Department of Electrical Eng University of Moratuwa
Force controlled vibration analysis
Diff: QEI_hw/qeihw.h
- Revision:
- 0:5459cdde6298
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI_hw/qeihw.h Thu Aug 01 08:00:33 2019 +0000
@@ -0,0 +1,633 @@
+ /* mbed Library - QEIhw
+ * Copyright (c) 2010, hball
+ * released under MIT license http://mbed.org/licence/mit
+ */
+
+/***********************************************************************//**
+ * @file qeihw.h
+ * @brief Header file for the qeihw driver. Adapted from the CMSIS
+ * header, lpc17xx_qei.h, v 2.0
+ * @version 0.0
+ * @date 10 Dec 2010
+ * @author hb
+ **************************************************************************/
+
+
+#ifndef MBED_QEIHW_H
+#define MBED_QEIHW_H
+
+/* Includes ------------------------------------------------------------------- */
+#include "mbed.h"
+
+
+/* Public Types --------------------------------------------------------------- */
+
+/* Flag Status type definition */
+typedef enum {RESET = 0, SET = !RESET} FlagStatus, IntStatus, SetState;
+
+/* Functional State Definition */
+typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
+
+
+/* Other definitions */
+#define XTAL_FREQ 12000000
+
+/* Public Functions ----------------------------------------------------------- */
+/** @defgroup QEI_Public_Functions QEI Public Functions
+*/
+
+/** QEI hardware interface class
+* Requires mbed hardware modification: connect
+* encoder PhA to p1.20, and PhB to p1.23.
+*
+* Example:
+* @code
+* // Display changes in encoder position and direction
+#include "mbed.h"
+* #include "qeihw.h"
+*
+* DigitalOut led1(LED1);
+* DigitalOut led3(LED3);
+* QEIHW qei(QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_2X, QEI_INVINX_NONE );
+*
+* int main() {
+* int32_t temp, position = 0;
+* qei.SetDigiFilter(480UL);
+* qei.SetMaxPosition(0xFFFFFFFF);
+*
+* while(1) {
+* while(position == (temp = qei.GetPosition()) );
+* position = temp;
+* printf("New position = %d.\r\n", temp);
+* led1 = qei.Direction() == SET ? 1 : 0;
+* led3 = !led1;
+* wait(0.1);
+* }
+* }
+* @endcode
+*/
+
+class QEIHW {
+public:
+
+ /** Create a QEI object and configure it
+ *
+ * @param _dirinv Direction invert. When = 1, complements the QEICONF register DIR bit
+ * @param _sigmode Signal mode. When = 0, PhA and PhB are quadrature inputs. When = 1, PhA is direction and PhB is clock
+ * @param _capmode Capture mode. When = 0, count PhA edges only (2X mode). Whe = 1, count PhB edges also (4X mode).
+ * @param _invinx Invert index. When = 1, inverts the sense of the index signal
+ */
+ QEIHW( uint32_t _dirinv, uint32_t _sigmode, uint32_t _capmode, uint32_t _invinx);
+
+/** Resets value for each type of QEI value, such as velocity, position, etc.
