Johannes Stratmann / QEI_hw

added support for LPC4088

Fork of QEI_hw by Hexley Ball

qeihw.cpp@3:9279a8f154c8, 2016-03-02 (annotated)

Committer:
JojoS
Date:
Wed Mar 02 10:37:13 2016 +0000
Revision:
3:9279a8f154c8
Parent:
2:53f8ae2cf502 
ported to LPC4088;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hexley 0:20a27391f6dc 1 /* mbed Library - QEI driver for LP1768 hardware
hexley 0:20a27391f6dc 2 * Copyright (c) 2010, hball
hexley 0:20a27391f6dc 3 * released under MIT license http://mbed.org/licence/mit
hexley 0:20a27391f6dc 4 */
hexley 0:20a27391f6dc 5
hexley 0:20a27391f6dc 6 /***********************************************************************//**
hexley 0:20a27391f6dc 7 * @file qeihw.cpp
hexley 0:20a27391f6dc 8 * @brief Driver file for the QEI hardware. Requires connection to
hexley 0:20a27391f6dc 9 * internal mbed circuit nodes. Adapted from the CMSIS
hexley 0:20a27391f6dc 10 * driver, lpc17xx_qei.c, v 2.0
hexley 2:53f8ae2cf502 11 * @version 0.1
hexley 2:53f8ae2cf502 12 * @date 28 Dec 2010
hexley 0:20a27391f6dc 13 * @author hb
hexley 0:20a27391f6dc 14 **************************************************************************/
hexley 0:20a27391f6dc 15 #include "mbed.h"
JojoS 3:9279a8f154c8 16 #include "pinmap.h"
hexley 0:20a27391f6dc 17 #include "qeihw.h"
hexley 0:20a27391f6dc 18
hexley 0:20a27391f6dc 19 QEIHW *QEIHW::instance;
hexley 0:20a27391f6dc 20
hexley 0:20a27391f6dc 21 /*********************************************************************//**
hexley 0:20a27391f6dc 22 * @brief Create a QEI object and configure it.
hexley 0:20a27391f6dc 23 * @param _dirinv Direction invert. When = 1, complements the QEICONF register DIR bit
hexley 0:20a27391f6dc 24 * @param _sigmode Signal mode. When = 0, PhA and PhB are quadrature inputs. When = 1, PhA is direction and PhB is clock
hexley 0:20a27391f6dc 25 * @param _capmode Capture mode. When = 0, count PhA edges only (2X mode). Whe = 1, count PhB edges also (4X mode).
hexley 0:20a27391f6dc 26 * @param _invinx Invert index. When = 1, inverts the sense of the index signal
hexley 0:20a27391f6dc 27 * @return None
hexley 0:20a27391f6dc 28 **********************************************************************/
JojoS 3:9279a8f154c8 29 QEIHW::QEIHW(uint32_t _dirinv, uint32_t _sigmode, uint32_t _capmode, uint32_t _invinx, uint32_t _crespi)
hexley 0:20a27391f6dc 30 {
JojoS 3:9279a8f154c8 31 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 32 /* Set up clock and power for QEI module */
hexley 0:20a27391f6dc 33 LPC_SC->PCONP |= PCONP_QEI_ENABLE;
hexley 0:20a27391f6dc 34
hexley 0:20a27391f6dc 35 /* The clock for theQEI module is set to FCCLK */
hexley 0:20a27391f6dc 36 LPC_SC->PCLKSEL1 = LPC_SC->PCLKSEL1 & ~(3UL<<0) | ((PCLKSEL_CCLK_DIV_1 & 3)<<0);
hexley 0:20a27391f6dc 37
hexley 0:20a27391f6dc 38 /* Assign the pins. They are hard-coded, not user-selected. The index
hexley 0:20a27391f6dc 39 * pin is assigned, even though it is not easily accessed on the mbed.
hexley 0:20a27391f6dc 40 * As it may be unconnected, it is given a pull-up resistor to minimize
hexley 0:20a27391f6dc 41 * power drain.
hexley 0:20a27391f6dc 42 */
hexley 0:20a27391f6dc 43 // MCI0 (PhA)
hexley 0:20a27391f6dc 44 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI0_MASK) | PINSEL3_MCI0 ;
hexley 0:20a27391f6dc 45 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI0_MASK) | PINMODE3_MCI0;
hexley 0:20a27391f6dc 46
hexley 0:20a27391f6dc 47 // MCI1 (PhB)
hexley 0:20a27391f6dc 48 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI1_MASK) | PINSEL3_MCI1 ;
hexley 0:20a27391f6dc 49 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI1_MASK) | PINMODE3_MCI1;
hexley 0:20a27391f6dc 50
hexley 0:20a27391f6dc 51 // MCI2 (Index)
hexley 0:20a27391f6dc 52 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI2_MASK) | PINSEL3_MCI2 ;
hexley 0:20a27391f6dc 53 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI2_MASK) | PINMODE3_MCI2;
hexley 0:20a27391f6dc 54
hexley 0:20a27391f6dc 55 // Initialize all remaining values in QEI peripheral
hexley 0:20a27391f6dc 56 LPC_QEI->QEICON = QEI_CON_RESP | QEI_CON_RESV | QEI_CON_RESI;
hexley 0:20a27391f6dc 57 LPC_QEI->QEIMAXPOS = 0xFFFFFFFF; // Default value
hexley 0:20a27391f6dc 58 LPC_QEI->CMPOS0 = 0x00;
hexley 0:20a27391f6dc 59 LPC_QEI->CMPOS1 = 0x00;
hexley 0:20a27391f6dc 60 LPC_QEI->CMPOS2 = 0x00;
hexley 0:20a27391f6dc 61 LPC_QEI->INXCMP = 0x00;
hexley 0:20a27391f6dc 62 LPC_QEI->QEILOAD = 0x00;
hexley 0:20a27391f6dc 63 LPC_QEI->VELCOMP = 0x00;
hexley 0:20a27391f6dc 64 LPC_QEI->FILTER = 200000; // Default for mechanical switches.
