Introduction

EQEP Driver API/interface file.

EQEP Position Reset Mode

#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...

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

EQEP CapPrescalar parameter

#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...

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

EQEP unit position event frequency

#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...

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

EQEP strobeSrc parameter

#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...

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

EQEP qmaMode parameter

#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...

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

EQEP emuMode parameter

#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...

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

Macros
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 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...

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...

Introduction

EQEP Position Reset Mode

EQEP CapPrescalar parameter

EQEP unit position event frequency

EQEP strobeSrc parameter

EQEP qmaMode parameter

EQEP emuMode parameter

Macros

Functions