+ *
+ * @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
+ */
+void Reset(uint32_t ulResetType);
+
+/** Powers down the QEI block, returns pins to GPIO mode
+ *
+ */
+void DeInit();
+
+/** Report direction (QEISTAT bit DIR)
+ *
+ * @return State of the DIR bit (SET or RESET)
+ */
+FlagStatus Direction();
+
+/**
+ * @brief Get current position value in QEI peripheral
+ *
+ * @return Current position value of QEI peripheral
+ */
+uint32_t GetPosition();
+
+/** Set max position value for QEI peripheral
+ *
+ * @param[in] ulMaxPos Max position value to set
+ * @return None
+ */
+void SetMaxPosition(uint32_t ulMaxPos);
+
+/** Set position compare value for QEI peripheral
+ * @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 SetPositionComp( uint8_t bPosCompCh, uint32_t ulPosComp);
+
+/** Get current index counter of QEI peripheral
+ *
+ * @return Current value of QEI index counter
+ */
+uint32_t GetIndex();
+
+/** Set value for index compare in QEI peripheral
+ * @param[in] ulIndexComp Compare Index Value to set
+ * @return None
+ */
+void SetIndexComp( uint32_t ulIndexComp);
+
+/** Set Velocity timer reload value
+ *
+ * @param[in] ulReloadValue Velocity timer reload count
+ * @return None
+ */
+void SetVelocityTimerReload( uint32_t ulReloadValue);
+
+/** Set Velocity timer reload value in microseconds
+ *
+ * @param[in] ulReloadValue Velocity timer reload count
+ * @return None
+ */
+void SetVelocityTimerReload_us( uint32_t ulReloadValue);
+
+/** Get current timer counter in QEI peripheral
+ *
+ * @return Current timer counter in QEI peripheral
+ */
+uint32_t GetTimer();
+
+/** Get current velocity pulse counter in current time period
+ *
+ * @return Current velocity pulse counter value
+ */
+uint32_t GetVelocity();
+
+/** 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.
+ *
+ * @return The most recently measured velocity value
+ */
+uint32_t GetVelocityCap();
+
+/** Set Velocity Compare value for QEI peripheral
+ *
+ * @param[in] ulVelComp Compare Velocity value to set
+ * @return None
+ */
+void SetVelocityComp( uint32_t ulVelComp);
+
+/** Set value of sampling count for the digital filter in
+ * QEI peripheral
+ *
+ * @param[in] ulSamplingPulse Value of sampling count to set
+ * @return None
+ */
+void SetDigiFilter( uint32_t ulSamplingPulse);
+
+/** Check whether if specified interrupt flag status in QEI
+ * peripheral is set or not
+ *
+ * @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 GetIntStatus( uint32_t ulIntType);
+
+/** Enable/Disable specified interrupt in QEI peripheral
+ *
+ * @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 IntCmd( uint32_t ulIntType, FunctionalState NewState);
+
+/** Asserts specified interrupt in QEI peripheral
+ *
+ * @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 IntSet( uint32_t ulIntType);
+
+/** De-asserts specified interrupt (pending) in QEI peripheral
+ *
+ * @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 IntClear( uint32_t ulIntType);
+
+/** Append interrupt handler for specific QEI interrupt source
+ *
+ * @param[in] ulISRType 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 AppendISR(uint32_t ulISRType, void(*fptr)(void));
+
+/** Unappend interrupt handler for specific QEI interrupt source
+ *
+ * @param[in] ulISRType 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 UnAppendISR(uint32_t ulISRType);
+
+
+/**
+ * @brief Calculates the actual velocity in RPM passed via velocity
+ * capture value and Pulse Per Revolution (of the encoder) value
+ * parameter input.
