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Diff: libs/LPC17xx/LPC17xxLib/src/lpc17xx_qei.c
- Revision:
- 2:1df0b61d3b5a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/LPC17xx/LPC17xxLib/src/lpc17xx_qei.c Fri Feb 28 18:52:52 2014 -0800 @@ -0,0 +1,511 @@ +#ifdef __LPC17XX__ + +/********************************************************************** +* $Id$ lpc17xx_qei.c 2010-05-21 +*//** +* @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 +* +* Copyright(C) 2010, NXP Semiconductor +* All rights reserved. +* +*********************************************************************** +* 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) +{ + volatile uint32_t *tmp; + + CHECK_PARAM(PARAM_QEIx(QEIx)); + CHECK_PARAM(PARAM_QEI_COMPPOS_CH(bPosCompCh)); + tmp = (volatile 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 ------------------------------ */ + +#endif /* __LPC17XX__ */