Diff: qei_api.c

Revision:

0:26f0e94f01e0

Child:

6:f4c910df1172

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/qei_api.c	Fri Feb 15 12:22:33 2019 +0000
@@ -0,0 +1,164 @@
+#include "mbed_assert.h"
+#include <math.h>
+#include <string.h>
+
+#ifdef TARGET_LPC1549
+
+#include "qei_api.h"
+#include "cmsis.h"
+#include "pinmap.h"
+#include "mbed_error.h"
+
+static int qei_used = 0;
+static int get_available_qei(void) {
+    int i;
+    for (i = 0; i < 1; i++) {
+        if ((qei_used & (1 << i)) == 0)
+            return i;
+    }
+    return -1;
+}
+
+static void switch_pin(PinName phA, PinName phB, PinName Idx)
+{    
+    // Set PHA
+    if(phA != NC)
+    {
+        LPC_SWM->PINASSIGN14 &= 0xFFFF00FF;
+        LPC_SWM->PINASSIGN14 |= ((int)phA << 8);
+    }
+    if(phB != NC)
+    {
+        LPC_SWM->PINASSIGN14 &= 0xFF00FFFF;
+        LPC_SWM->PINASSIGN14 |= ((int)phB << 16);
+    }
+    if(Idx != NC)
+    {
+        LPC_SWM->PINASSIGN14 &= 0x00FFFFFF;
+        LPC_SWM->PINASSIGN14 |= ((int)Idx << 24);
+    }
+}
+
+void qei_init(qei_t *obj, PinName phA, PinName phB, PinName Idx)
+{
+    int qei_n = get_available_qei();
+    if(qei_n == -1)
+    {
+        error("No available QEI");
+    }
+    
+    switch_pin(phA, phB, Idx);
+    
+    // Enable QEI clock
+    LPC_SYSCON->SYSAHBCLKCTRL1 |= (1 << 21);
+    
+    // Peripheral reset
+    LPC_SYSCON->PRESETCTRL1 |= (1 << 21);
+    LPC_SYSCON->PRESETCTRL1 &= ~(1 << 21);
+    
+    // store QEI control clock
+#warning
+    obj->PCLK = SystemCoreClock / LPC_SYSCON->SYSAHBCLKDIV;
+    //PCLK = 12000000 / LPC_SYSCON->SYSAHBCLKDIV;
+    
+}
+
+void qei_free()
+{
+    // ToDo
+}
+
+void qei_reset()
+{
+    /* 
+    Reset position counter (Bit 0), 
+          position counter on index (Bit 1), 
+          velocity (Bit 2), 
+          index counter (Bit 3)
+    */
+    LPC_QEI->CON = 0xF;
+}
+
+//////////////////////// set //////////////////////////
+void qei_set_maxpos(qei_t *obj, uint32_t num)
+{
+    LPC_QEI->MAXPOS = num;
+    obj->maxPos = num;
+}
+
+void qei_set_invert_direction(bool is_invert)
+{
+    LPC_QEI->CONF &= ~(1 << 0);
+    LPC_QEI->CONF |= is_invert;
+}
+
+void qei_set_invert_index(bool is_invert)
+{
+    LPC_QEI->CONF &= ~(1 << 3);
+    LPC_QEI->CONF |= is_invert; 
+}
+
+void qei_set_signal_mode(QEISignalMode mode)
+{
+    switch(mode)
+    {
+        case QUADRATURE_ENCODER:      LPC_QEI->CONF &= ~(1 << 1); break;
+        case DIRECTION_CLOCK_ENCODER: LPC_QEI->CONF |= (1 << 1);  break;
+    }
+}
+
+void qei_set_encoding(qei_t *obj, QEIEncoding encoding)
+{
+    switch(encoding)
+    {
+        case X2_ENCODING: 
+            LPC_QEI->CONF &= ~(1 << 2);
+            obj->encoding = 2;
+            break;
+        case X4_ENCODING:
+            LPC_QEI->CONF |= (1 << 2);
+            obj->encoding = 4;
+            break;
+    }
+}
+
+void qei_set_timer_load(qei_t *obj, uint32_t val)
+{
+    LPC_QEI->LOAD = val;
+    obj->load = val;
+}
+
+//////////////////////// get //////////////////////////
+bool qei_get_direction()
+{
+#warning false : true?
+    bool val = (LPC_QEI->STAT & 0x00000001) ? true : false; // false : true?
+    return val;
+}
+
+uint32_t qei_get_position()
+{
+    return LPC_QEI->POS;
+}
+
+uint32_t qei_get_index()
+{
+    return LPC_QEI->INXCNT;
+}
+
+uint32_t qei_get_velocity()
+{
+    return LPC_QEI->CAP;
+}
+
+bool qei_get_invert_direction_status()
+{
+    return (LPC_QEI->CONF & (1 << 0));
+}
+
+bool qei_get_invert_index_status()
+{
+    return (LPC_QEI->CONF & (1 << 3));
+}
+
+#endif //TARGET_LPC1549