+ *
+ * @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 (Revolutions per minute)
+ */
+uint32_t CalculateRPM( uint32_t ulVelCapValue, uint32_t ulPPR);
+
+
+/* Public Macros -------------------------------------------------------------- */
+/* QEI Reset types */
+#define QEI_RESET_POS QEI_CON_RESP /**< Reset position counter */
+#define QEI_RESET_POSOnIDX QEI_CON_RESPI /**< Reset Posistion Counter on Index */
+#define QEI_RESET_VEL QEI_CON_RESV /**< Reset Velocity */
+#define QEI_RESET_IDX QEI_CON_RESI /**< Reset Index Counter */
+
+/* QEI Direction Invert Type Option */
+#define QEI_DIRINV_NONE ((uint32_t)(0)) /**< Direction is not inverted */
+#define QEI_DIRINV_CMPL ((uint32_t)(1)) /**< Direction is complemented */
+
+/* QEI Signal Mode Option */
+#define QEI_SIGNALMODE_QUAD ((uint32_t)(0)) /**< Signal operation: Quadrature phase mode */
+#define QEI_SIGNALMODE_CLKDIR ((uint32_t)(1)) /**< Signal operation: Clock/Direction mode */
+
+/* QEI Capture Mode Option */
+#define QEI_CAPMODE_2X ((uint32_t)(0)) /**< Capture mode: Only Phase-A edges are counted (2X) */
+#define QEI_CAPMODE_4X ((uint32_t)(1)) /**< Capture mode: BOTH PhA and PhB edges are counted (4X)*/
+
+/* QEI Invert Index Signal Option */
+#define QEI_INVINX_NONE ((uint32_t)(0)) /**< Invert Index signal option: None */
+#define QEI_INVINX_EN ((uint32_t)(1)) /**< Invert Index signal option: Enable */
+
+/* QEI timer reload option */
+#define QEI_TIMERRELOAD_TICKVAL ((uint8_t)(0)) /**< Reload value in absolute value */
+#define QEI_TIMERRELOAD_USVAL ((uint8_t)(1)) /**< Reload value in microsecond value */
+
+/* QEI Flag Status type */
+#define QEI_STATUS_DIR ((uint32_t)(1<<0)) /**< Direction status */
+
+/* QEI Compare Position channel option */
+#define QEI_COMPPOS_CH_0 ((uint8_t)(0)) /**< QEI compare position channel 0 */
+#define QEI_COMPPOS_CH_1 ((uint8_t)(1)) /**< QEI compare position channel 1 */
+#define QEI_COMPPOS_CH_2 ((uint8_t)(2)) /**< QEI compare position channel 2 */
+
+/* QEI interrupt flag type */
+#define QEI_INTFLAG_INX_Int ((uint32_t)(1<<0)) /**< index pulse was detected interrupt */
+#define QEI_INTFLAG_TIM_Int ((uint32_t)(1<<1)) /**< Velocity timer over flow interrupt */
+#define QEI_INTFLAG_VELC_Int ((uint32_t)(1<<2)) /**< Capture velocity is less than compare interrupt */
+#define QEI_INTFLAG_DIR_Int ((uint32_t)(1<<3)) /**< Change of direction interrupt */
+#define QEI_INTFLAG_ERR_Int ((uint32_t)(1<<4)) /**< An encoder phase error interrupt */
+#define QEI_INTFLAG_ENCLK_Int ((uint32_t)(1<<5)) /**< An encoder clock pulse was detected interrupt */
+#define QEI_INTFLAG_POS0_Int ((uint32_t)(1<<6)) /**< position 0 compare value is equal to the
+ current position interrupt */
+#define QEI_INTFLAG_POS1_Int ((uint32_t)(1<<7)) /**< position 1 compare value is equal to the
+ current position interrupt */
+#define QEI_INTFLAG_POS2_Int ((uint32_t)(1<<8)) /**< position 2 compare value is equal to the
+ current position interrupt */
+#define QEI_INTFLAG_REV_Int ((uint32_t)(1<<9)) /**< Index compare value is equal to the current
+ index count interrupt */
+#define QEI_INTFLAG_POS0REV_Int ((uint32_t)(1<<10)) /**< Combined position 0 and revolution count interrupt */
+#define QEI_INTFLAG_POS1REV_Int ((uint32_t)(1<<11)) /**< Combined position 1 and revolution count interrupt */
+#define QEI_INTFLAG_POS2REV_Int ((uint32_t)(1<<12)) /**< Combined position 2 and revolution count interrupt */