hexley 0:20a27391f6dc 65
hexley 0:20a27391f6dc 66 // Set QEI configuration value corresponding to the call parameters
hexley 0:20a27391f6dc 67 LPC_QEI->QEICONF = (
hexley 0:20a27391f6dc 68 ((_dirinv << 0) & 1) | \
hexley 0:20a27391f6dc 69 ((_sigmode << 1) & 2) | \
hexley 0:20a27391f6dc 70 ((_capmode << 2) & 4) | \
hexley 0:20a27391f6dc 71 ((_invinx <<3) & 8) );
hexley 0:20a27391f6dc 72
hexley 0:20a27391f6dc 73 // Mask all int sources
hexley 0:20a27391f6dc 74 LPC_QEI->QEIIEC = QEI_IECLR_BITMASK; // Set the "clear" bits for all sources in the IE clear register
hexley 0:20a27391f6dc 75
hexley 0:20a27391f6dc 76 // Clear any pending ints
hexley 0:20a27391f6dc 77 LPC_QEI->QEICLR = QEI_INTCLR_BITMASK; // Set the "clear" bits for for all sources in the Interrupt clear register
JojoS 3:9279a8f154c8 78 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 79 /* Set up clock and power for QEI module */
JojoS 3:9279a8f154c8 80 LPC_SC->PCONP |= PCONP_QEI_ENABLE;
JojoS 3:9279a8f154c8 81
JojoS 3:9279a8f154c8 82 /* The clock for theQEI module is set to FCCLK, PCLKSEL{4:0] = 0x1 */
JojoS 3:9279a8f154c8 83 LPC_SC->PCLKSEL = LPC_SC->PCLKSEL & ~(0x1fUL<<0) | ((PCLKSEL_CCLK_DIV_1 & 0x1fUL)<<0);
JojoS 3:9279a8f154c8 84
JojoS 3:9279a8f154c8 85 /* Assign the pins. They are hard-coded, not user-selected. The index
JojoS 3:9279a8f154c8 86 * pin is assigned, even though it is not easily accessed on the mbed.
JojoS 3:9279a8f154c8 87 * As it may be unconnected, it is given a pull-up resistor to minimize
JojoS 3:9279a8f154c8 88 * power drain.
JojoS 3:9279a8f154c8 89 */
JojoS 3:9279a8f154c8 90 // MCI0 (PhA)
JojoS 3:9279a8f154c8 91 pin_function(P1_20, 3); // P1.20 = QEI_PHA
JojoS 3:9279a8f154c8 92 pin_mode(P1_20, PullUp);
JojoS 3:9279a8f154c8 93
JojoS 3:9279a8f154c8 94 // MCI1 (PhB)
JojoS 3:9279a8f154c8 95 pin_function(P1_23, 3); // P1.23 = QEI_PHB
JojoS 3:9279a8f154c8 96 pin_mode(P1_23, PullUp);
JojoS 3:9279a8f154c8 97
JojoS 3:9279a8f154c8 98 // MCI2 (Index)
JojoS 3:9279a8f154c8 99 pin_function(P1_24, 3); // P1.23 = QEI_IDX
JojoS 3:9279a8f154c8 100 pin_mode(P1_24, PullUp);
JojoS 3:9279a8f154c8 101
JojoS 3:9279a8f154c8 102 // Initialize all remaining values in QEI peripheral
JojoS 3:9279a8f154c8 103 LPC_QEI->CON = QEI_CON_RESP | QEI_CON_RESV | QEI_CON_RESI;
JojoS 3:9279a8f154c8 104 LPC_QEI->MAXPOS = 0xFFFFFFFF; // Default value
JojoS 3:9279a8f154c8 105 LPC_QEI->CMPOS0 = 0x00;
JojoS 3:9279a8f154c8 106 LPC_QEI->CMPOS1 = 0x00;
JojoS 3:9279a8f154c8 107 LPC_QEI->CMPOS2 = 0x00;
JojoS 3:9279a8f154c8 108 LPC_QEI->INXCMP0 = 0x00;
JojoS 3:9279a8f154c8 109 LPC_QEI->INXCMP1 = 0x00;
JojoS 3:9279a8f154c8 110 LPC_QEI->LOAD = 0x00;
JojoS 3:9279a8f154c8 111 LPC_QEI->VELCOMP = 0x00;
JojoS 3:9279a8f154c8 112 LPC_QEI->FILTERPHA = 0; // Bypass Filter for PHA
JojoS 3:9279a8f154c8 113 LPC_QEI->FILTERPHB = 0; // Bypass Filter for PHB
JojoS 3:9279a8f154c8 114 LPC_QEI->FILTERINX = 0; // Bypass Filter for INDEX
JojoS 3:9279a8f154c8 115
JojoS 3:9279a8f154c8 116 // Set QEI configuration value corresponding to the call parameters
JojoS 3:9279a8f154c8 117 LPC_QEI->CONF = (
JojoS 3:9279a8f154c8 118 ((_dirinv << 0) & 1) | \
JojoS 3:9279a8f154c8 119 ((_sigmode << 1) & 2) | \
JojoS 3:9279a8f154c8 120 ((_capmode << 2) & 4) | \
JojoS 3:9279a8f154c8 121 ((_invinx << 3) & 8) | \
JojoS 3:9279a8f154c8 122 ((_crespi << 4) & 16) );
JojoS 3:9279a8f154c8 123
JojoS 3:9279a8f154c8 124 // Mask all int sources
JojoS 3:9279a8f154c8 125 LPC_QEI->IEC = QEI_IECLR_BITMASK; // Set the "clear" bits for all sources in the IE clear register
JojoS 3:9279a8f154c8 126
JojoS 3:9279a8f154c8 127 // Clear any pending ints
JojoS 3:9279a8f154c8 128 LPC_QEI->CLR = QEI_INTCLR_BITMASK; // Set the "clear" bits for for all sources in the Interrupt clear register
JojoS 3:9279a8f154c8 129 #endif
hexley 0:20a27391f6dc 130
hexley 0:20a27391f6dc 131 /* preemption = 1, sub-priority = 1 */
hexley 0:20a27391f6dc 132 NVIC_SetPriority(QEI_IRQn, ((0x01<<3)|0x01));
hexley 0:20a27391f6dc 133
hexley 0:20a27391f6dc 134 //* Attach IRQ
hexley 0:20a27391f6dc 135 instance = this;
hexley 0:20a27391f6dc 136 NVIC_SetVector(QEI_IRQn, (uint32_t)&_Qeiisr);
hexley 0:20a27391f6dc 137
hexley 0:20a27391f6dc 138 /* Enable interrupt for QEI */
hexley 0:20a27391f6dc 139 NVIC_EnableIRQ(QEI_IRQn);
hexley 0:20a27391f6dc 140
hexley 0:20a27391f6dc 141 }
hexley 0:20a27391f6dc 142
hexley 0:20a27391f6dc 143 /*********************************************************************//**
hexley 0:20a27391f6dc 144 * @brief Resets value for each type of QEI value, such as velocity,
hexley 0:20a27391f6dc 145 * counter, position, etc..
