From 44b979ac3dc53b29ee8176517b7d9a10935630c0 Mon Sep 17 00:00:00 2001 From: Yuval Adam Date: Mon, 29 Oct 2012 21:36:23 +0200 Subject: Initial code --- driverlib/qei.c | 633 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 633 insertions(+) create mode 100644 driverlib/qei.c (limited to 'driverlib/qei.c') diff --git a/driverlib/qei.c b/driverlib/qei.c new file mode 100644 index 0000000..237f484 --- /dev/null +++ b/driverlib/qei.c @@ -0,0 +1,633 @@ +//***************************************************************************** +// +// qei.c - Driver for the Quadrature Encoder with Index. +// +// Copyright (c) 2005-2012 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 9453 of the Stellaris Peripheral Driver Library. +// +//***************************************************************************** + +//***************************************************************************** +// +//! \addtogroup qei_api +//! @{ +// +//***************************************************************************** + +#include "inc/hw_ints.h" +#include "inc/hw_memmap.h" +#include "inc/hw_qei.h" +#include "inc/hw_types.h" +#include "driverlib/debug.h" +#include "driverlib/interrupt.h" +#include "driverlib/qei.h" + +//***************************************************************************** +// +//! Enables the quadrature encoder. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function enables operation of the quadrature encoder module. The +//! module must be configured before it is enabled. +//! +//! \sa QEIConfigure() +//! +//! \return None. +// +//***************************************************************************** +void +QEIEnable(unsigned long ulBase) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Enable the QEI module. + // + HWREG(ulBase + QEI_O_CTL) |= QEI_CTL_ENABLE; +} + +//***************************************************************************** +// +//! Disables the quadrature encoder. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function disables operation of the quadrature encoder module. +//! +//! \return None. +// +//***************************************************************************** +void +QEIDisable(unsigned long ulBase) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Disable the QEI module. + // + HWREG(ulBase + QEI_O_CTL) &= ~(QEI_CTL_ENABLE); +} + +//***************************************************************************** +// +//! Configures the quadrature encoder. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! \param ulConfig is the configuration for the quadrature encoder. See below +//! for a description of this parameter. +//! \param ulMaxPosition specifies the maximum position value. +//! +//! This function configures the operation of the quadrature encoder. The +//! \e ulConfig parameter provides the configuration of the encoder and is the +//! logical OR of several values: +//! +//! - \b QEI_CONFIG_CAPTURE_A or \b QEI_CONFIG_CAPTURE_A_B specify if edges +//! on channel A or on both channels A and B should be counted by the +//! position integrator and velocity accumulator. +//! - \b QEI_CONFIG_NO_RESET or \b QEI_CONFIG_RESET_IDX specify if the +//! position integrator should be reset when the index pulse is detected. +//! - \b QEI_CONFIG_QUADRATURE or \b QEI_CONFIG_CLOCK_DIR specify if +//! quadrature signals are being provided on ChA and ChB, or if a direction +//! signal and a clock are being provided instead. +//! - \b QEI_CONFIG_NO_SWAP or \b QEI_CONFIG_SWAP to specify if the signals +//! provided on ChA and ChB should be swapped before being processed. +//! +//! \e ulMaxPosition is the maximum value of the position integrator and is +//! the value used to reset the position capture when in index reset mode and +//! moving in the reverse (negative) direction. +//! +//! \return None. +// +//***************************************************************************** +void +QEIConfigure(unsigned long ulBase, unsigned long ulConfig, + unsigned long ulMaxPosition) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Write the new configuration to the hardware. + // + HWREG(ulBase + QEI_O_CTL) = ((HWREG(ulBase + QEI_O_CTL) & + ~(QEI_CTL_CAPMODE | QEI_CTL_RESMODE | + QEI_CTL_SIGMODE | QEI_CTL_SWAP)) | + ulConfig); + + // + // Set the maximum position. + // + HWREG(ulBase + QEI_O_MAXPOS) = ulMaxPosition; +} + +//***************************************************************************** +// +//! Gets the current encoder position. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function returns the current position of the encoder. Depending upon +//! the configuration of the encoder, and the incident of an index pulse, this +//! value may or may not contain the expected data (that is, if in reset on +//! index mode, if an index pulse has not been encountered, the position +//! counter is not yet aligned with the index pulse). +//! +//! \return The current position of the encoder. +// +//***************************************************************************** +unsigned long +QEIPositionGet(unsigned long ulBase) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Return the current position counter. + // + return(HWREG(ulBase + QEI_O_POS)); +} + +//***************************************************************************** +// +//! Sets the current encoder position. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! \param ulPosition is the new position for the encoder. +//! +//! This function sets the current position of the encoder; the encoder +//! position is then measured relative to this value. +//! +//! \return None. +// +//***************************************************************************** +void +QEIPositionSet(unsigned long ulBase, unsigned long ulPosition) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Set the position counter. + // + HWREG(ulBase + QEI_O_POS) = ulPosition; +} + +//***************************************************************************** +// +//! Gets the current direction of rotation. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function returns the current direction of rotation. In this case, +//! current means the most recently detected direction of the encoder; it may +//! not be presently moving but this is the direction it last moved before it +//! stopped. +//! +//! \return Returns 1 if moving in the forward direction or -1 if moving in the +//! reverse direction. +// +//***************************************************************************** +long +QEIDirectionGet(unsigned long ulBase) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Return the direction of rotation. + // + return((HWREG(ulBase + QEI_O_STAT) & QEI_STAT_DIRECTION) ? -1 : 1); +} + +//***************************************************************************** +// +//! Gets the encoder error indicator. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function returns the error indicator for the quadrature encoder. It +//! is an error for both of the signals of the quadrature input to change at +//! the same time. +//! +//! \return Returns \b true if an error has occurred and \b false otherwise. +// +//***************************************************************************** +tBoolean +QEIErrorGet(unsigned long ulBase) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Return the error indicator. + // + return((HWREG(ulBase + QEI_O_STAT) & QEI_STAT_ERROR) ? true : false); +} + +//***************************************************************************** +// +//! Enables the velocity capture. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function enables operation of the velocity capture in the quadrature +//! encoder module. The module must be configured before velocity capture is +//! enabled. +//! +//! \sa QEIVelocityConfigure() and QEIEnable() +//! +//! \return None. +// +//***************************************************************************** +void +QEIVelocityEnable(unsigned long ulBase) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Enable the velocity capture. + // + HWREG(ulBase + QEI_O_CTL) |= QEI_CTL_VELEN; +} + +//***************************************************************************** +// +//! Disables the velocity capture. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function disables operation of the velocity capture in the quadrature +//! encoder module. +//! +//! \return None. +// +//***************************************************************************** +void +QEIVelocityDisable(unsigned long ulBase) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Disable the velocity capture. + // + HWREG(ulBase + QEI_O_CTL) &= ~(QEI_CTL_VELEN); +} + +//***************************************************************************** +// +//! Configures the velocity capture. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! \param ulPreDiv specifies the predivider applied to the input quadrature +//! signal before it is counted; can be one of \b QEI_VELDIV_1, +//! \b QEI_VELDIV_2, \b QEI_VELDIV_4, \b QEI_VELDIV_8, \b QEI_VELDIV_16, +//! \b QEI_VELDIV_32, \b QEI_VELDIV_64, or \b QEI_VELDIV_128. +//! \param ulPeriod specifies the number of clock ticks over which to measure +//! the velocity; must be non-zero. +//! +//! This function configures the operation of the velocity capture portion of +//! the quadrature encoder. The position increment signal is predivided as +//! specified by \e ulPreDiv before being accumulated by the velocity capture. +//! The divided signal is accumulated over \e ulPeriod system clock before +//! being saved and resetting the accumulator. +//! +//! \return None. +// +//***************************************************************************** +void +QEIVelocityConfigure(unsigned long ulBase, unsigned long ulPreDiv, + unsigned long ulPeriod) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + ASSERT(!(ulPreDiv & ~(QEI_CTL_VELDIV_M))); + ASSERT(ulPeriod != 0); + + // + // Set the velocity predivider. + // + HWREG(ulBase + QEI_O_CTL) = ((HWREG(ulBase + QEI_O_CTL) & + ~(QEI_CTL_VELDIV_M)) | ulPreDiv); + + // + // Set the timer period. + // + HWREG(ulBase + QEI_O_LOAD) = ulPeriod - 1; +} + +//***************************************************************************** +// +//! Gets the current encoder speed. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function returns the current speed of the encoder. The value returned +//! is the number of pulses detected in the specified time period; this number +//! can be multiplied by the number of time periods per second and divided by +//! the number of pulses per revolution to obtain the number of revolutions per +//! second. +//! +//! \return Returns the number of pulses captured in the given time period. +// +//***************************************************************************** +unsigned long +QEIVelocityGet(unsigned long ulBase) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Return the speed capture value. + // + return(HWREG(ulBase + QEI_O_SPEED)); +} + +//***************************************************************************** +// +//! Registers an interrupt handler for the quadrature encoder interrupt. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! \param pfnHandler is a pointer to the function to be called when the +//! quadrature encoder interrupt occurs. +//! +//! This function registers the handler to be called when a quadrature encoder +//! interrupt occurs. This function enables the global interrupt in the +//! interrupt controller; specific quadrature encoder interrupts must be +//! enabled via QEIIntEnable(). It is the interrupt handler's responsibility to +//! clear the interrupt source via QEIIntClear(). +//! +//! \sa IntRegister() for important information about registering interrupt +//! handlers. +//! +//! \return None. +// +//***************************************************************************** +void +QEIIntRegister(unsigned long ulBase, void (*pfnHandler)(void)) +{ + unsigned long ulInt; + + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Determine the interrupt number based on the QEI module. + // + ulInt = (ulBase == QEI0_BASE) ? INT_QEI0 : INT_QEI1; + + // + // Register the interrupt handler, returning an error if an error occurs. + // + IntRegister(ulInt, pfnHandler); + + // + // Enable the quadrature encoder interrupt. + // + IntEnable(ulInt); +} + +//***************************************************************************** +// +//! Unregisters an interrupt handler for the quadrature encoder interrupt. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! +//! This function unregisters the handler to be called when a quadrature +//! encoder interrupt occurs. This function also masks off the interrupt in +//! the interrupt controller so that the interrupt handler no longer is called. +//! +//! \sa IntRegister() for important information about registering interrupt +//! handlers. +//! +//! \return None. +// +//***************************************************************************** +void +QEIIntUnregister(unsigned long ulBase) +{ + unsigned long ulInt; + + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Determine the interrupt number based on the QEI module. + // + ulInt = (ulBase == QEI0_BASE) ? INT_QEI0 : INT_QEI1; + + // + // Disable the interrupt. + // + IntDisable(ulInt); + + // + // Unregister the interrupt handler. + // + IntUnregister(ulInt); +} + +//***************************************************************************** +// +//! Enables individual quadrature encoder interrupt sources. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! \param ulIntFlags is a bit mask of the interrupt sources to be enabled. +//! Can be any of the \b QEI_INTERROR, \b QEI_INTDIR, \b QEI_INTTIMER, or +//! \b QEI_INTINDEX values. +//! +//! This function enables the indicated quadrature encoder interrupt sources. +//! Only the sources that are enabled can be reflected to the processor +//! interrupt; disabled sources have no effect on the processor. +//! +//! \return None. +// +//***************************************************************************** +void +QEIIntEnable(unsigned long ulBase, unsigned long ulIntFlags) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Enable the specified interrupts. + // + HWREG(ulBase + QEI_O_INTEN) |= ulIntFlags; +} + +//***************************************************************************** +// +//! Disables individual quadrature encoder interrupt sources. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! \param ulIntFlags is a bit mask of the interrupt sources to be disabled. +//! This parameter can be any of the \b QEI_INTERROR, \b QEI_INTDIR, +//! \b QEI_INTTIMER, or \b QEI_INTINDEX values. +//! +//! This function disables the indicated quadrature encoder interrupt sources. +//! Only the sources that are enabled can be reflected to the processor +//! interrupt; disabled sources have no effect on the processor. +//! +//! \return None. +// +//***************************************************************************** +void +QEIIntDisable(unsigned long ulBase, unsigned long ulIntFlags) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Disable the specified interrupts. + // + HWREG(ulBase + QEI_O_INTEN) &= ~(ulIntFlags); +} + +//***************************************************************************** +// +//! Gets the current interrupt status. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! \param bMasked is false if the raw interrupt status is required and true if +//! the masked interrupt status is required. +//! +//! This function returns the interrupt status for the quadrature encoder +//! module. Either the raw interrupt status or the status of interrupts that +//! are allowed to reflect to the processor can be returned. +//! +//! \return Returns the current interrupt status, enumerated as a bit field of +//! \b QEI_INTERROR, \b QEI_INTDIR, \b QEI_INTTIMER, and \b QEI_INTINDEX. +// +//***************************************************************************** +unsigned long +QEIIntStatus(unsigned long ulBase, tBoolean bMasked) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Return either the interrupt status or the raw interrupt status as + // requested. + // + if(bMasked) + { + return(HWREG(ulBase + QEI_O_ISC)); + } + else + { + return(HWREG(ulBase + QEI_O_RIS)); + } +} + +//***************************************************************************** +// +//! Clears quadrature encoder interrupt sources. +//! +//! \param ulBase is the base address of the quadrature encoder module. +//! \param ulIntFlags is a bit mask of the interrupt sources to be cleared. +//! This parameter can be any of the \b QEI_INTERROR, \b QEI_INTDIR, +//! \b QEI_INTTIMER, or \b QEI_INTINDEX values. +//! +//! The specified quadrature encoder interrupt sources are cleared, so that +//! they no longer assert. This function must be called in the interrupt +//! handler to keep the interrupt from being triggered again immediately upon +//! exit. +//! +//! \note Because there is a write buffer in the Cortex-M processor, it may +//! take several clock cycles before the interrupt source is actually cleared. +//! Therefore, it is recommended that the interrupt source be cleared early in +//! the interrupt handler (as opposed to the very last action) to avoid +//! returning from the interrupt handler before the interrupt source is +//! actually cleared. Failure to do so may result in the interrupt handler +//! being immediately reentered (because the interrupt controller still sees +//! the interrupt source asserted). +//! +//! \return None. +// +//***************************************************************************** +void +QEIIntClear(unsigned long ulBase, unsigned long ulIntFlags) +{ + // + // Check the arguments. + // + ASSERT((ulBase == QEI0_BASE) || (ulBase == QEI1_BASE)); + + // + // Clear the requested interrupt sources. + // + HWREG(ulBase + QEI_O_ISC) = ulIntFlags; +} + +//***************************************************************************** +// +// Close the Doxygen group. +//! @} +// +//***************************************************************************** -- cgit v1.3.1