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This library supports the internal QEI hardware of the LPC1768. WARNING: requires modification of the mbed module.
Dependents: Bracky-MPU6050-DMP mbed__motor_QEIHWv2_interupt_timer_sy_2017_RD_ver020 realtimeMM_V3 realtimeMM_V3 ... more
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qeihw.cpp
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00001 /* mbed Library - QEI driver for LP1768 hardware 00002 * Copyright (c) 2010, hball 00003 * released under MIT license http://mbed.org/licence/mit 00004 */ 00005 00006 /***********************************************************************//** 00007 * @file qeihw.cpp 00008 * @brief Driver file for the QEI hardware. Requires connection to 00009 * internal mbed circuit nodes. Adapted from the CMSIS 00010 * driver, lpc17xx_qei.c, v 2.0 00011 * @version 0.1 00012 * @date 28 Dec 2010 00013 * @author hb 00014 **************************************************************************/ 00015 #include "mbed.h" 00016 #include "qeihw.h" 00017 00018 QEIHW *QEIHW::instance; 00019 00020 /*********************************************************************//** 00021 * @brief Create a QEI object and configure it. 00022 * @param _dirinv Direction invert. When = 1, complements the QEICONF register DIR bit 00023 * @param _sigmode Signal mode. When = 0, PhA and PhB are quadrature inputs. When = 1, PhA is direction and PhB is clock 00024 * @param _capmode Capture mode. When = 0, count PhA edges only (2X mode). Whe = 1, count PhB edges also (4X mode). 00025 * @param _invinx Invert index. When = 1, inverts the sense of the index signal 00026 * @return None 00027 **********************************************************************/ 00028 QEIHW::QEIHW(uint32_t _dirinv, uint32_t _sigmode, uint32_t _capmode, uint32_t _invinx) 00029 { 00030 /* Set up clock and power for QEI module */ 00031 LPC_SC->PCONP |= PCONP_QEI_ENABLE; 00032 00033 /* The clock for theQEI module is set to FCCLK */ 00034 LPC_SC->PCLKSEL1 = LPC_SC->PCLKSEL1 & ~(3UL<<0) | ((PCLKSEL_CCLK_DIV_1 & 3)<<0); 00035 00036 /* Assign the pins. They are hard-coded, not user-selected. The index 00037 * pin is assigned, even though it is not easily accessed on the mbed. 00038 * As it may be unconnected, it is given a pull-up resistor to minimize 00039 * power drain. 00040 */ 00041 // MCI0 (PhA) 00042 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI0_MASK) | PINSEL3_MCI0 ; 00043 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI0_MASK) | PINMODE3_MCI0; 00044 00045 // MCI1 (PhB) 00046 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI1_MASK) | PINSEL3_MCI1 ; 00047 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI1_MASK) | PINMODE3_MCI1; 00048 00049 // MCI2 (Index) 00050 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI2_MASK) | PINSEL3_MCI2 ; 00051 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI2_MASK) | PINMODE3_MCI2; 00052 00053 // Initialize all remaining values in QEI peripheral 00054 LPC_QEI->QEICON = QEI_CON_RESP | QEI_CON_RESV | QEI_CON_RESI; 00055 LPC_QEI->QEIMAXPOS = 0xFFFFFFFF; // Default value 00056 LPC_QEI->CMPOS0 = 0x00; 00057 LPC_QEI->CMPOS1 = 0x00; 00058 LPC_QEI->CMPOS2 = 0x00; 00059 LPC_QEI->INXCMP = 0x00; 00060 LPC_QEI->QEILOAD = 0x00; 00061 LPC_QEI->VELCOMP = 0x00; 00062 LPC_QEI->FILTER = 200000; // Default for mechanical switches. 00063 00064 // Set QEI configuration value corresponding to the call parameters 00065 LPC_QEI->QEICONF = ( 00066 ((_dirinv << 0) & 1) | \ 00067 ((_sigmode << 1) & 2) | \ 00068 ((_capmode << 2) & 4) | \ 00069 ((_invinx <<3) & 8) ); 00070 00071 // Mask all int sources 00072 LPC_QEI->QEIIEC = QEI_IECLR_BITMASK; // Set the "clear" bits for all sources in the IE clear register 00073 00074 // Clear any pending ints 00075 LPC_QEI->QEICLR = QEI_INTCLR_BITMASK; // Set the "clear" bits for for all sources in the Interrupt clear register 00076 00077 /* preemption = 1, sub-priority = 1 */ 00078 NVIC_SetPriority(QEI_IRQn, ((0x01<<3)|0x01)); 00079 00080 //* Attach IRQ 00081 instance = this; 00082 NVIC_SetVector(QEI_IRQn, (uint32_t)&_Qeiisr); 00083 00084 /* Enable interrupt for QEI */ 00085 NVIC_EnableIRQ(QEI_IRQn); 00086 00087 } 00088 00089 /*********************************************************************//** 00090 * @brief Resets value for each type of QEI value, such as velocity, 00091 * counter, position, etc.. 00092 * @param[in] ulResetType QEI Reset Type, should be one of the following: 00093 * - QEI_RESET_POS: Reset Position Counter 00094 * - QEI_RESET_POSOnIDX: Reset Position Counter on Index signal 00095 * - QEI_RESET_VEL: Reset Velocity 00096 * - QEI_RESET_IDX: Reset Index Counter 00097 * @return None 00098 **********************************************************************/ 00099 void QEIHW::Reset(uint32_t ulResetType) 00100 { 00101 LPC_QEI->QEICON = ulResetType; 00102 } 00103 00104 /*********************************************************************//** 00105 * @brief De-initializes the QEI peripheral registers to their 00106 * default reset values. 