hexley 0:20a27391f6dc 146 * @param[in] ulResetType QEI Reset Type, should be one of the following:
hexley 0:20a27391f6dc 147 * - QEI_RESET_POS: Reset Position Counter
hexley 0:20a27391f6dc 148 * - QEI_RESET_POSOnIDX: Reset Position Counter on Index signal
hexley 0:20a27391f6dc 149 * - QEI_RESET_VEL: Reset Velocity
hexley 0:20a27391f6dc 150 * - QEI_RESET_IDX: Reset Index Counter
hexley 0:20a27391f6dc 151 * @return None
hexley 0:20a27391f6dc 152 **********************************************************************/
hexley 0:20a27391f6dc 153 void QEIHW::Reset(uint32_t ulResetType)
hexley 0:20a27391f6dc 154 {
JojoS 3:9279a8f154c8 155 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 156 LPC_QEI->QEICON = ulResetType;
JojoS 3:9279a8f154c8 157 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 158 LPC_QEI->CON = ulResetType;
JojoS 3:9279a8f154c8 159 #endif
hexley 0:20a27391f6dc 160 }
hexley 0:20a27391f6dc 161
hexley 0:20a27391f6dc 162 /*********************************************************************//**
hexley 0:20a27391f6dc 163 * @brief De-initializes the QEI peripheral registers to their
hexley 0:20a27391f6dc 164 * default reset values.
hexley 0:20a27391f6dc 165 *
hexley 0:20a27391f6dc 166 * @return None
hexley 0:20a27391f6dc 167 **********************************************************************/
hexley 0:20a27391f6dc 168 void QEIHW::DeInit()
hexley 0:20a27391f6dc 169 {
hexley 0:20a27391f6dc 170 /* Turn off clock and power for QEI module */
hexley 0:20a27391f6dc 171 LPC_SC->PCONP &= PCONP_QEI_DISABLE;
hexley 0:20a27391f6dc 172
JojoS 3:9279a8f154c8 173 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 174 /* Return pins to their default assignment (PINSEL = 0, PINMODE = PULLDOWN) */
hexley 0:20a27391f6dc 175 // MCI0 (PhA) -> LED-2 (p1.20)
hexley 0:20a27391f6dc 176 LPC_PINCON->PINSEL3 &= PINSEL3_MCI0_MASK;
hexley 0:20a27391f6dc 177 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI0_MASK) | PINMODE3_GPIO1p20;
hexley 0:20a27391f6dc 178
hexley 0:20a27391f6dc 179 // MCI1 (PhB) -> LED-4 (p1.23)
hexley 0:20a27391f6dc 180 LPC_PINCON->PINSEL3 &= PINSEL3_MCI1_MASK;
hexley 0:20a27391f6dc 181 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI1_MASK) | PINMODE3_GPIO1p23;
hexley 0:20a27391f6dc 182
hexley 0:20a27391f6dc 183 // MCI2 (Index) -> p1.24
hexley 0:20a27391f6dc 184 LPC_PINCON->PINSEL3 &= PINSEL3_MCI2_MASK;
hexley 0:20a27391f6dc 185 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI2_MASK) | PINMODE3_GPIO1p24;
JojoS 3:9279a8f154c8 186 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 187 pin_function(P1_20, 0);
JojoS 3:9279a8f154c8 188 pin_mode(P1_20, PullDown);
JojoS 3:9279a8f154c8 189
JojoS 3:9279a8f154c8 190 pin_function(P1_23, 0);
JojoS 3:9279a8f154c8 191 pin_mode(P1_23, PullDown);
JojoS 3:9279a8f154c8 192
JojoS 3:9279a8f154c8 193 pin_function(P1_24, 0);
JojoS 3:9279a8f154c8 194 pin_mode(P1_24, PullDown);
JojoS 3:9279a8f154c8 195 #endif
hexley 0:20a27391f6dc 196 }
hexley 0:20a27391f6dc 197
hexley 0:20a27391f6dc 198 /*********************************************************************//**
hexley 0:20a27391f6dc 199 * @brief Report direction (QEISTAT bit DIR)
hexley 0:20a27391f6dc 200 *
hexley 0:20a27391f6dc 201 * @return State of the DIR bit (SET or RESET)
hexley 0:20a27391f6dc 202 **********************************************************************/
hexley 0:20a27391f6dc 203 FlagStatus QEIHW::Direction()
hexley 0:20a27391f6dc 204 {
JojoS 3:9279a8f154c8 205 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 206 return ((LPC_QEI->QEISTAT & QEI_STATUS_DIR) ? SET : RESET);
JojoS 3:9279a8f154c8 207 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 208 return ((LPC_QEI->STAT & QEI_STATUS_DIR) ? SET : RESET);
JojoS 3:9279a8f154c8 209 #endif
hexley 0:20a27391f6dc 210 }
hexley 0:20a27391f6dc 211
hexley 0:20a27391f6dc 212 /*********************************************************************//**
hexley 0:20a27391f6dc 213 * @brief Get current position value in QEI peripheral
hexley 0:20a27391f6dc 214 *
hexley 0:20a27391f6dc 215 * @return Current position value of QEI peripheral
hexley 0:20a27391f6dc 216 **********************************************************************/
hexley 0:20a27391f6dc 217 uint32_t QEIHW::GetPosition()
hexley 0:20a27391f6dc 218 {
JojoS 3:9279a8f154c8 219 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 220 return (LPC_QEI->QEIPOS);
JojoS 3:9279a8f154c8 221 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 222 return (LPC_QEI->POS);
JojoS 3:9279a8f154c8 223 #endif
hexley 0:20a27391f6dc 224 }
hexley 0:20a27391f6dc 225
hexley 0:20a27391f6dc 226 /*********************************************************************//**
hexley 0:20a27391f6dc 227 * @brief Set max position value for QEI peripheral
hexley 0:20a27391f6dc 228 *
hexley 0:20a27391f6dc 229 * @param[in] ulMaxPos Max position value to set
hexley 0:20a27391f6dc 230 * @return None
hexley 0:20a27391f6dc 231 **********************************************************************/
hexley 0:20a27391f6dc 232 void QEIHW::SetMaxPosition(uint32_t ulMaxPos)
hexley 0:20a27391f6dc 233 {
JojoS 3:9279a8f154c8 234 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 235 LPC_QEI->QEIMAXPOS = ulMaxPos;
JojoS 3:9279a8f154c8 236 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 237 LPC_QEI->MAXPOS = ulMaxPos;
JojoS 3:9279a8f154c8 238 #endif
hexley 0:20a27391f6dc 239 }
hexley 0:20a27391f6dc 240
hexley 0:20a27391f6dc 241 /*********************************************************************//**
hexley 0:20a27391f6dc 242 * @brief Set position compare value for QEI peripheral
hexley 0:20a27391f6dc 243 * @param[in] QEIx QEI peripheral, should be LPC_QEI
hexley 0:20a27391f6dc 244 * @param[in] bPosCompCh Compare Position channel, should be:
hexley 0:20a27391f6dc 245 * - QEI_COMPPOS_CH_0: QEI compare position channel 0
hexley 0:20a27391f6dc 246 * - QEI_COMPPOS_CH_1: QEI compare position channel 1
hexley 0:20a27391f6dc 247 * - QEI_COMPPOS_CH_2: QEI compare position channel 2
hexley 0:20a27391f6dc 248 * @param[in] ulPosComp Compare Position value to set
hexley 0:20a27391f6dc 249 * @return None
hexley 0:20a27391f6dc 250 **********************************************************************/
hexley 0:20a27391f6dc 251 void QEIHW::SetPositionComp( uint8_t bPosCompCh, uint32_t ulPosComp)
