation mode. This mode determines how the timers are affected by an emulation suspend. Valid values for the emuMode parameter are the following:

EQEP_EMULATIONMODE_STOPIMMEDIATELY - The position counter, watchdog counter, unit timer, and capture timer all stop immediately.
EQEP_EMULATIONMODE_STOPATROLLOVER - The position counter, watchdog counter, unit timer all count until period rollover. The capture timer counts until the next unit period event.
EQEP_EMULATIONMODE_RUNFREE - The position counter, watchdog counter, unit timer, and capture timer are all unaffected by an emulation suspend.

◆ EQEP_setCompareConfig()

void EQEP_setCompareConfig	(	uint32_t	baseAddr,
		uint16_t	config,
		uint32_t	compareValue,
		uint16_t	cycles
	)

Configures eQEP module position-compare unit.

Parameters

baseAddr	is the base address of the eQEP module.
config	is the configuration for the eQEP module position-compare unit. See below for a description of this parameter.
compareValue	is the value to which the position count value is compared for a position-compare event.
cycles	is the width of the pulse that can be generated on a position-compare event. It is in units of 4 SYSCLKOUT cycles.

This function configures the operation of the eQEP module position-compare unit. The config parameter provides the configuration of the position-compare unit and is the logical OR of several values:

EQEP_COMPARE_NO_SYNC_OUT, EQEP_COMPARE_IDX_SYNC_OUT, or EQEP_COMPARE_STROBE_SYNC_OUT specify if there is a sync output pulse and which pin should be used.
EQEP_COMPARE_NO_SHADOW, EQEP_COMPARE_LOAD_ON_ZERO, or EQEP_COMPARE_LOAD_ON_MATCH specify if a shadow is enabled and when should the load should occur–QPOSCNT = 0 or QPOSCNT = QPOSCOMP.

The cycles is used to select the width of the sync output pulse. The width of the resulting pulse will be cycles * 4 * the width of a SYSCLKOUT cycle. The maximum width is 4096 * 4 * SYSCLKOUT cycles.

Eqep_CompareConfig_t.

Note: You can set the sync pulse width independently using the EQEP_setComparePulseWidth() function.

◆ EQEP_setInputPolarity()

void EQEP_setInputPolarity	(	uint32_t	baseAddr,
		Bool	invertQEPA,
		Bool	invertQEPB,
		Bool	invertIndex,
		Bool	invertStrobe
	)

Sets the polarity of the eQEP module's input signals.

Parameters

baseAddr	is the base address of the eQEP module.
invertQEPA	is the flag to negate the QEPA input.
invertQEPB	is the flag to negate the QEPA input.
invertIndex	is the flag to negate the index input.
invertStrobe	is the flag to negate the strobe input.

This function configures the polarity of the inputs to the eQEP module. To negate the polarity of any of the input signals, pass true into its corresponding parameter in this function. Pass false to leave it as-is.

Introduction

Files

Functions

EQEP Decoder Configuration

EQEP Compare Configuration

EQEP Interrupt Sources

EQEP Get Module Status

EQEP Set Latch Mode

EQEP Set Position Init Mode

EQEP get direction

EQEP Position Reset Mode

EQEP CapPrescalar parameter

EQEP unit position event frequency

EQEP strobeSrc parameter

EQEP qmaMode parameter

EQEP emuMode parameter

EQEP direction

Macro Definition Documentation

◆ EQEP_CONFIG_QUADRATURE

◆ EQEP_CONFIG_CLOCK_DIR

◆ EQEP_CONFIG_UP_COUNT

◆ EQEP_CONFIG_DOWN_COUNT

◆ EQEP_CONFIG_2X_RESOLUTION

◆ EQEP_CONFIG_1X_RESOLUTION

◆ EQEP_CONFIG_NO_SWAP

◆ EQEP_CONFIG_SWAP

◆ EQEP_COMPARE_NO_SYNC_OUT

◆ EQEP_COMPARE_IDX_SYNC_OUT

◆ EQEP_COMPARE_STROBE_SYNC_OUT

◆ EQEP_COMPARE_NO_SHADOW

◆ EQEP_COMPARE_LOAD_ON_ZERO

◆ EQEP_COMPARE_LOAD_ON_MATCH

◆ EQEP_INT_GLOBAL

◆ EQEP_INT_POS_CNT_ERROR

◆ EQEP_INT_PHASE_ERROR

◆ EQEP_INT_DIR_CHANGE

◆ EQEP_INT_WATCHDOG

◆ EQEP_INT_UNDERFLOW

◆ EQEP_INT_OVERFLOW

◆ EQEP_INT_POS_COMP_READY

◆ EQEP_INT_POS_COMP_MATCH

◆ EQEP_INT_STROBE_EVNT_LATCH

◆ EQEP_INT_INDEX_EVNT_LATCH

◆ EQEP_INT_UNIT_TIME_OUT

◆ EQEP_INT_QMA_ERROR

◆ EQEP_STS_UNIT_POS_EVNT

◆ EQEP_STS_DIR_ON_1ST_IDX

◆ EQEP_STS_DIR_FLAG

◆ EQEP_STS_DIR_LATCH

◆ EQEP_STS_CAP_OVRFLW_ERROR

◆ EQEP_STS_CAP_DIR_ERROR

◆ EQEP_STS_1ST_IDX_FLAG

◆ EQEP_STS_POS_CNT_ERROR

◆ EQEP_LATCH_CNT_READ_BY_CPU

◆ EQEP_LATCH_UNIT_TIME_OUT

◆ EQEP_LATCH_RISING_STROBE

◆ EQEP_LATCH_EDGE_DIR_STROBE

◆ EQEP_LATCH_RISING_INDEX

◆ EQEP_LATCH_FALLING_INDEX

◆ EQEP_LATCH_SW_INDEX_MARKER

◆ EQEP_INIT_DO_NOTHING

◆ EQEP_INIT_RISING_STROBE

◆ EQEP_INIT_EDGE_DIR_STROBE

◆ EQEP_INIT_RISING_INDEX

◆ EQEP_INIT_FALLING_INDEX

◆ EQEP_MOD_FORWARD_DIR

◆ EQEP_MOD_BACKWARD_DIR

◆ EQEP_POSITION_RESET_IDX

◆ EQEP_POSITION_RESET_MAX_POS

◆ EQEP_POSITION_RESET_1ST_IDX

◆ EQEP_POSITION_RESET_UNIT_TIME_OUT

◆ EQEP_CAPTURE_CLK_DIV_1

◆ EQEP_CAPTURE_CLK_DIV_2

◆ EQEP_CAPTURE_CLK_DIV_4

◆ EQEP_CAPTURE_CLK_DIV_8

◆ EQEP_CAPTURE_CLK_DIV_16

◆ EQEP_CAPTURE_CLK_DIV_32

◆ EQEP_CAPTURE_CLK_DIV_64

◆ EQEP_CAPTURE_CLK_DIV_128

◆ EQEP_UNIT_POS_EVNT_DIV_1