00107 * 00108 * @return None 00109 **********************************************************************/ 00110 void QEIHW::DeInit() 00111 { 00112 /* Turn off clock and power for QEI module */ 00113 LPC_SC->PCONP &= PCONP_QEI_DISABLE; 00114 00115 /* Return pins to their default assignment (PINSEL = 0, PINMODE = PULLDOWN) */ 00116 // MCI0 (PhA) -> LED-2 (p1.20) 00117 LPC_PINCON->PINSEL3 &= PINSEL3_MCI0_MASK; 00118 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI0_MASK) | PINMODE3_GPIO1p20; 00119 00120 // MCI1 (PhB) -> LED-4 (p1.23) 00121 LPC_PINCON->PINSEL3 &= PINSEL3_MCI1_MASK; 00122 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI1_MASK) | PINMODE3_GPIO1p23; 00123 00124 // MCI2 (Index) -> p1.24 00125 LPC_PINCON->PINSEL3 &= PINSEL3_MCI2_MASK; 00126 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI2_MASK) | PINMODE3_GPIO1p24; 00127 } 00128 00129 /*********************************************************************//** 00130 * @brief Report direction (QEISTAT bit DIR) 00131 * 00132 * @return State of the DIR bit (SET or RESET) 00133 **********************************************************************/ 00134 FlagStatus QEIHW::Direction() 00135 { 00136 return ((LPC_QEI->QEISTAT & QEI_STATUS_DIR) ? SET : RESET); 00137 } 00138 00139 /*********************************************************************//** 00140 * @brief Get current position value in QEI peripheral 00141 * 00142 * @return Current position value of QEI peripheral 00143 **********************************************************************/ 00144 uint32_t QEIHW::GetPosition() 00145 { 00146 return (LPC_QEI->QEIPOS); 00147 } 00148 00149 /*********************************************************************//** 00150 * @brief Set max position value for QEI peripheral 00151 * 00152 * @param[in] ulMaxPos Max position value to set 00153 * @return None 00154 **********************************************************************/ 00155 void QEIHW::SetMaxPosition(uint32_t ulMaxPos) 00156 { 00157 LPC_QEI->QEIMAXPOS = ulMaxPos; 00158 } 00159 00160 /*********************************************************************//** 00161 * @brief Set position compare value for QEI peripheral 00162 * @param[in] QEIx QEI peripheral, should be LPC_QEI 00163 * @param[in] bPosCompCh Compare Position channel, should be: 00164 * - QEI_COMPPOS_CH_0: QEI compare position channel 0 00165 * - QEI_COMPPOS_CH_1: QEI compare position channel 1 00166 * - QEI_COMPPOS_CH_2: QEI compare position channel 2 00167 * @param[in] ulPosComp Compare Position value to set 00168 * @return None 00169 **********************************************************************/ 00170 void QEIHW::SetPositionComp( uint8_t bPosCompCh, uint32_t ulPosComp) 00171 { 00172 uint32_t *tmp; 00173 00174 tmp = (uint32_t *) (&(LPC_QEI->CMPOS0) + bPosCompCh * 4); 00175 *tmp = ulPosComp; 00176 } 00177 00178 /*********************************************************************//** 00179 * @brief Get current index counter of QEI peripheral 00180 * 00181 * @return Current value of QEI index counter 00182 **********************************************************************/ 00183 uint32_t QEIHW::GetIndex() 00184 { 00185 return (LPC_QEI->INXCNT); 00186 } 00187 00188 /*********************************************************************//** 00189 * @brief Set value for index compare in QEI peripheral 00190 * @param[in] ulIndexComp Compare Index Value to set 00191 * @return None 00192 **********************************************************************/ 00193 void QEIHW::SetIndexComp( uint32_t ulIndexComp) 00194 { 00195 LPC_QEI->INXCMP = ulIndexComp; 00196 } 00197 00198 /*********************************************************************//** 00199 * @brief Set Velocity timer reload value 00200 * 00201 * @param[in] ulReloadValue Velocity timer reload count 00202 * @return None 00203 **********************************************************************/ 00204 void QEIHW::SetVelocityTimerReload( uint32_t ulReloadValue) 00205 { 00206 LPC_QEI->QEILOAD = ulReloadValue; 00207 } 00208 00209 /*********************************************************************//** 00210 * @brief Set Velocity timer reload value in microseconds 00211 * 00212 * @param[in] ulReloadValue Velocity timer reload count 00213 * @return None 00214 **********************************************************************/ 