+
+/* QEI Process position reporting options */
+#define QEI_PROCESS_OPERATE 0;
+#define QEI_PROCESS_RESET 1;
+#define QEI_PROCESS_INCREMENTAL 0;
+#define QEI_PROCESS_ACCUMULATE 1;
+#define QEI_PROCESS_LINEAR 0;
+#define QEI_PROCESS_WEIGHTED 1;
+
+private:
+static void _Qeiisr(void);
+void Qeiisr(void);
+static QEIHW *instance;
+
+void(*_qei_isr[13])();
+
+
+/* Private Macros ------------------------------------------------------------- */
+/* --------------------- BIT DEFINITIONS -------------------------------------- */
+/* Quadrature Encoder Interface Control Register Definition --------------------- */
+/*********************************************************************//**
+ * Macro defines for QEI Control register
+ **********************************************************************/
+#define QEI_CON_RESP ((uint32_t)(1<<0)) /**< Reset position counter */
+#define QEI_CON_RESPI ((uint32_t)(1<<1)) /**< Reset Posistion Counter on Index */
+#define QEI_CON_RESV ((uint32_t)(1<<2)) /**< Reset Velocity */
+#define QEI_CON_RESI ((uint32_t)(1<<3)) /**< Reset Index Counter */
+#define QEI_CON_BITMASK ((uint32_t)(0x0F)) /**< QEI Control register bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for QEI Configuration register
+ **********************************************************************/
+#define QEI_CONF_DIRINV ((uint32_t)(1<<0)) /**< Direction Invert */
+#define QEI_CONF_SIGMODE ((uint32_t)(1<<1)) /**< Signal mode */
+#define QEI_CONF_CAPMODE ((uint32_t)(1<<2)) /**< Capture mode */
+#define QEI_CONF_INVINX ((uint32_t)(1<<3)) /**< Invert index */
+#define QEI_CONF_BITMASK ((uint32_t)(0x0F)) /**< QEI Configuration register bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for QEI Status register
+ **********************************************************************/
+#define QEI_STAT_DIR ((uint32_t)(1<<0)) /**< Direction bit */
+#define QEI_STAT_BITMASK ((uint32_t)(1<<0)) /**< QEI status register bit-mask */
+
+/* Quadrature Encoder Interface Interrupt registers definitions --------------------- */
+/*********************************************************************//**
+ * Macro defines for QEI Interrupt Status register
+ **********************************************************************/
+#define QEI_INTSTAT_INX_Int ((uint32_t)(1<<0)) /**< Indicates that an index pulse was detected */
+#define QEI_INTSTAT_TIM_Int ((uint32_t)(1<<1)) /**< Indicates that a velocity timer overflow occurred */
+#define QEI_INTSTAT_VELC_Int ((uint32_t)(1<<2)) /**< Indicates that capture velocity is less than compare velocity */
+#define QEI_INTSTAT_DIR_Int ((uint32_t)(1<<3)) /**< Indicates that a change of direction was detected */
+#define QEI_INTSTAT_ERR_Int ((uint32_t)(1<<4)) /**< Indicates that an encoder phase error was detected */
+#define QEI_INTSTAT_ENCLK_Int ((uint32_t)(1<<5)) /**< Indicates that and encoder clock pulse was detected */
+#define QEI_INTSTAT_POS0_Int ((uint32_t)(1<<6)) /**< Indicates that the position 0 compare value is equal to the
+ current position */
+#define QEI_INTSTAT_POS1_Int ((uint32_t)(1<<7)) /**< Indicates that the position 1compare value is equal to the
+ current position */
+#define QEI_INTSTAT_POS2_Int ((uint32_t)(1<<8)) /**< Indicates that the position 2 compare value is equal to the
+ current position */