hexley 0:20a27391f6dc 252 {
hexley 0:20a27391f6dc 253 uint32_t *tmp;
hexley 0:20a27391f6dc 254
hexley 0:20a27391f6dc 255 tmp = (uint32_t *) (&(LPC_QEI->CMPOS0) + bPosCompCh * 4);
hexley 0:20a27391f6dc 256 *tmp = ulPosComp;
hexley 0:20a27391f6dc 257 }
hexley 0:20a27391f6dc 258
hexley 0:20a27391f6dc 259 /*********************************************************************//**
hexley 0:20a27391f6dc 260 * @brief Get current index counter of QEI peripheral
hexley 0:20a27391f6dc 261 *
hexley 0:20a27391f6dc 262 * @return Current value of QEI index counter
hexley 0:20a27391f6dc 263 **********************************************************************/
hexley 0:20a27391f6dc 264 uint32_t QEIHW::GetIndex()
hexley 0:20a27391f6dc 265 {
hexley 0:20a27391f6dc 266 return (LPC_QEI->INXCNT);
hexley 0:20a27391f6dc 267 }
hexley 0:20a27391f6dc 268
hexley 0:20a27391f6dc 269 /*********************************************************************//**
hexley 0:20a27391f6dc 270 * @brief Set value for index compare in QEI peripheral
hexley 0:20a27391f6dc 271 * @param[in] ulIndexComp Compare Index Value to set
hexley 0:20a27391f6dc 272 * @return None
hexley 0:20a27391f6dc 273 **********************************************************************/
hexley 0:20a27391f6dc 274 void QEIHW::SetIndexComp( uint32_t ulIndexComp)
hexley 0:20a27391f6dc 275 {
JojoS 3:9279a8f154c8 276 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 277 LPC_QEI->INXCMP = ulIndexComp;
JojoS 3:9279a8f154c8 278 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 279 LPC_QEI->INXCMP0 = ulIndexComp;
JojoS 3:9279a8f154c8 280 #endif
hexley 0:20a27391f6dc 281 }
hexley 0:20a27391f6dc 282
hexley 0:20a27391f6dc 283 /*********************************************************************//**
hexley 0:20a27391f6dc 284 * @brief Set Velocity timer reload value
hexley 0:20a27391f6dc 285 *
hexley 0:20a27391f6dc 286 * @param[in] ulReloadValue Velocity timer reload count
hexley 0:20a27391f6dc 287 * @return None
hexley 0:20a27391f6dc 288 **********************************************************************/
hexley 0:20a27391f6dc 289 void QEIHW::SetVelocityTimerReload( uint32_t ulReloadValue)
hexley 0:20a27391f6dc 290 {
JojoS 3:9279a8f154c8 291 #ifdef TARGET_LPC1768
JojoS 3:9279a8f154c8 292 LPC_QEI->QEILOAD = ulReloadValue;
JojoS 3:9279a8f154c8 293 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 294 LPC_QEI->LOAD = ulReloadValue;
JojoS 3:9279a8f154c8 295 #endif
hexley 0:20a27391f6dc 296 }
hexley 0:20a27391f6dc 297
hexley 0:20a27391f6dc 298 /*********************************************************************//**
hexley 0:20a27391f6dc 299 * @brief Set Velocity timer reload value in microseconds
hexley 0:20a27391f6dc 300 *
hexley 0:20a27391f6dc 301 * @param[in] ulReloadValue Velocity timer reload count
hexley 0:20a27391f6dc 302 * @return None
hexley 0:20a27391f6dc 303 **********************************************************************/
hexley 0:20a27391f6dc 304 void QEIHW::SetVelocityTimerReload_us( uint32_t ulReloadValue)
hexley 0:20a27391f6dc 305 {
hexley 0:20a27391f6dc 306 int div;
hexley 0:20a27391f6dc 307
hexley 0:20a27391f6dc 308 //Work out CCLK
hexley 0:20a27391f6dc 309 uint32_t m = (LPC_SC->PLL0CFG & 0xFFFF) + 1;
hexley 0:20a27391f6dc 310 uint32_t n = (LPC_SC->PLL0CFG >> 16) + 1;
JojoS 3:9279a8f154c8 311 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 312 uint32_t cclkdiv = LPC_SC->CCLKCFG + 1;
JojoS 3:9279a8f154c8 313 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 314 uint32_t cclkdiv = (LPC_SC->CCLKSEL & 0x1f) + 1;
JojoS 3:9279a8f154c8 315 #endif
hexley 0:20a27391f6dc 316 uint32_t Fcco = (2 * m * XTAL_FREQ) / n;
hexley 0:20a27391f6dc 317 uint32_t cclk = Fcco / cclkdiv;
hexley 0:20a27391f6dc 318
hexley 0:20a27391f6dc 319
hexley 0:20a27391f6dc 320
JojoS 3:9279a8f154c8 321 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 322 // div = CLKPWR_GetPCLKSEL(ClkType);
hexley 0:20a27391f6dc 323 div = LPC_SC->PCLKSEL1 & PCLKSEL1_PCLK_QEI_MASK;
hexley 0:20a27391f6dc 324 switch (div)
hexley 0:20a27391f6dc 325 {
hexley 0:20a27391f6dc 326 case 0:
hexley 0:20a27391f6dc 327 div = 4;
hexley 0:20a27391f6dc 328 break;
hexley 0:20a27391f6dc 329
hexley 0:20a27391f6dc 330 case 1:
hexley 0:20a27391f6dc 331 div = 1;
hexley 0:20a27391f6dc 332 break;
hexley 0:20a27391f6dc 333
hexley 0:20a27391f6dc 334 case 2:
hexley 0:20a27391f6dc 335 div = 2;
hexley 0:20a27391f6dc 336 break;
hexley 0:20a27391f6dc 337
hexley 0:20a27391f6dc 338 case 3:
hexley 0:20a27391f6dc 339 div = 8;
hexley 0:20a27391f6dc 340 break;
hexley 0:20a27391f6dc 341 }
hexley 2:53f8ae2cf502 342 cclk /=div;
hexley 2:53f8ae2cf502 343 cclk =((uint64_t)cclk / (1000000/ulReloadValue)) - 1;
JojoS 3:9279a8f154c8 344
hexley 2:53f8ae2cf502 345 LPC_QEI->QEILOAD = (uint32_t) cclk;
JojoS 3:9279a8f154c8 346
JojoS 3:9279a8f154c8 347 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 348 div = LPC_SC->PCLKSEL & PCLKSEL1_PCLK_QEI_MASK;
JojoS 3:9279a8f154c8 349 if (div != 0)
JojoS 3:9279a8f154c8 350 cclk /=div;
JojoS 3:9279a8f154c8 351 cclk =((uint64_t)cclk / (1000000/ulReloadValue)) - 1;
JojoS 3:9279a8f154c8 352
JojoS 3:9279a8f154c8 353 LPC_QEI->LOAD = (uint32_t) cclk;
JojoS 3:9279a8f154c8 354 #endif
hexley 0:20a27391f6dc 355 }
hexley 0:20a27391f6dc 356
hexley 0:20a27391f6dc 357 /*********************************************************************//**
hexley 0:20a27391f6dc 358 * @brief Get current timer counter in QEI peripheral
hexley 0:20a27391f6dc 359 *
hexley 0:20a27391f6dc 360 * @return Current timer counter in QEI peripheral
hexley 0:20a27391f6dc 361 **********************************************************************/
hexley 0:20a27391f6dc 362 uint32_t QEIHW::GetTimer()
hexley 0:20a27391f6dc 363 {
JojoS 3:9279a8f154c8 364 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 365 return (LPC_QEI->QEITIME);
JojoS 3:9279a8f154c8 366 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 367 return (LPC_QEI->TIME);
JojoS 3:9279a8f154c8 368 #endif
hexley 0:20a27391f6dc 369 }
hexley 0:20a27391f6dc 370
hexley 0:20a27391f6dc 371 /*********************************************************************//**
hexley 0:20a27391f6dc 372 * @brief Get current velocity pulse counter in current time period
hexley 0:20a27391f6dc 373 *
hexley 0:20a27391f6dc 374 * @return Current velocity pulse counter value
