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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
// 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 __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__
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