qei.h

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//*****************************************************************************
//
// qei.h - Prototypes for the Quadrature Encoder Driver.
//
// Copyright (c) 2005-2017 Texas Instruments Incorporated.  All rights reserved.
// Software License Agreement
//
//   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
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// 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 __DRIVERLIB_QEI_H__
#define __DRIVERLIB_QEI_H__

#include <stdint.h>
#include <stdbool.h>

//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif

//*****************************************************************************
//
// Values that can be passed to QEIConfigure as the ui32Config paramater.
//
//*****************************************************************************
#define QEI_CONFIG_CAPTURE_A    0x00000000  // Count on ChA edges only
#define QEI_CONFIG_CAPTURE_A_B  0x00000008  // Count on ChA and ChB edges
#define QEI_CONFIG_NO_RESET     0x00000000  // Do not reset on index pulse
#define QEI_CONFIG_RESET_IDX    0x00000010  // Reset position on index pulse
#define QEI_CONFIG_QUADRATURE   0x00000000  // ChA and ChB are quadrature
#define QEI_CONFIG_CLOCK_DIR    0x00000004  // ChA and ChB are clock and dir
#define QEI_CONFIG_NO_SWAP      0x00000000  // Do not swap ChA and ChB
#define QEI_CONFIG_SWAP         0x00000002  // Swap ChA and ChB

//*****************************************************************************
//
// Values that can be passed to QEIFilterConfigure as the ui32PreDiv
// parameter.
//
//*****************************************************************************
#define QEI_FILTCNT_2           0x00000000  // Filter Count of 2 System Clocks
#define QEI_FILTCNT_3           0x00010000  // Filter Count of 3 System Clocks
#define QEI_FILTCNT_4           0x00020000  // Filter Count of 4 System Clocks
#define QEI_FILTCNT_5           0x00030000  // Filter Count of 5 System Clocks
#define QEI_FILTCNT_6           0x00040000  // Filter Count of 6 System Clocks
#define QEI_FILTCNT_7           0x00050000  // Filter Count of 7 System Clocks
#define QEI_FILTCNT_8           0x00060000  // Filter Count of 8 System Clocks
#define QEI_FILTCNT_9           0x00070000  // Filter Count of 9 System Clocks
#define QEI_FILTCNT_10          0x00080000  // Filter Count of 10 System Clocks
#define QEI_FILTCNT_11          0x00090000  // Filter Count of 11 System Clocks
#define QEI_FILTCNT_12          0x000A0000  // Filter Count of 12 System Clocks
#define QEI_FILTCNT_13          0x000B0000  // Filter Count of 13 System Clocks
#define QEI_FILTCNT_14          0x000C0000  // Filter Count of 14 System Clocks
#define QEI_FILTCNT_15          0x000D0000  // Filter Count of 15 System Clocks
#define QEI_FILTCNT_16          0x000E0000  // Filter Count of 16 System Clocks
#define QEI_FILTCNT_17          0x000F0000  // Filter Count of 17 System Clocks

//*****************************************************************************
//
// Values that can be passed to QEIVelocityConfigure as the ui32PreDiv
// parameter.
//
//*****************************************************************************
#define QEI_VELDIV_1            0x00000000  // Predivide by 1
#define QEI_VELDIV_2            0x00000040  // Predivide by 2
#define QEI_VELDIV_4            0x00000080  // Predivide by 4
#define QEI_VELDIV_8            0x000000C0  // Predivide by 8
#define QEI_VELDIV_16           0x00000100  // Predivide by 16
#define QEI_VELDIV_32           0x00000140  // Predivide by 32
#define QEI_VELDIV_64           0x00000180  // Predivide by 64
#define QEI_VELDIV_128          0x000001C0  // Predivide by 128

//*****************************************************************************
//
// Values that can be passed to QEIEnableInts, QEIDisableInts, and QEIClearInts
// as the ui32IntFlags parameter, and returned by QEIGetIntStatus.
//
//*****************************************************************************
#define QEI_INTERROR            0x00000008  // Phase error detected
#define QEI_INTDIR              0x00000004  // Direction change
#define QEI_INTTIMER            0x00000002  // Velocity timer expired
#define QEI_INTINDEX            0x00000001  // Index pulse detected

//*****************************************************************************
//
// Prototypes for the APIs.
//
//*****************************************************************************
extern void QEIEnable(uint32_t ui32Base);
extern void QEIDisable(uint32_t ui32Base);
extern void QEIConfigure(uint32_t ui32Base, uint32_t ui32Config,
                         uint32_t ui32MaxPosition);
extern uint32_t QEIPositionGet(uint32_t ui32Base);
extern void QEIPositionSet(uint32_t ui32Base, uint32_t ui32Position);
extern int32_t QEIDirectionGet(uint32_t ui32Base);
extern bool QEIErrorGet(uint32_t ui32Base);
extern void QEIFilterEnable(uint32_t ui32Base);
extern void QEIFilterDisable(uint32_t ui32Base);
extern void QEIFilterConfigure(uint32_t ui32Base, uint32_t ui32FiltCnt);
extern void QEIVelocityEnable(uint32_t ui32Base);
extern void QEIVelocityDisable(uint32_t ui32Base);
extern void QEIVelocityConfigure(uint32_t ui32Base, uint32_t ui32PreDiv,
                                 uint32_t ui32Period);
extern uint32_t QEIVelocityGet(uint32_t ui32Base);
extern void QEIIntRegister(uint32_t ui32Base, void (*pfnHandler)(void));
extern void QEIIntUnregister(uint32_t ui32Base);
extern void QEIIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags);
extern void QEIIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags);
extern uint32_t QEIIntStatus(uint32_t ui32Base, bool bMasked);
extern void QEIIntClear(uint32_t ui32Base, uint32_t ui32IntFlags);

//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif

#endif // __DRIVERLIB_QEI_H__