00215 void QEIHW::SetVelocityTimerReload_us( uint32_t ulReloadValue) 00216 { 00217 int div; 00218 00219 //Work out CCLK 00220 uint32_t m = (LPC_SC->PLL0CFG & 0xFFFF) + 1; 00221 uint32_t n = (LPC_SC->PLL0CFG >> 16) + 1; 00222 uint32_t cclkdiv = LPC_SC->CCLKCFG + 1; 00223 uint32_t Fcco = (2 * m * XTAL_FREQ) / n; 00224 uint32_t cclk = Fcco / cclkdiv; 00225 00226 00227 00228 // div = CLKPWR_GetPCLKSEL(ClkType); 00229 div = LPC_SC->PCLKSEL1 & PCLKSEL1_PCLK_QEI_MASK; 00230 switch (div) 00231 { 00232 case 0: 00233 div = 4; 00234 break; 00235 00236 case 1: 00237 div = 1; 00238 break; 00239 00240 case 2: 00241 div = 2; 00242 break; 00243 00244 case 3: 00245 div = 8; 00246 break; 00247 } 00248 cclk /=div; 00249 cclk =((uint64_t)cclk / (1000000/ulReloadValue)) - 1; 00250 LPC_QEI->QEILOAD = (uint32_t) cclk; 00251 } 00252 00253 /*********************************************************************//** 00254 * @brief Get current timer counter in QEI peripheral 00255 * 00256 * @return Current timer counter in QEI peripheral 00257 **********************************************************************/ 00258 uint32_t QEIHW::GetTimer() 00259 { 00260 return (LPC_QEI->QEITIME); 00261 } 00262 00263 /*********************************************************************//** 00264 * @brief Get current velocity pulse counter in current time period 00265 * 00266 * @return Current velocity pulse counter value 00267 **********************************************************************/ 00268 uint32_t QEIHW::GetVelocity() 00269 { 00270 return (LPC_QEI->QEIVEL); 00271 } 00272 00273 /*********************************************************************//** 00274 * @brief Get the most recently captured velocity of the QEI. When 00275 * the Velocity timer in QEI is over-flow, the current velocity 00276 * value will be loaded into Velocity Capture register. 00277 * 00278 * @return The most recently measured velocity value 00279 **********************************************************************/ 00280 uint32_t QEIHW::GetVelocityCap() 00281 { 00282 return (LPC_QEI->QEICAP); 00283 } 00284 00285 /*********************************************************************//** 00286 * @brief Set Velocity Compare value for QEI peripheral 00287 * 00288 * @param[in] ulVelComp Compare Velocity value to set 00289 * @return None 00290 **********************************************************************/ 00291 void QEIHW::SetVelocityComp( uint32_t ulVelComp) 00292 { 00293 LPC_QEI->VELCOMP = ulVelComp; 00294 } 00295 00296 /*********************************************************************//** 00297 * @brief Set value of sampling count for the digital filter in 00298 * QEI peripheral 00299 * 00300 * @param[in] ulSamplingPulse Value of sampling count to set 00301 * @return None 00302 **********************************************************************/ 00303 void QEIHW::SetDigiFilter( uint32_t ulSamplingPulse) 00304 { 00305 LPC_QEI->FILTER = ulSamplingPulse; 00306 } 00307 00308 /*********************************************************************//** 00309 * @brief Check whether if specified interrupt flag status in QEI 00310 * peripheral is set or not 00311 * 00312 * @param[in] ulIntType Interrupt Flag Status type, should be: 00313 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00314 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00315 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00316 - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00317 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00318 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00319 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00320 current position interrupt 00321 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00322 current position interrupt 00323 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00324 current position interrupt 00325 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00326 index count interrupt 00327 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00328 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00329 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00330 * @return New State of specified interrupt flag status (SET or RESET) 00331 **********************************************************************/ 00332 FlagStatus QEIHW::GetIntStatus( uint32_t ulIntType) 00333 { 00334 return((LPC_QEI->QEIINTSTAT & ulIntType) ? SET : RESET); 00335 } 00336 00337 /*********************************************************************//** 00338 * @brief Enable/Disable specified interrupt in QEI peripheral 00339 * 00340 * @param[in] ulIntType Interrupt Flag Status type, should be: 00341 