hexley 0:20a27391f6dc 375 **********************************************************************/
hexley 0:20a27391f6dc 376 uint32_t QEIHW::GetVelocity()
hexley 0:20a27391f6dc 377 {
JojoS 3:9279a8f154c8 378 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 379 return (LPC_QEI->QEIVEL);
JojoS 3:9279a8f154c8 380 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 381 return (LPC_QEI->VEL);
JojoS 3:9279a8f154c8 382 #endif
hexley 0:20a27391f6dc 383 }
hexley 0:20a27391f6dc 384
hexley 0:20a27391f6dc 385 /*********************************************************************//**
hexley 0:20a27391f6dc 386 * @brief Get the most recently captured velocity of the QEI. When
hexley 0:20a27391f6dc 387 * the Velocity timer in QEI is over-flow, the current velocity
hexley 0:20a27391f6dc 388 * value will be loaded into Velocity Capture register.
hexley 0:20a27391f6dc 389 *
hexley 0:20a27391f6dc 390 * @return The most recently measured velocity value
hexley 0:20a27391f6dc 391 **********************************************************************/
hexley 0:20a27391f6dc 392 uint32_t QEIHW::GetVelocityCap()
hexley 0:20a27391f6dc 393 {
JojoS 3:9279a8f154c8 394 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 395 return (LPC_QEI->QEICAP);
JojoS 3:9279a8f154c8 396 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 397 return (LPC_QEI->CAP);
JojoS 3:9279a8f154c8 398 #endif
hexley 0:20a27391f6dc 399 }
hexley 0:20a27391f6dc 400
hexley 0:20a27391f6dc 401 /*********************************************************************//**
hexley 0:20a27391f6dc 402 * @brief Set Velocity Compare value for QEI peripheral
hexley 0:20a27391f6dc 403 *
hexley 0:20a27391f6dc 404 * @param[in] ulVelComp Compare Velocity value to set
hexley 0:20a27391f6dc 405 * @return None
hexley 0:20a27391f6dc 406 **********************************************************************/
hexley 0:20a27391f6dc 407 void QEIHW::SetVelocityComp( uint32_t ulVelComp)
hexley 0:20a27391f6dc 408 {
hexley 0:20a27391f6dc 409 LPC_QEI->VELCOMP = ulVelComp;
hexley 0:20a27391f6dc 410 }
hexley 0:20a27391f6dc 411
hexley 0:20a27391f6dc 412 /*********************************************************************//**
hexley 0:20a27391f6dc 413 * @brief Set value of sampling count for the digital filter in
hexley 0:20a27391f6dc 414 * QEI peripheral
hexley 0:20a27391f6dc 415 *
hexley 0:20a27391f6dc 416 * @param[in] ulSamplingPulse Value of sampling count to set
hexley 0:20a27391f6dc 417 * @return None
hexley 0:20a27391f6dc 418 **********************************************************************/
hexley 0:20a27391f6dc 419 void QEIHW::SetDigiFilter( uint32_t ulSamplingPulse)
hexley 0:20a27391f6dc 420 {
JojoS 3:9279a8f154c8 421 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 422 LPC_QEI->FILTER = ulSamplingPulse;
JojoS 3:9279a8f154c8 423 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 424 LPC_QEI->FILTERPHA = ulSamplingPulse;
JojoS 3:9279a8f154c8 425 LPC_QEI->FILTERPHB = ulSamplingPulse;
JojoS 3:9279a8f154c8 426 LPC_QEI->FILTERINX = ulSamplingPulse;
JojoS 3:9279a8f154c8 427 #endif
hexley 0:20a27391f6dc 428 }
hexley 0:20a27391f6dc 429
hexley 0:20a27391f6dc 430 /*********************************************************************//**
hexley 0:20a27391f6dc 431 * @brief Check whether if specified interrupt flag status in QEI
hexley 0:20a27391f6dc 432 * peripheral is set or not
hexley 0:20a27391f6dc 433 *
hexley 0:20a27391f6dc 434 * @param[in] ulIntType Interrupt Flag Status type, should be:
hexley 0:20a27391f6dc 435 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
hexley 0:20a27391f6dc 436 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
hexley 0:20a27391f6dc 437 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
hexley 0:20a27391f6dc 438 - QEI_INTFLAG_DIR_Int: Change of direction interrupt
hexley 0:20a27391f6dc 439 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
hexley 0:20a27391f6dc 440 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
hexley 0:20a27391f6dc 441 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
hexley 0:20a27391f6dc 442 current position interrupt
hexley 0:20a27391f6dc 443 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
hexley 0:20a27391f6dc 444 current position interrupt
hexley 0:20a27391f6dc 445 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
hexley 0:20a27391f6dc 446 current position interrupt
hexley 0:20a27391f6dc 447 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
hexley 0:20a27391f6dc 448 index count interrupt
hexley 0:20a27391f6dc 449 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
hexley 0:20a27391f6dc 450 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
hexley 0:20a27391f6dc 451 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
hexley 0:20a27391f6dc 452 * @return New State of specified interrupt flag status (SET or RESET)
hexley 0:20a27391f6dc 453 **********************************************************************/
hexley 0:20a27391f6dc 454 FlagStatus QEIHW::GetIntStatus( uint32_t ulIntType)
hexley 0:20a27391f6dc 455 {
JojoS 3:9279a8f154c8 456 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 457 return((LPC_QEI->QEIINTSTAT & ulIntType) ? SET : RESET);
JojoS 3:9279a8f154c8 458 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 459 return((LPC_QEI->INTSTAT & ulIntType) ? SET : RESET);
JojoS 3:9279a8f154c8 460 #endif
hexley 0:20a27391f6dc 461 }
hexley 0:20a27391f6dc 462
hexley 0:20a27391f6dc 463 /*********************************************************************//**
hexley 0:20a27391f6dc 464 * @brief Enable/Disable specified interrupt in QEI peripheral
hexley 0:20a27391f6dc 465 *
hexley 0:20a27391f6dc 466 * @param[in] ulIntType Interrupt Flag Status type, should be:
hexley 0:20a27391f6dc 467 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
hexley 0:20a27391f6dc 468 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
hexley 0:20a27391f6dc 469 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
hexley 0:20a27391f6dc 470 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt
hexley 0:20a27391f6dc 471 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
hexley 0:20a27391f6dc 472 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
hexley 0:20a27391f6dc 473 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