+#define QEI_INTSTAT_REV_Int ((uint32_t)(1<<9)) /**< Indicates that the index compare value is equal to the current
+ index count */
+#define QEI_INTSTAT_POS0REV_Int ((uint32_t)(1<<10)) /**< Combined position 0 and revolution count interrupt. Set when
+ both the POS0_Int bit is set and the REV_Int is set */
+#define QEI_INTSTAT_POS1REV_Int ((uint32_t)(1<<11)) /**< Combined position 1 and revolution count interrupt. Set when
+ both the POS1_Int bit is set and the REV_Int is set */
+#define QEI_INTSTAT_POS2REV_Int ((uint32_t)(1<<12)) /**< Combined position 2 and revolution count interrupt. Set when
+ both the POS2_Int bit is set and the REV_Int is set */
+#define QEI_INTSTAT_BITMASK ((uint32_t)(0x1FFF)) /**< QEI Interrupt Status register bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for QEI Interrupt Set register
+ **********************************************************************/
+#define QEI_INTSET_INX_Int ((uint32_t)(1<<0)) /**< Set Bit Indicates that an index pulse was detected */
+#define QEI_INTSET_TIM_Int ((uint32_t)(1<<1)) /**< Set Bit Indicates that a velocity timer overflow occurred */
+#define QEI_INTSET_VELC_Int ((uint32_t)(1<<2)) /**< Set Bit Indicates that capture velocity is less than compare velocity */
+#define QEI_INTSET_DIR_Int ((uint32_t)(1<<3)) /**< Set Bit Indicates that a change of direction was detected */
+#define QEI_INTSET_ERR_Int ((uint32_t)(1<<4)) /**< Set Bit Indicates that an encoder phase error was detected */
+#define QEI_INTSET_ENCLK_Int ((uint32_t)(1<<5)) /**< Set Bit Indicates that and encoder clock pulse was detected */
+#define QEI_INTSET_POS0_Int ((uint32_t)(1<<6)) /**< Set Bit Indicates that the position 0 compare value is equal to the
+ current position */
+#define QEI_INTSET_POS1_Int ((uint32_t)(1<<7)) /**< Set Bit Indicates that the position 1compare value is equal to the
+ current position */
+#define QEI_INTSET_POS2_Int ((uint32_t)(1<<8)) /**< Set Bit Indicates that the position 2 compare value is equal to the
+ current position */
+#define QEI_INTSET_REV_Int ((uint32_t)(1<<9)) /**< Set Bit Indicates that the index compare value is equal to the current
+ index count */
+#define QEI_INTSET_POS0REV_Int ((uint32_t)(1<<10)) /**< Set Bit that combined position 0 and revolution count interrupt */
+#define QEI_INTSET_POS1REV_Int ((uint32_t)(1<<11)) /**< Set Bit that Combined position 1 and revolution count interrupt */
+#define QEI_INTSET_POS2REV_Int ((uint32_t)(1<<12)) /**< Set Bit that Combined position 2 and revolution count interrupt */
+#define QEI_INTSET_BITMASK ((uint32_t)(0x1FFF)) /**< QEI Interrupt Set register bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for QEI Interrupt Clear register
+ **********************************************************************/
+#define QEI_INTCLR_INX_Int ((uint32_t)(1<<0)) /**< Clear Bit Indicates that an index pulse was detected */
+#define QEI_INTCLR_TIM_Int ((uint32_t)(1<<1)) /**< Clear Bit Indicates that a velocity timer overflow occurred */
+#define QEI_INTCLR_VELC_Int ((uint32_t)(1<<2)) /**< Clear Bit Indicates that capture velocity is less than compare velocity */
+#define QEI_INTCLR_DIR_Int ((uint32_t)(1<<3)) /**< Clear Bit Indicates that a change of direction was detected */
+#define QEI_INTCLR_ERR_Int ((uint32_t)(1<<4)) /**< Clear Bit Indicates that an encoder phase error was detected */
+#define QEI_INTCLR_ENCLK_Int ((uint32_t)(1<<5)) /**< Clear Bit Indicates that and encoder clock pulse was detected */