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00342 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00343 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00344 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00345 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00346 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00347 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00348 * current position interrupt 00349 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00350 * current position interrupt 00351 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00352 * current position interrupt 00353 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00354 * index count interrupt 00355 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00356 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00357 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00358 * @param[in] NewState New function state, should be: 00359 * - DISABLE 00360 * - ENABLE 00361 * @return None 00362 **********************************************************************/ 00363 void QEIHW::IntCmd( uint32_t ulIntType, FunctionalState NewState) 00364 { 00365 if (NewState == ENABLE) { 00366 LPC_QEI->QEIIES = ulIntType; 00367 } else { 00368 LPC_QEI->QEIIEC = ulIntType; 00369 } 00370 } 00371 00372 /*********************************************************************//** 00373 * @brief Assert specified interrupt in QEI peripheral 00374 * 00375 * @param[in] ulIntType Interrupt Flag Status type, should be: 00376 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00377 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00378 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00379 - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00380 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00381 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00382 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00383 current position interrupt 00384 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00385 current position interrupt 00386 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00387 current position interrupt 00388 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00389 index count interrupt 00390 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00391 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00392 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00393 * @return None 00394 **********************************************************************/ 00395 void QEIHW::IntSet( uint32_t ulIntType) 00396 { 00397 LPC_QEI->QEISET = ulIntType; 00398 } 00399 00400 /*********************************************************************//** 00401 * @brief De-assert specified interrupt (pending) in QEI peripheral 00402 * 00403 * @param[in] ulIntType Interrupt Flag Status type, should be: 00404 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00405 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00406 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00407 - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00408 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00409 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00410 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00411 current position interrupt 00412 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00413 current position interrupt 00414 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00415 current position interrupt 00416 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00417 index count interrupt 00418 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00419 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00420 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00421 * @return None 00422 **********************************************************************/ 00423 void QEIHW::IntClear( uint32_t ulIntType) 00424 { 00425 LPC_QEI->QEICLR = ulIntType; 00426 } 00427 00428 /*********************************************************************//** 00429 * @brief Calculates the actual velocity in RPM passed via velocity 00430 * capture value and Pulse Per Revolution (of the encoder) value 00431 * parameter input. 