hexley 0:20a27391f6dc 474 * current position interrupt
hexley 0:20a27391f6dc 475 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
hexley 0:20a27391f6dc 476 * current position interrupt
hexley 0:20a27391f6dc 477 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
hexley 0:20a27391f6dc 478 * current position interrupt
hexley 0:20a27391f6dc 479 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
hexley 0:20a27391f6dc 480 * index count interrupt
hexley 0:20a27391f6dc 481 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
hexley 0:20a27391f6dc 482 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
hexley 0:20a27391f6dc 483 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
hexley 0:20a27391f6dc 484 * @param[in] NewState New function state, should be:
hexley 0:20a27391f6dc 485 * - DISABLE
hexley 0:20a27391f6dc 486 * - ENABLE
hexley 0:20a27391f6dc 487 * @return None
hexley 0:20a27391f6dc 488 **********************************************************************/
hexley 0:20a27391f6dc 489 void QEIHW::IntCmd( uint32_t ulIntType, FunctionalState NewState)
hexley 0:20a27391f6dc 490 {
JojoS 3:9279a8f154c8 491 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 492 if (NewState == ENABLE) {
hexley 0:20a27391f6dc 493 LPC_QEI->QEIIES = ulIntType;
hexley 0:20a27391f6dc 494 } else {
hexley 0:20a27391f6dc 495 LPC_QEI->QEIIEC = ulIntType;
hexley 0:20a27391f6dc 496 }
JojoS 3:9279a8f154c8 497 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 498 if (NewState == ENABLE) {
JojoS 3:9279a8f154c8 499 LPC_QEI->IES = ulIntType;
JojoS 3:9279a8f154c8 500 } else {
JojoS 3:9279a8f154c8 501 LPC_QEI->IEC = ulIntType;
JojoS 3:9279a8f154c8 502 }
JojoS 3:9279a8f154c8 503 #endif
hexley 0:20a27391f6dc 504 }
hexley 0:20a27391f6dc 505
hexley 0:20a27391f6dc 506 /*********************************************************************//**
hexley 0:20a27391f6dc 507 * @brief Assert specified interrupt in QEI peripheral
hexley 0:20a27391f6dc 508 *
hexley 0:20a27391f6dc 509 * @param[in] ulIntType Interrupt Flag Status type, should be:
hexley 0:20a27391f6dc 510 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
hexley 0:20a27391f6dc 511 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
hexley 0:20a27391f6dc 512 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
hexley 0:20a27391f6dc 513 - QEI_INTFLAG_DIR_Int: Change of direction interrupt
hexley 0:20a27391f6dc 514 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
hexley 0:20a27391f6dc 515 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
hexley 0:20a27391f6dc 516 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
hexley 0:20a27391f6dc 517 current position interrupt
hexley 0:20a27391f6dc 518 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
hexley 0:20a27391f6dc 519 current position interrupt
hexley 0:20a27391f6dc 520 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
hexley 0:20a27391f6dc 521 current position interrupt
hexley 0:20a27391f6dc 522 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
hexley 0:20a27391f6dc 523 index count interrupt
hexley 0:20a27391f6dc 524 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
hexley 0:20a27391f6dc 525 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
hexley 0:20a27391f6dc 526 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
hexley 0:20a27391f6dc 527 * @return None
hexley 0:20a27391f6dc 528 **********************************************************************/
hexley 0:20a27391f6dc 529 void QEIHW::IntSet( uint32_t ulIntType)
hexley 0:20a27391f6dc 530 {
JojoS 3:9279a8f154c8 531 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 532 LPC_QEI->QEISET = ulIntType;
JojoS 3:9279a8f154c8 533 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 534 LPC_QEI->SET = ulIntType;
JojoS 3:9279a8f154c8 535 #endif
hexley 0:20a27391f6dc 536 }
hexley 0:20a27391f6dc 537
hexley 0:20a27391f6dc 538 /*********************************************************************//**
hexley 0:20a27391f6dc 539 * @brief De-assert specified interrupt (pending) in QEI peripheral
hexley 0:20a27391f6dc 540 *
hexley 0:20a27391f6dc 541 * @param[in] ulIntType Interrupt Flag Status type, should be:
hexley 0:20a27391f6dc 542 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
hexley 0:20a27391f6dc 543 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
hexley 0:20a27391f6dc 544 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
hexley 0:20a27391f6dc 545 - QEI_INTFLAG_DIR_Int: Change of direction interrupt
hexley 0:20a27391f6dc 546 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
hexley 0:20a27391f6dc 547 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
hexley 0:20a27391f6dc 548 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
hexley 0:20a27391f6dc 549 current position interrupt
hexley 0:20a27391f6dc 550 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
hexley 0:20a27391f6dc 551 current position interrupt
hexley 0:20a27391f6dc 552 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
hexley 0:20a27391f6dc 553 current position interrupt
hexley 0:20a27391f6dc 554 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
hexley 0:20a27391f6dc 555 index count interrupt
hexley 0:20a27391f6dc 556 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
hexley 0:20a27391f6dc 557 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
hexley 0:20a27391f6dc 558 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
hexley 0:20a27391f6dc 559 * @return None
hexley 0:20a27391f6dc 560 **********************************************************************/
hexley 0:20a27391f6dc 561 void QEIHW::IntClear( uint32_t ulIntType)
hexley 0:20a27391f6dc 562 {
JojoS 3:9279a8f154c8 563 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 564 LPC_QEI->QEICLR = ulIntType;
JojoS 3:9279a8f154c8 565 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 566 LPC_QEI->CLR = ulIntType;
JojoS 3:9279a8f154c8 567 #endif
hexley 0:20a27391f6dc 568 }
hexley 0:20a27391f6dc 569
hexley 0:20a27391f6dc 570 /*********************************************************************//**
hexley 0:20a27391f6dc 571 * @brief Calculates the actual velocity in RPM passed via velocity
hexley 0:20a27391f6dc 572 * capture value and Pulse Per Revolution (of the encoder) value
hexley 0:20a27391f6dc 573 * parameter input.