+#define QEI_INTCLR_POS0_Int ((uint32_t)(1<<6)) /**< Clear Bit Indicates that the position 0 compare value is equal to the
+ current position */
+#define QEI_INTCLR_POS1_Int ((uint32_t)(1<<7)) /**< Clear Bit Indicates that the position 1compare value is equal to the
+ current position */
+#define QEI_INTCLR_POS2_Int ((uint32_t)(1<<8)) /**< Clear Bit Indicates that the position 2 compare value is equal to the
+ current position */
+#define QEI_INTCLR_REV_Int ((uint32_t)(1<<9)) /**< Clear Bit Indicates that the index compare value is equal to the current
+ index count */
+#define QEI_INTCLR_POS0REV_Int ((uint32_t)(1<<10)) /**< Clear Bit that combined position 0 and revolution count interrupt */
+#define QEI_INTCLR_POS1REV_Int ((uint32_t)(1<<11)) /**< Clear Bit that Combined position 1 and revolution count interrupt */
+#define QEI_INTCLR_POS2REV_Int ((uint32_t)(1<<12)) /**< Clear Bit that Combined position 2 and revolution count interrupt */
+#define QEI_INTCLR_BITMASK ((uint32_t)(0x1FFF)) /**< QEI Interrupt Clear register bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for QEI Interrupt Enable register
+ **********************************************************************/
+#define QEI_INTEN_INX_Int ((uint32_t)(1<<0)) /**< Enabled Interrupt Bit Indicates that an index pulse was detected */
+#define QEI_INTEN_TIM_Int ((uint32_t)(1<<1)) /**< Enabled Interrupt Bit Indicates that a velocity timer overflow occurred */
+#define QEI_INTEN_VELC_Int ((uint32_t)(1<<2)) /**< Enabled Interrupt Bit Indicates that capture velocity is less than compare velocity */
+#define QEI_INTEN_DIR_Int ((uint32_t)(1<<3)) /**< Enabled Interrupt Bit Indicates that a change of direction was detected */
+#define QEI_INTEN_ERR_Int ((uint32_t)(1<<4)) /**< Enabled Interrupt Bit Indicates that an encoder phase error was detected */
+#define QEI_INTEN_ENCLK_Int ((uint32_t)(1<<5)) /**< Enabled Interrupt Bit Indicates that and encoder clock pulse was detected */
+#define QEI_INTEN_POS0_Int ((uint32_t)(1<<6)) /**< Enabled Interrupt Bit Indicates that the position 0 compare value is equal to the
+ current position */
+#define QEI_INTEN_POS1_Int ((uint32_t)(1<<7)) /**< Enabled Interrupt Bit Indicates that the position 1compare value is equal to the
+ current position */
+#define QEI_INTEN_POS2_Int ((uint32_t)(1<<8)) /**< Enabled Interrupt Bit Indicates that the position 2 compare value is equal to the
+ current position */
+#define QEI_INTEN_REV_Int ((uint32_t)(1<<9)) /**< Enabled Interrupt Bit Indicates that the index compare value is equal to the current
+ index count */
+#define QEI_INTEN_POS0REV_Int ((uint32_t)(1<<10)) /**< Enabled Interrupt Bit that combined position 0 and revolution count interrupt */
+#define QEI_INTEN_POS1REV_Int ((uint32_t)(1<<11)) /**< Enabled Interrupt Bit that Combined position 1 and revolution count interrupt */
+#define QEI_INTEN_POS2REV_Int ((uint32_t)(1<<12)) /**< Enabled Interrupt Bit that Combined position 2 and revolution count interrupt */
+#define QEI_INTEN_BITMASK ((uint32_t)(0x1FFF)) /**< QEI Interrupt Enable register bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for QEI Interrupt Enable Set register
+ **********************************************************************/
+#define QEI_IESET_INX_Int ((uint32_t)(1<<0)) /**< Set Enable Interrupt Bit Indicates that an index pulse was detected */
