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//*****************************************************************************
//
// hw_qei.h - Macros used when accessing the QEI hardware.
//
// Copyright (c) 2005-2016 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.
//
// This is part of revision 2.1.3.156 of the Tiva Firmware Development Package.
//
//*****************************************************************************
#ifndef __HW_QEI_H__
#define __HW_QEI_H__
//*****************************************************************************
//
// The following are defines for the QEI register offsets.
//
//*****************************************************************************
#define QEI_O_CTL 0x00000000 // QEI Control
#define QEI_O_STAT 0x00000004 // QEI Status
#define QEI_O_POS 0x00000008 // QEI Position
#define QEI_O_MAXPOS 0x0000000C // QEI Maximum Position
#define QEI_O_LOAD 0x00000010 // QEI Timer Load
#define QEI_O_TIME 0x00000014 // QEI Timer
#define QEI_O_COUNT 0x00000018 // QEI Velocity Counter
#define QEI_O_SPEED 0x0000001C // QEI Velocity
#define QEI_O_INTEN 0x00000020 // QEI Interrupt Enable
#define QEI_O_RIS 0x00000024 // QEI Raw Interrupt Status
#define QEI_O_ISC 0x00000028 // QEI Interrupt Status and Clear
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_CTL register.
//
//*****************************************************************************
#define QEI_CTL_FILTCNT_M 0x000F0000 // Input Filter Prescale Count
#define QEI_CTL_FILTEN 0x00002000 // Enable Input Filter
#define QEI_CTL_STALLEN 0x00001000 // Stall QEI
#define QEI_CTL_INVI 0x00000800 // Invert Index Pulse
#define QEI_CTL_INVB 0x00000400 // Invert PhB
#define QEI_CTL_INVA 0x00000200 // Invert PhA
#define QEI_CTL_VELDIV_M 0x000001C0 // Predivide Velocity
#define QEI_CTL_VELDIV_1 0x00000000 // QEI clock /1
#define QEI_CTL_VELDIV_2 0x00000040 // QEI clock /2
#define QEI_CTL_VELDIV_4 0x00000080 // QEI clock /4
#define QEI_CTL_VELDIV_8 0x000000C0 // QEI clock /8
#define QEI_CTL_VELDIV_16 0x00000100 // QEI clock /16
#define QEI_CTL_VELDIV_32 0x00000140 // QEI clock /32
#define QEI_CTL_VELDIV_64 0x00000180 // QEI clock /64
#define QEI_CTL_VELDIV_128 0x000001C0 // QEI clock /128
#define QEI_CTL_VELEN 0x00000020 // Capture Velocity
#define QEI_CTL_RESMODE 0x00000010 // Reset Mode
#define QEI_CTL_CAPMODE 0x00000008 // Capture Mode
#define QEI_CTL_SIGMODE 0x00000004 // Signal Mode
#define QEI_CTL_SWAP 0x00000002 // Swap Signals
#define QEI_CTL_ENABLE 0x00000001 // Enable QEI
#define QEI_CTL_FILTCNT_S 16
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_STAT register.
//
//*****************************************************************************
#define QEI_STAT_DIRECTION 0x00000002 // Direction of Rotation
#define QEI_STAT_ERROR 0x00000001 // Error Detected
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_POS register.
//
//*****************************************************************************
#define QEI_POS_M 0xFFFFFFFF // Current Position Integrator
// Value
#define QEI_POS_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_MAXPOS register.
//
//*****************************************************************************
#define QEI_MAXPOS_M 0xFFFFFFFF // Maximum Position Integrator
// Value
#define QEI_MAXPOS_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_LOAD register.
//
//*****************************************************************************
#define QEI_LOAD_M 0xFFFFFFFF // Velocity Timer Load Value
#define QEI_LOAD_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_TIME register.
//
//*****************************************************************************
#define QEI_TIME_M 0xFFFFFFFF // Velocity Timer Current Value
#define QEI_TIME_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_COUNT register.
//
//*****************************************************************************
#define QEI_COUNT_M 0xFFFFFFFF // Velocity Pulse Count
#define QEI_COUNT_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_SPEED register.
//
//*****************************************************************************
#define QEI_SPEED_M 0xFFFFFFFF // Velocity
#define QEI_SPEED_S 0
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_INTEN register.
//
//*****************************************************************************
#define QEI_INTEN_ERROR 0x00000008 // Phase Error Interrupt Enable
#define QEI_INTEN_DIR 0x00000004 // Direction Change Interrupt
// Enable
#define QEI_INTEN_TIMER 0x00000002 // Timer Expires Interrupt Enable
#define QEI_INTEN_INDEX 0x00000001 // Index Pulse Detected Interrupt
// Enable
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_RIS register.
//
//*****************************************************************************
#define QEI_RIS_ERROR 0x00000008 // Phase Error Detected
#define QEI_RIS_DIR 0x00000004 // Direction Change Detected
#define QEI_RIS_TIMER 0x00000002 // Velocity Timer Expired
#define QEI_RIS_INDEX 0x00000001 // Index Pulse Asserted
//*****************************************************************************
//
// The following are defines for the bit fields in the QEI_O_ISC register.
//
//*****************************************************************************
#define QEI_ISC_ERROR 0x00000008 // Phase Error Interrupt
#define QEI_ISC_DIR 0x00000004 // Direction Change Interrupt
#define QEI_ISC_TIMER 0x00000002 // Velocity Timer Expired Interrupt
#define QEI_ISC_INDEX 0x00000001 // Index Pulse Interrupt
#endif // __HW_QEI_H__
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