hexley 0:20a27391f6dc 574 *
hexley 0:20a27391f6dc 575 * @param[in] ulVelCapValue Velocity capture input value that can
hexley 0:20a27391f6dc 576 * be got from QEI_GetVelocityCap() function
hexley 0:20a27391f6dc 577 * @param[in] ulPPR Pulse per round of encoder
hexley 0:20a27391f6dc 578 * @return The actual value of velocity in RPM (Revolutions per minute)
hexley 0:20a27391f6dc 579 **********************************************************************/
hexley 0:20a27391f6dc 580 uint32_t QEIHW::CalculateRPM( uint32_t ulVelCapValue, uint32_t ulPPR)
hexley 0:20a27391f6dc 581 {
hexley 0:20a27391f6dc 582 uint64_t rpm, Load, edges;
hexley 0:20a27391f6dc 583 int div;
hexley 0:20a27391f6dc 584
hexley 0:20a27391f6dc 585 // Get current Clock rate for timer input
hexley 0:20a27391f6dc 586 //Work out CCLK
hexley 0:20a27391f6dc 587 uint32_t m = (LPC_SC->PLL0CFG & 0xFFFF) + 1;
hexley 0:20a27391f6dc 588 uint32_t n = (LPC_SC->PLL0CFG >> 16) + 1;
JojoS 3:9279a8f154c8 589 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 590 uint32_t cclkdiv = LPC_SC->CCLKCFG + 1;
JojoS 3:9279a8f154c8 591 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 592 uint32_t cclkdiv = (LPC_SC->CCLKSEL & 0x1f) + 1;
JojoS 3:9279a8f154c8 593 #endif
hexley 0:20a27391f6dc 594 uint32_t Fcco = (2 * m * XTAL_FREQ) / n;
hexley 0:20a27391f6dc 595 uint32_t cclk = Fcco / cclkdiv;
hexley 0:20a27391f6dc 596
JojoS 3:9279a8f154c8 597
JojoS 3:9279a8f154c8 598 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 599 // div = CLKPWR_GetPCLKSEL(ClkType);
hexley 0:20a27391f6dc 600 div = LPC_SC->PCLKSEL1 & PCLKSEL1_PCLK_QEI_MASK;
hexley 0:20a27391f6dc 601 switch (div)
hexley 0:20a27391f6dc 602 {
hexley 0:20a27391f6dc 603 case 0:
hexley 0:20a27391f6dc 604 div = 4;
hexley 0:20a27391f6dc 605 break;
hexley 0:20a27391f6dc 606
hexley 0:20a27391f6dc 607 case 1:
hexley 0:20a27391f6dc 608 div = 1;
hexley 0:20a27391f6dc 609 break;
hexley 0:20a27391f6dc 610
hexley 0:20a27391f6dc 611 case 2:
hexley 0:20a27391f6dc 612 div = 2;
hexley 0:20a27391f6dc 613 break;
hexley 0:20a27391f6dc 614
hexley 0:20a27391f6dc 615 case 3:
hexley 0:20a27391f6dc 616 div = 8;
hexley 0:20a27391f6dc 617 break;
hexley 0:20a27391f6dc 618 }
JojoS 3:9279a8f154c8 619 cclk /=div;
JojoS 3:9279a8f154c8 620
hexley 0:20a27391f6dc 621 // Get Timer load value (velocity capture period)
hexley 0:20a27391f6dc 622 Load = (uint64_t)(LPC_QEI->QEILOAD + 1);
hexley 0:20a27391f6dc 623 // Get Edge
hexley 0:20a27391f6dc 624 edges = (uint64_t)((LPC_QEI->QEICONF & QEI_CONF_CAPMODE) ? 4 : 2);
hexley 0:20a27391f6dc 625 // Calculate RPM
hexley 0:20a27391f6dc 626 rpm = ((( uint64_t)cclk * ulVelCapValue * 60) / (Load * ulPPR * edges));
hexley 0:20a27391f6dc 627
JojoS 3:9279a8f154c8 628 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 629 div = LPC_SC->PCLKSEL & PCLKSEL1_PCLK_QEI_MASK;
JojoS 3:9279a8f154c8 630 if (div != 0)
JojoS 3:9279a8f154c8 631 cclk /=div;
JojoS 3:9279a8f154c8 632
JojoS 3:9279a8f154c8 633 // Get Timer load value (velocity capture period)
JojoS 3:9279a8f154c8 634 Load = (uint64_t)(LPC_QEI->LOAD + 1);
JojoS 3:9279a8f154c8 635 // Get Edge
JojoS 3:9279a8f154c8 636 edges = (uint64_t)((LPC_QEI->CONF & QEI_CONF_CAPMODE) ? 4 : 2);
JojoS 3:9279a8f154c8 637 // Calculate RPM
JojoS 3:9279a8f154c8 638 rpm = ((( uint64_t)cclk * ulVelCapValue * 60) / (Load * ulPPR * edges));
JojoS 3:9279a8f154c8 639 #endif
JojoS 3:9279a8f154c8 640
JojoS 3:9279a8f154c8 641
JojoS 3:9279a8f154c8 642
hexley 0:20a27391f6dc 643 return (uint32_t)(rpm);
hexley 0:20a27391f6dc 644 }
hexley 0:20a27391f6dc 645
hexley 0:20a27391f6dc 646 /*********************************************************************//**
hexley 0:20a27391f6dc 647 * @brief Append interrupt handler for specific QEI interrupt source
hexley 0:20a27391f6dc 648 *
hexley 0:20a27391f6dc 649 * @param[in] ulISRType Interrupt Flag Status type, should be:
hexley 0:20a27391f6dc 650 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
hexley 0:20a27391f6dc 651 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
hexley 0:20a27391f6dc 652 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
hexley 0:20a27391f6dc 653 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt
hexley 0:20a27391f6dc 654 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
hexley 0:20a27391f6dc 655 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
hexley 0:20a27391f6dc 656 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
hexley 0:20a27391f6dc 657 * current position interrupt
hexley 0:20a27391f6dc 658 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
hexley 0:20a27391f6dc 659 * current position interrupt
hexley 0:20a27391f6dc 660 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
hexley 0:20a27391f6dc 661 * current position interrupt
hexley 0:20a27391f6dc 662 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
hexley 0:20a27391f6dc 663 * index count interrupt