+#define QEI_IESET_TIM_Int ((uint32_t)(1<<1)) /**< Set Enable Interrupt Bit Indicates that a velocity timer overflow occurred */
+#define QEI_IESET_VELC_Int ((uint32_t)(1<<2)) /**< Set Enable Interrupt Bit Indicates that capture velocity is less than compare velocity */
+#define QEI_IESET_DIR_Int ((uint32_t)(1<<3)) /**< Set Enable Interrupt Bit Indicates that a change of direction was detected */
+#define QEI_IESET_ERR_Int ((uint32_t)(1<<4)) /**< Set Enable Interrupt Bit Indicates that an encoder phase error was detected */
+#define QEI_IESET_ENCLK_Int ((uint32_t)(1<<5)) /**< Set Enable Interrupt Bit Indicates that and encoder clock pulse was detected */
+#define QEI_IESET_POS0_Int ((uint32_t)(1<<6)) /**< Set Enable Interrupt Bit Indicates that the position 0 compare value is equal to the
+ current position */
+#define QEI_IESET_POS1_Int ((uint32_t)(1<<7)) /**< Set Enable Interrupt Bit Indicates that the position 1compare value is equal to the
+ current position */
+#define QEI_IESET_POS2_Int ((uint32_t)(1<<8)) /**< Set Enable Interrupt Bit Indicates that the position 2 compare value is equal to the
+ current position */
+#define QEI_IESET_REV_Int ((uint32_t)(1<<9)) /**< Set Enable Interrupt Bit Indicates that the index compare value is equal to the current
+ index count */
+#define QEI_IESET_POS0REV_Int ((uint32_t)(1<<10)) /**< Set Enable Interrupt Bit that combined position 0 and revolution count interrupt */
+#define QEI_IESET_POS1REV_Int ((uint32_t)(1<<11)) /**< Set Enable Interrupt Bit that Combined position 1 and revolution count interrupt */
+#define QEI_IESET_POS2REV_Int ((uint32_t)(1<<12)) /**< Set Enable Interrupt Bit that Combined position 2 and revolution count interrupt */
+#define QEI_IESET_BITMASK ((uint32_t)(0x1FFF)) /**< QEI Interrupt Enable Set register bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for QEI Interrupt Enable Clear register
+ **********************************************************************/
+#define QEI_IECLR_INX_Int ((uint32_t)(1<<0)) /**< Clear Enabled Interrupt Bit Indicates that an index pulse was detected */
+#define QEI_IECLR_TIM_Int ((uint32_t)(1<<1)) /**< Clear Enabled Interrupt Bit Indicates that a velocity timer overflow occurred */
+#define QEI_IECLR_VELC_Int ((uint32_t)(1<<2)) /**< Clear Enabled Interrupt Bit Indicates that capture velocity is less than compare velocity */
+#define QEI_IECLR_DIR_Int ((uint32_t)(1<<3)) /**< Clear Enabled Interrupt Bit Indicates that a change of direction was detected */
+#define QEI_IECLR_ERR_Int ((uint32_t)(1<<4)) /**< Clear Enabled Interrupt Bit Indicates that an encoder phase error was detected */
+#define QEI_IECLR_ENCLK_Int ((uint32_t)(1<<5)) /**< Clear Enabled Interrupt Bit Indicates that and encoder clock pulse was detected */
+#define QEI_IECLR_POS0_Int ((uint32_t)(1<<6)) /**< Clear Enabled Interrupt Bit Indicates that the position 0 compare value is equal to the
+ current position */
+#define QEI_IECLR_POS1_Int ((uint32_t)(1<<7)) /**< Clear Enabled Interrupt Bit Indicates that the position 1compare value is equal to the
+ current position */
+#define QEI_IECLR_POS2_Int ((uint32_t)(1<<8)) /**< Clear Enabled Interrupt Bit Indicates that the position 2 compare value is equal to the
+ current position */
+#define QEI_IECLR_REV_Int ((uint32_t)(1<<9)) /**< Clear Enabled Interrupt Bit Indicates that the index compare value is equal to the current
