Diff: lpc17xx_qei.c

Revision:

0:84d7747641aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lpc17xx_qei.c	Sun Mar 20 18:45:15 2011 +0000
@@ -0,0 +1,502 @@
+/***********************************************************************//**
+ * @file		lpc17xx_qei.c
+ * @brief		Contains all functions support for QEI firmware library on LPC17xx
+ * @version		2.0
+ * @date		21. May. 2010
+ * @author		NXP MCU SW Application Team
+ **************************************************************************
+ * Software that is described herein is for illustrative purposes only
+ * which provides customers with programming information regarding the
+ * products. This software is supplied "AS IS" without any warranties.
+ * NXP Semiconductors assumes no responsibility or liability for the
+ * use of the software, conveys no license or title under any patent,
+ * copyright, or mask work right to the product. NXP Semiconductors
+ * reserves the right to make changes in the software without
+ * notification. NXP Semiconductors also make no representation or
+ * warranty that such application will be suitable for the specified
+ * use without further testing or modification.
+ **********************************************************************/
+
+/* Peripheral group ----------------------------------------------------------- */
+/** @addtogroup QEI
+ * @{
+ */
+
+/* Includes ------------------------------------------------------------------- */
+#include "lpc17xx_qei.h"
+#include "lpc17xx_clkpwr.h"
+
+
+/* If this source file built with example, the LPC17xx FW library configuration
+ * file in each example directory ("lpc17xx_libcfg.h") must be included,
+ * otherwise the default FW library configuration file must be included instead
+ */
+#ifdef __BUILD_WITH_EXAMPLE__
+#include "lpc17xx_libcfg.h"
+#else
+#include "lpc17xx_libcfg_default.h"
+#endif /* __BUILD_WITH_EXAMPLE__ */
+
+
+#ifdef _QEI
+
+/* Private Types -------------------------------------------------------------- */
+/** @defgroup QEI_Private_Types QEI Private Types
+ * @{
+ */
+
+/**
+ * @brief QEI configuration union type definition
+ */
+typedef union {
+	QEI_CFG_Type bmQEIConfig;
+	uint32_t ulQEIConfig;
+} QEI_CFGOPT_Type;
+
+/**
+ * @}
+ */
+
+
+/* Public Functions ----------------------------------------------------------- */
+/** @addtogroup QEI_Public_Functions
+ * @{
+ */
+
+/*********************************************************************//**
+ * @brief		Resets value for each type of QEI value, such as velocity,
+ * 				counter, position, etc..
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	ulResetType		QEI Reset Type, should be one of the following:
+ * 								- QEI_RESET_POS: Reset Position Counter
+ * 								- QEI_RESET_POSOnIDX: Reset Position Counter on Index signal
+ * 								- QEI_RESET_VEL: Reset Velocity
+ * 								- QEI_RESET_IDX: Reset Index Counter
+ * @return		None
+ **********************************************************************/
+void QEI_Reset(LPC_QEI_TypeDef *QEIx, uint32_t ulResetType)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_RESET(ulResetType));
+
+	QEIx->QEICON = ulResetType;
+}
+
+/*********************************************************************//**
+ * @brief		Initializes the QEI peripheral according to the specified
+*               parameters in the QEI_ConfigStruct.
+ * @param[in]	QEIx				QEI peripheral, should be LPC_QEI
+ * @param[in]	QEI_ConfigStruct	Pointer to a QEI_CFG_Type structure
+*                    that contains the configuration information for the
+*                    specified QEI peripheral
+ * @return		None
+ **********************************************************************/
+void QEI_Init(LPC_QEI_TypeDef *QEIx, QEI_CFG_Type *QEI_ConfigStruct)
+{
+
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_DIRINV(QEI_ConfigStruct->DirectionInvert));
+	CHECK_PARAM(PARAM_QEI_SIGNALMODE(QEI_ConfigStruct->SignalMode));
+	CHECK_PARAM(PARAM_QEI_CAPMODE(QEI_ConfigStruct->CaptureMode));
+	CHECK_PARAM(PARAM_QEI_INVINX(QEI_ConfigStruct->InvertIndex));
+
+	/* Set up clock and power for QEI module */
+	CLKPWR_ConfigPPWR (CLKPWR_PCONP_PCQEI, ENABLE);
+
+	/* As default, peripheral clock for QEI module
+	 * is set to FCCLK / 2 */
+	CLKPWR_SetPCLKDiv(CLKPWR_PCLKSEL_QEI, CLKPWR_PCLKSEL_CCLK_DIV_1);
+
+	// Reset all remaining value in QEI peripheral
+	QEIx->QEICON = QEI_CON_RESP | QEI_CON_RESV | QEI_CON_RESI;
+	QEIx->QEIMAXPOS = 0x00;
+	QEIx->CMPOS0 = 0x00;
+	QEIx->CMPOS1 = 0x00;
+	QEIx->CMPOS2 = 0x00;
+	QEIx->INXCMP = 0x00;
+	QEIx->QEILOAD = 0x00;
+	QEIx->VELCOMP = 0x00;
+	QEIx->FILTER = 0x00;
+	// Disable all Interrupt
+	QEIx->QEIIEC = QEI_IECLR_BITMASK;
+	// Clear all Interrupt pending
+	QEIx->QEICLR = QEI_INTCLR_BITMASK;
+	// Set QEI configuration value corresponding to its setting up value
+	QEIx->QEICONF = ((QEI_CFGOPT_Type *)QEI_ConfigStruct)->ulQEIConfig;
+}
+
+
+/*********************************************************************//**
+ * @brief		De-initializes the QEI peripheral registers to their
+*                  default reset values.