hexley 0:20a27391f6dc 664 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
hexley 0:20a27391f6dc 665 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
hexley 0:20a27391f6dc 666 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
hexley 0:20a27391f6dc 667 *
hexley 0:20a27391f6dc 668 * @return none
hexley 0:20a27391f6dc 669 **********************************************************************/
hexley 0:20a27391f6dc 670 void QEIHW::AppendISR(uint32_t ulISRType, void(*fptr)(void)) {
hexley 0:20a27391f6dc 671 int i;
hexley 0:20a27391f6dc 672
hexley 0:20a27391f6dc 673 for(i = 0; i < 13; i++) {
hexley 0:20a27391f6dc 674 if( ulISRType == (1UL << i) ) {
hexley 0:20a27391f6dc 675 _qei_isr[i] = fptr;
hexley 0:20a27391f6dc 676 break;
hexley 0:20a27391f6dc 677 }
hexley 0:20a27391f6dc 678 }
hexley 0:20a27391f6dc 679 return;
hexley 0:20a27391f6dc 680 }
hexley 0:20a27391f6dc 681
hexley 0:20a27391f6dc 682 /*********************************************************************//**
hexley 0:20a27391f6dc 683 * @brief Unappend interrupt handler for specific QEI interrupt source
hexley 0:20a27391f6dc 684 *
hexley 0:20a27391f6dc 685 * @param[in] ulISRType Interrupt Flag Status type, should be:
hexley 0:20a27391f6dc 686 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
hexley 0:20a27391f6dc 687 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
hexley 0:20a27391f6dc 688 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
hexley 0:20a27391f6dc 689 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt
hexley 0:20a27391f6dc 690 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
hexley 0:20a27391f6dc 691 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
hexley 0:20a27391f6dc 692 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
hexley 0:20a27391f6dc 693 * current position interrupt
hexley 0:20a27391f6dc 694 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
hexley 0:20a27391f6dc 695 * current position interrupt
hexley 0:20a27391f6dc 696 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
hexley 0:20a27391f6dc 697 * current position interrupt
hexley 0:20a27391f6dc 698 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
hexley 0:20a27391f6dc 699 * index count interrupt
hexley 0:20a27391f6dc 700 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
hexley 0:20a27391f6dc 701 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
hexley 0:20a27391f6dc 702 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
hexley 0:20a27391f6dc 703 *
hexley 0:20a27391f6dc 704 * @return none
hexley 0:20a27391f6dc 705 **********************************************************************/
hexley 0:20a27391f6dc 706 void QEIHW::UnAppendISR(uint32_t ulISRType) {
hexley 0:20a27391f6dc 707 int i;
hexley 0:20a27391f6dc 708
hexley 0:20a27391f6dc 709 for(i = 0; i < 13; i++) {
hexley 0:20a27391f6dc 710 if( ulISRType == (1UL << i) ) {
hexley 0:20a27391f6dc 711 _qei_isr[i] = NULL;
hexley 0:20a27391f6dc 712 break;
hexley 0:20a27391f6dc 713 }
hexley 0:20a27391f6dc 714 }
hexley 0:20a27391f6dc 715 return;
hexley 0:20a27391f6dc 716 }
hexley 0:20a27391f6dc 717
hexley 0:20a27391f6dc 718
hexley 0:20a27391f6dc 719 void QEIHW::_Qeiisr(void)
hexley 0:20a27391f6dc 720 {
hexley 0:20a27391f6dc 721 instance->Qeiisr();
hexley 0:20a27391f6dc 722 }
hexley 0:20a27391f6dc 723
hexley 0:20a27391f6dc 724 /*********************************************************************//**
hexley 0:20a27391f6dc 725 * @brief QEI interrupt service dispatcher.
hexley 0:20a27391f6dc 726 *
hexley 0:20a27391f6dc 727 * @param[in] none
hexley 0:20a27391f6dc 728 *
hexley 0:20a27391f6dc 729 * @return none
hexley 0:20a27391f6dc 730 **********************************************************************/
hexley 0:20a27391f6dc 731 void QEIHW::Qeiisr(void)
hexley 0:20a27391f6dc 732 {
hexley 0:20a27391f6dc 733 int32_t i;
hexley 0:20a27391f6dc 734
JojoS 3:9279a8f154c8 735 #ifdef TARGET_LPC1768
hexley 0:20a27391f6dc 736 //User defined interrupt handlers. Check all possible sources, dispatch to corresponding non-null service routines.
hexley 0:20a27391f6dc 737 for(i = 0; i < 13; i++) {
hexley 0:20a27391f6dc 738 if(LPC_QEI->QEIINTSTAT & ((uint32_t)(1<<i)) ) {
hexley 0:20a27391f6dc 739 if (_qei_isr[i] != NULL) {
hexley 0:20a27391f6dc 740 _qei_isr[i]();
hexley 0:20a27391f6dc 741 }
hexley 0:20a27391f6dc 742 }
hexley 0:20a27391f6dc 743 }
JojoS 3:9279a8f154c8 744 #elif TARGET_LPC4088
JojoS 3:9279a8f154c8 745 //User defined interrupt handlers. Check all possible sources, dispatch to corresponding non-null service routines.
JojoS 3:9279a8f154c8 746 for(i = 0; i < 16; i++) {
JojoS 3:9279a8f154c8 747 if(LPC_QEI->INTSTAT & ((uint32_t)(1<<i)) ) {
JojoS 3:9279a8f154c8 748 if (_qei_isr[i] != NULL) {
JojoS 3:9279a8f154c8 749 _qei_isr[i]();
JojoS 3:9279a8f154c8 750 }
JojoS 3:9279a8f154c8 751 }
JojoS 3:9279a8f154c8 752 }
JojoS 3:9279a8f154c8 753 #endif
hexley 0:20a27391f6dc 754 return;
hexley 0:20a27391f6dc 755 }
hexley 0:20a27391f6dc 756