+ index count */
+#define QEI_IECLR_POS0REV_Int ((uint32_t)(1<<10)) /**< Clear Enabled Interrupt Bit that combined position 0 and revolution count interrupt */
+#define QEI_IECLR_POS1REV_Int ((uint32_t)(1<<11)) /**< Clear Enabled Interrupt Bit that Combined position 1 and revolution count interrupt */
+#define QEI_IECLR_POS2REV_Int ((uint32_t)(1<<12)) /**< Clear Enabled Interrupt Bit that Combined position 2 and revolution count interrupt */
+#define QEI_IECLR_BITMASK ((uint32_t)(0x1FFF)) /**< QEI Interrupt Enable Clear register bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for PCONP register QEI-related bits
+ **********************************************************************/
+#define PCONP_QEI_ENABLE ((uint32_t)(1<<18)) /**< QEI peripheral power enable bit */
+#define PCONP_QEI_DISABLE ~((uint32_t)(1<<18)) /**< QEI peripheral power disable bit-mask */
+
+/*********************************************************************//**
+ * Macro defines for PCLKSELx register QEI-related bits
+ **********************************************************************/
+#define PCLKSEL_CCLK_DIV_1 1UL /**< Set PCLK to CCLK/1 */
+#define PCLKSEL_CCLK_DIV_2 2UL /**< Set PCLK to CCLK/2 */
+#define PCLKSEL_CCLK_DIV_4 0UL /**< Set PCLK to CCLK/4 */
+#define PCLKSEL_CCLK_DIV_8 3UL /**< Set PCLK to CCLK/8 */
+#define PCLKSEL1_PCLK_QEI_MASK ((uint32_t)(3<<0)) /**< PCLK_QEI PCLK_QEI bit field mask */
+/*********************************************************************//**
+ * Macro defines for PINSEL3 register QEI-related bits
+ **********************************************************************/
+#define PINSEL3_MCI0 ((uint32_t)(1<<8)) /**< MCIO (PhA) pin select */
+#define PINSEL3_MCI0_MASK ~((uint32_t)(3<<8)) /**< MCIO (PhA) pin mask */
+#define PINSEL3_MCI1 ((uint32_t)(1<<14)) /**< MCI1 (PhB) pin select */
+#define PINSEL3_MCI1_MASK ~((uint32_t)(3<<14)) /**< MCI2 (PhB) pin mask */
+#define PINSEL3_MCI2 ((uint32_t)(1<<16)) /**< MCI2 (Index) pin select */
+#define PINSEL3_MCI2_MASK ~((uint32_t)(3<<16)) /**< MCI2 (Index) pin mask */
+
+/*********************************************************************//**
+ * Macro defines for PINMODE3 register QEI-related bits
+ **********************************************************************/
+#define PIN_PULL_UP 0UL
+#define PIN_REPEATER 1UL
+#define PIN_NORESISTOR 2UL
+#define PIN_PULL_DOWN 3UL
+
+#define PINMODE3_MCI0 ((uint32_t)(PIN_NORESISTOR<<8)) /**< MCIO (PhA) resistor selection */
+#define PINMODE3_GPIO1p20 ((uint32_t)(PIN_PULL_DOWN<<8)) /**< GPIO 1.20) resistor selection */
+#define PINMODE3_MCI0_MASK ~((uint32_t)(3<<8)) /**< MCIO (PhA) resistor mask */
+
+#define PINMODE3_MCI1 ((uint32_t)(PIN_NORESISTOR<<14)) /**< MCI1 (PhB) resistor selection */
+#define PINMODE3_GPIO1p23 ((uint32_t)(PIN_PULL_DOWN<<14)) /**< GPIO 1.23) resistor selection */
+#define PINMODE3_MCI1_MASK ~((uint32_t)(3<<14)) /**< MCI1 (PhB) resistor mask */
+
+#define PINMODE3_MCI2 ((uint32_t)(PIN_PULL_UP<<16)) /**< MCI2 (Index) resistor selection */
+#define PINMODE3_GPIO1p24 ((uint32_t)(PIN_PULL_DOWN<<16)) /**< GPIO 1.24) resistor selection */
+#define PINMODE3_MCI2_MASK ~((uint32_t)(3<<16)) /**< MCI2 (Index) resistor mask */
+
+};
+
+
+#endif /* MBED_QEI_H */
+/* --------------------------------- End Of File ------------------------------ */