Michael Spencer
Fork of Smoothie to port to mbed non-LPC targets.
Fork of
Smoothie
by 
Stéphane Cachat
Diff: libs/LPC17xx/LPC17xxLib/src/lpc17xx_qei.c
- Revision:
- 3:f151d08d335c
- Parent:
- 2:1df0b61d3b5a
--- a/libs/LPC17xx/LPC17xxLib/src/lpc17xx_qei.c Fri Feb 28 18:52:52 2014 -0800
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,511 +0,0 @@
-#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__ */