+ * @param[in]	QEIx	QEI peripheral, should be LPC_QEI
+ * @return 		None
+ **********************************************************************/
+void QEI_DeInit(LPC_QEI_TypeDef *QEIx)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+
+	/* Turn off clock and power for QEI module */
+	CLKPWR_ConfigPPWR (CLKPWR_PCONP_PCQEI, DISABLE);
+}
+
+
+/*****************************************************************************//**
+* @brief		Fills each QIE_InitStruct member with its default value:
+* 				- DirectionInvert = QEI_DIRINV_NONE
+* 				- SignalMode = QEI_SIGNALMODE_QUAD
+* 				- CaptureMode = QEI_CAPMODE_4X
+* 				- InvertIndex = QEI_INVINX_NONE
+* @param[in]	QIE_InitStruct Pointer to a QEI_CFG_Type structure
+*                    which will be initialized.
+* @return		None
+*******************************************************************************/
+void QEI_ConfigStructInit(QEI_CFG_Type *QIE_InitStruct)
+{
+	QIE_InitStruct->CaptureMode = QEI_CAPMODE_4X;
+	QIE_InitStruct->DirectionInvert = QEI_DIRINV_NONE;
+	QIE_InitStruct->InvertIndex = QEI_INVINX_NONE;
+	QIE_InitStruct->SignalMode = QEI_SIGNALMODE_QUAD;
+}
+
+
+/*********************************************************************//**
+ * @brief		Check whether if specified flag status is set or not
+ * @param[in]	QEIx		QEI peripheral, should be LPC_QEI
+ * @param[in]	ulFlagType	Status Flag Type, should be one of the following:
+ * 							- QEI_STATUS_DIR: Direction Status
+ * @return		New Status of this status flag (SET or RESET)
+ **********************************************************************/
+FlagStatus QEI_GetStatus(LPC_QEI_TypeDef *QEIx, uint32_t ulFlagType)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_STATUS(ulFlagType));
+	return ((QEIx->QEISTAT & ulFlagType) ? SET : RESET);
+}
+
+/*********************************************************************//**
+ * @brief		Get current position value in QEI peripheral
+ * @param[in]	QEIx	QEI peripheral, should be LPC_QEI
+ * @return		Current position value of QEI peripheral
+ **********************************************************************/
+uint32_t QEI_GetPosition(LPC_QEI_TypeDef *QEIx)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	return (QEIx->QEIPOS);
+}
+
+/*********************************************************************//**
+ * @brief		Set max position value for QEI peripheral
+ * @param[in]	QEIx		QEI peripheral, should be LPC_QEI
+ * @param[in]	ulMaxPos	Max position value to set
+ * @return		None
+ **********************************************************************/
+void QEI_SetMaxPosition(LPC_QEI_TypeDef *QEIx, uint32_t ulMaxPos)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	QEIx->QEIMAXPOS = ulMaxPos;
+}
+
+/*********************************************************************//**
+ * @brief		Set position compare value for QEI peripheral
+ * @param[in]	QEIx		QEI peripheral, should be LPC_QEI
+ * @param[in]	bPosCompCh	Compare Position channel, should be:
+ * 							- QEI_COMPPOS_CH_0: QEI compare position channel 0
+ * 							- QEI_COMPPOS_CH_1: QEI compare position channel 1
+ * 							- QEI_COMPPOS_CH_2: QEI compare position channel 2
+ * @param[in]	ulPosComp	Compare Position value to set
+ * @return		None
+ **********************************************************************/
+void QEI_SetPositionComp(LPC_QEI_TypeDef *QEIx, uint8_t bPosCompCh, uint32_t ulPosComp)
+{
+	uint32_t *tmp;
+
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_COMPPOS_CH(bPosCompCh));
+	tmp = (uint32_t *) (&(QEIx->CMPOS0) + bPosCompCh * 4);
+	*tmp = ulPosComp;
+
+}
+
+/*********************************************************************//**
+ * @brief		Get current index counter of QEI peripheral
+ * @param[in]	QEIx		QEI peripheral, should be LPC_QEI
+ * @return		Current value of QEI index counter
+ **********************************************************************/
+uint32_t QEI_GetIndex(LPC_QEI_TypeDef *QEIx)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	return (QEIx->INXCNT);
+}
+
+/*********************************************************************//**
+ * @brief		Set value for index compare in QEI peripheral
+ * @param[in]	QEIx		QEI peripheral, should be LPC_QEI
+ * @param[in]	ulIndexComp		Compare Index Value to set
+ * @return		None
+ **********************************************************************/
+void QEI_SetIndexComp(LPC_QEI_TypeDef *QEIx, uint32_t ulIndexComp)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	QEIx->INXCMP = ulIndexComp;
+}
+
+/*********************************************************************//**
+ * @brief		Set timer reload value for QEI peripheral. When the velocity timer is
+ * 				over-flow, the value that set for Timer Reload register will be loaded
+ * 				into the velocity timer for next period. The calculated velocity in RPM
+ * 				therefore will be affect by this value.
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	QEIReloadStruct	QEI reload structure
