qei.h
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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 //
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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__
int32_t QEIDirectionGet(uint32_t ui32Base)
Definition: qei.c:234
void QEIPositionSet(uint32_t ui32Base, uint32_t ui32Position)
Definition: qei.c:205
void QEIIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags)
Definition: qei.c:636
void QEIIntClear(uint32_t ui32Base, uint32_t ui32IntFlags)
Definition: qei.c:744
void QEIIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags)
Definition: qei.c:666
void QEIIntUnregister(uint32_t ui32Base)
Definition: qei.c:592
uint32_t QEIIntStatus(uint32_t ui32Base, bool bMasked)
Definition: qei.c:696
void QEIIntRegister(uint32_t ui32Base, void(*pfnHandler)(void))
Definition: qei.c:548
uint32_t QEIPositionGet(uint32_t ui32Base)
Definition: qei.c:178
void QEIVelocityEnable(uint32_t ui32Base)
Definition: qei.c:380
void QEIVelocityDisable(uint32_t ui32Base)
Definition: qei.c:406
void QEIDisable(uint32_t ui32Base)
Definition: qei.c:95
void QEIFilterConfigure(uint32_t ui32Base, uint32_t ui32FiltCnt)
Definition: qei.c:349
void QEIVelocityConfigure(uint32_t ui32Base, uint32_t ui32PreDiv, uint32_t ui32Period)
Definition: qei.c:441
void QEIConfigure(uint32_t ui32Base, uint32_t ui32Config, uint32_t ui32MaxPosition)
Definition: qei.c:140
void QEIFilterDisable(uint32_t ui32Base)
Definition: qei.c:316
uint32_t QEIVelocityGet(uint32_t ui32Base)
Definition: qei.c:479
void QEIFilterEnable(uint32_t ui32Base)
Definition: qei.c:290
bool QEIErrorGet(uint32_t ui32Base)
Definition: qei.c:261
void QEIEnable(uint32_t ui32Base)
Definition: qei.c:70
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