00432 * 00433 * @param[in] ulVelCapValue Velocity capture input value that can 00434 * be got from QEI_GetVelocityCap() function 00435 * @param[in] ulPPR Pulse per round of encoder 00436 * @return The actual value of velocity in RPM (Revolutions per minute) 00437 **********************************************************************/ 00438 uint32_t QEIHW::CalculateRPM( uint32_t ulVelCapValue, uint32_t ulPPR) 00439 { 00440 uint64_t rpm, Load, edges; 00441 int div; 00442 00443 // Get current Clock rate for timer input 00444 //Work out CCLK 00445 uint32_t m = (LPC_SC->PLL0CFG & 0xFFFF) + 1; 00446 uint32_t n = (LPC_SC->PLL0CFG >> 16) + 1; 00447 uint32_t cclkdiv = LPC_SC->CCLKCFG + 1; 00448 uint32_t Fcco = (2 * m * XTAL_FREQ) / n; 00449 uint32_t cclk = Fcco / cclkdiv; 00450 00451 // div = CLKPWR_GetPCLKSEL(ClkType); 00452 div = LPC_SC->PCLKSEL1 & PCLKSEL1_PCLK_QEI_MASK; 00453 switch (div) 00454 { 00455 case 0: 00456 div = 4; 00457 break; 00458 00459 case 1: 00460 div = 1; 00461 break; 00462 00463 case 2: 00464 div = 2; 00465 break; 00466 00467 case 3: 00468 div = 8; 00469 break; 00470 } 00471 cclk /= div; 00472 00473 // Get Timer load value (velocity capture period) 00474 Load = (uint64_t)(LPC_QEI->QEILOAD + 1); 00475 // Get Edge 00476 edges = (uint64_t)((LPC_QEI->QEICONF & QEI_CONF_CAPMODE) ? 4 : 2); 00477 // Calculate RPM 00478 rpm = ((( uint64_t)cclk * ulVelCapValue * 60) / (Load * ulPPR * edges)); 00479 00480 return (uint32_t)(rpm); 00481 } 00482 00483 /*********************************************************************//** 00484 * @brief Append interrupt handler for specific QEI interrupt source 00485 * 00486 * @param[in] ulISRType Interrupt Flag Status type, should be: 00487 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00488 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00489 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00490 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00491 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00492 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00493 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00494 * current position interrupt 00495 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00496 * current position interrupt 00497 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00498 * current position interrupt 00499 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00500 * index count interrupt 00501 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00502 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00503 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00504 * 00505 * @return none 00506 **********************************************************************/ 00507 void QEIHW::AppendISR(uint32_t ulISRType, void(*fptr)(void)) { 00508 int i; 00509 00510 for(i = 0; i < 13; i++) { 00511 if( ulISRType == (1UL << i) ) { 00512 _qei_isr[i] = fptr; 00513 break; 00514 } 00515 } 00516 return; 00517 } 00518 00519 /*********************************************************************//** 00520 * @brief Unappend interrupt handler for specific QEI interrupt source 00521 * 00522 * @param[in] ulISRType Interrupt Flag Status type, should be: 00523 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00524 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00525 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00526 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00527 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00528 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00529 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00530 * current position interrupt 00531 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00532 * current position interrupt 00533 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00534 * current position interrupt 00535 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00536 * index count interrupt 00537 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00538 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00539 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00540 * 00541 * @return none 00542 **********************************************************************/ 00543 void QEIHW::UnAppendISR(uint32_t ulISRType) { 00544 int i; 00545 00546 for(i = 0; i < 13; i++) { 00547 if( ulISRType == (1UL << i) ) { 00548 _qei_isr[i] = NULL; 00549 break; 00550 } 00551 } 00552 return; 00553 } 00554 00555 00556 void QEIHW::_Qeiisr(void) 00557 { 00558 instance->Qeiisr(); 00559 } 00560 00561 /*********************************************************************//** 00562 * @brief QEI interrupt service dispatcher. 00563 * 00564 * @param[in] none 00565 * 00566 * @return none 00567 **********************************************************************/ 00568 void QEIHW::Qeiisr(void) 00569 { 00570 int32_t i; 00571 00572 //User defined interrupt handlers. Check all possible sources, dispatch to corresponding non-null service routines. 00573 for(i = 0; i < 13; i++) { 00574 if(LPC_QEI->QEIINTSTAT & ((uint32_t)(1<<i)) ) { 00575 if (_qei_isr[i] != NULL) { 00576 _qei_isr[i](); 00577 } 00578 } 00579 } 00580 return; 00581 } 00582
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