+ * @return		None
+ **********************************************************************/
+void QEI_SetTimerReload(LPC_QEI_TypeDef *QEIx, QEI_RELOADCFG_Type *QEIReloadStruct)
+{
+	uint64_t pclk;
+
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_TIMERRELOAD(QEIReloadStruct->ReloadOption));
+
+	if (QEIReloadStruct->ReloadOption == QEI_TIMERRELOAD_TICKVAL) {
+		QEIx->QEILOAD = QEIReloadStruct->ReloadValue - 1;
+	} else {
+		pclk = (uint64_t)CLKPWR_GetPCLK(CLKPWR_PCLKSEL_QEI);
+		pclk = (pclk /(1000000/QEIReloadStruct->ReloadValue)) - 1;
+		QEIx->QEILOAD = (uint32_t)pclk;
+	}
+}
+
+/*********************************************************************//**
+ * @brief		Get current timer counter in QEI peripheral
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @return		Current timer counter in QEI peripheral
+ **********************************************************************/
+uint32_t QEI_GetTimer(LPC_QEI_TypeDef *QEIx)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	return (QEIx->QEITIME);
+}
+
+/*********************************************************************//**
+ * @brief		Get current velocity pulse counter in current time period
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @return		Current velocity pulse counter value
+ **********************************************************************/
+uint32_t QEI_GetVelocity(LPC_QEI_TypeDef *QEIx)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	return (QEIx->QEIVEL);
+}
+
+/*********************************************************************//**
+ * @brief		Get the most recently measured velocity of the QEI. When
+ * 				the Velocity timer in QEI is over-flow, the current velocity
+ * 				value will be loaded into Velocity Capture register.
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @return		The most recently measured velocity value
+ **********************************************************************/
+uint32_t QEI_GetVelocityCap(LPC_QEI_TypeDef *QEIx)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	return (QEIx->QEICAP);
+}
+
+/*********************************************************************//**
+ * @brief		Set Velocity Compare value for QEI peripheral
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	ulVelComp		Compare Velocity value to set
+ * @return		None
+ **********************************************************************/
+void QEI_SetVelocityComp(LPC_QEI_TypeDef *QEIx, uint32_t ulVelComp)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	QEIx->VELCOMP = ulVelComp;
+}
+
+/*********************************************************************//**
+ * @brief		Set value of sampling count for the digital filter in
+ * 				QEI peripheral
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	ulSamplingPulse	Value of sampling count to set
+ * @return		None
+ **********************************************************************/
+void QEI_SetDigiFilter(LPC_QEI_TypeDef *QEIx, uint32_t ulSamplingPulse)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	QEIx->FILTER = ulSamplingPulse;
+}
+
+/*********************************************************************//**
+ * @brief		Check whether if specified interrupt flag status in QEI
+ * 				peripheral is set or not
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	ulIntType		Interrupt Flag Status type, should be:
+								- QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+								- QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+								- QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+								- QEI_INTFLAG_DIR_Int: Change of direction interrupt
+								- QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+								- QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+								- QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+														index count interrupt
+								- QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+								- QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+								- QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ * @return		New State of specified interrupt flag status (SET or RESET)
+ **********************************************************************/
+FlagStatus QEI_GetIntStatus(LPC_QEI_TypeDef *QEIx, uint32_t ulIntType)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_INTFLAG(ulIntType));
+
+	return((QEIx->QEIINTSTAT & ulIntType) ? SET : RESET);
+}
+
+/*********************************************************************//**
+ * @brief		Enable/Disable specified interrupt in QEI peripheral
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	ulIntType		Interrupt Flag Status type, should be:
+ * 								- QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+ *								- QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+ *								- QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+ * 								- QEI_INTFLAG_DIR_Int: Change of direction interrupt
+ *  							- QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+ * 								- QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+ *								- QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+ *														current position interrupt
+ *								- QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+ *														current position interrupt
+ *								- QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+ *														current position interrupt
+ *								- QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+ *														index count interrupt
+ *								- QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+ *								- QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+ *								- QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ * @param[in]	NewState		New function state, should be:
+ *								- DISABLE
+ *								- ENABLE
+ * @return		None
+ **********************************************************************/
+void QEI_IntCmd(LPC_QEI_TypeDef *QEIx, uint32_t ulIntType, FunctionalState NewState)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_INTFLAG(ulIntType));
+	CHECK_PARAM(PARAM_FUNCTIONALSTATE(NewState));
+
+	if (NewState == ENABLE) {
+		QEIx->QEIIES = ulIntType;
+	} else {
+		QEIx->QEIIEC = ulIntType;
+	}
+}
+
+
+/*********************************************************************//**
+ * @brief		Sets (forces) specified interrupt in QEI peripheral
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	ulIntType		Interrupt Flag Status type, should be:
+								- QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+								- QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+								- QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+								- QEI_INTFLAG_DIR_Int: Change of direction interrupt
+								- QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+								- QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+								- QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+														index count interrupt
+								- QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+								- QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+								- QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ * @return		None
+ **********************************************************************/
+void QEI_IntSet(LPC_QEI_TypeDef *QEIx, uint32_t ulIntType)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_INTFLAG(ulIntType));
+
+	QEIx->QEISET = ulIntType;
+}
+
+/*********************************************************************//**
+ * @brief		Clear (force) specified interrupt (pending) in QEI peripheral
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	ulIntType		Interrupt Flag Status type, should be:
+								- QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+								- QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+								- QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+								- QEI_INTFLAG_DIR_Int: Change of direction interrupt
+								- QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+								- QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+								- QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+														current position interrupt
+								- QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+														index count interrupt
+								- QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+								- QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+								- QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ * @return		None
+ **********************************************************************/
+void QEI_IntClear(LPC_QEI_TypeDef *QEIx, uint32_t ulIntType)
+{
+	CHECK_PARAM(PARAM_QEIx(QEIx));
+	CHECK_PARAM(PARAM_QEI_INTFLAG(ulIntType));
+
+	QEIx->QEICLR = ulIntType;
+}
+
+
+/*********************************************************************//**
+ * @brief		Calculates the actual velocity in RPM passed via velocity
+ * 				capture value and Pulse Per Round (of the encoder) value
+ * 				parameter input.
+ * @param[in]	QEIx			QEI peripheral, should be LPC_QEI
+ * @param[in]	ulVelCapValue	Velocity capture input value that can
+ * 								be got from QEI_GetVelocityCap() function
+ * @param[in]	ulPPR			Pulse per round of encoder
+ * @return		The actual value of velocity in RPM (Round per minute)
+ **********************************************************************/
+uint32_t QEI_CalculateRPM(LPC_QEI_TypeDef *QEIx, uint32_t ulVelCapValue, uint32_t ulPPR)
+{
+	uint64_t rpm, clock, Load, edges;
+
+	// Get current Clock rate for timer input
+	clock = (uint64_t)CLKPWR_GetPCLK(CLKPWR_PCLKSEL_QEI);
+	// Get Timer load value (velocity capture period)
+	Load  = (uint64_t)(QEIx->QEILOAD + 1);
+	// Get Edge
+	edges = (uint64_t)((QEIx->QEICONF & QEI_CONF_CAPMODE) ? 4 : 2);
+	// Calculate RPM
+	rpm = ((clock * ulVelCapValue * 60) / (Load * ulPPR * edges));
+
+	return (uint32_t)(rpm);
+}
+
+
+/**
+ * @}
+ */
+
+#endif /* _QEI */
+
+/**
+ * @}
+ */
+
+/* --------------------------------- End Of File ------------------------------ */
+