Wilson Tang
Port to LPC1549. Partially tested, not all features ported
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QEI_hw
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Hexley Ball
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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 #ifdef TARGET_LPC1768 00031 /* Set up clock and power for QEI module */ 00032 LPC_SC->PCONP |= PCONP_QEI_ENABLE; 00033 00034 /* The clock for theQEI module is set to FCCLK */ 00035 LPC_SC->PCLKSEL1 = LPC_SC->PCLKSEL1 & ~(3UL<<0) | ((PCLKSEL_CCLK_DIV_1 & 3)<<0); 00036 #elif defined(TARGET_LPC1549) 00037 /* Enable clock for the QEI module */ 00038 LPC_SYSCON->SYSAHBCLKCTRL1 = LPC_SYSCON->SYSAHBCLKCTRL1 | (1<<21); 00039 /* Clear peripheral reset for entire comparator block */ 00040 LPC_SYSCON->PRESETCTRL1 = 0; 00041 #endif 00042 00043 #ifdef TARGET_LPC1768 00044 /* Assign the pins. They are hard-coded, not user-selected. The index 00045 * pin is assigned, even though it is not easily accessed on the mbed. 00046 * As it may be unconnected, it is given a pull-up resistor to minimize 00047 * power drain. 00048 */ 00049 // MCI0 (PhA) 00050 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI0_MASK) | PINSEL3_MCI0 ; 00051 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI0_MASK) | PINMODE3_MCI0; 00052 00053 // MCI1 (PhB) 00054 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI1_MASK) | PINSEL3_MCI1 ; 00055 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI1_MASK) | PINMODE3_MCI1; 00056 00057 // MCI2 (Index) 00058 LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI2_MASK) | PINSEL3_MCI2 ; 00059 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI2_MASK) | PINMODE3_MCI2; 00060 #elif defined(TARGET_LPC1549) // Assign pins 00061 LPC_SWM->PINASSIGN14 = (LPC_SWM->PINASSIGN14 & 0x000000FF) 00062 |(24<<QEIO_PHA_I) | (0<<QEIO_PHB_I) | (34<<QEIO_IDX_I); 00063 // P0_24 P0_0 P1_3 00064 #endif 00065 00066 // Initialize all remaining values in QEI peripheral 00067 LPC_QEI->QEICON = QEI_CON_RESP | QEI_CON_RESV | QEI_CON_RESI; 00068 LPC_QEI->QEIMAXPOS = 0xFFFFFFFF; // Default value 00069 LPC_QEI->CMPOS0 = 0x00; 00070 LPC_QEI->CMPOS1 = 0x00; 00071 LPC_QEI->CMPOS2 = 0x00; 00072 LPC_QEI->INXCMP = 0x00; 00073 LPC_QEI->QEILOAD = 0x00; 00074 LPC_QEI->VELCOMP = 0x00; 00075 #ifdef TARGET_LPC1768 00076 LPC_QEI->FILTER = 200000; // Default for mechanical switches. 00077 #elif defined(TARGET_LPC1549) 00078 LPC_QEI->FILTERPHA = 200000; 00079 LPC_QEI->FILTERPHB = 200000; 00080 LPC_QEI->FILTERINX = 200000; 00081 #endif 00082 00083 // Set QEI configuration value corresponding to the call parameters 00084 LPC_QEI->QEICONF = ( 00085 ((_dirinv << 0) & 1) | \ 00086 ((_sigmode << 1) & 2) | \ 00087 ((_capmode << 2) & 4) | \ 00088 ((_invinx <<3) & 8) ); 00089 00090 // Mask all int sources 00091 LPC_QEI->QEIIEC = QEI_IECLR_BITMASK; // Set the "clear" bits for all sources in the IE clear register 00092 00093 // Clear any pending ints 00094 LPC_QEI->QEICLR = QEI_INTCLR_BITMASK; // Set the "clear" bits for for all sources in the Interrupt clear register 00095 00096 /* preemption = 1, sub-priority = 1 */ 00097 NVIC_SetPriority(QEI_IRQn, ((0x01<<3)|0x01)); 00098 00099 //* Attach IRQ 00100 instance = this; 00101 NVIC_SetVector(QEI_IRQn, (uint32_t)&_Qeiisr); 00102 00103 /* Enable interrupt for QEI */ 00104 NVIC_EnableIRQ(QEI_IRQn); 00105 00106 } 00107 00108 /*********************************************************************//** 00109 * @brief Resets value for each type of QEI value, such as velocity, 00110 * counter, position, etc.. 00111 * @param[in] ulResetType QEI Reset Type, should be one of the following: 00112 * - QEI_RESET_POS: Reset Position Counter 00113 * - QEI_RESET_POSOnIDX: Reset Position Counter on Index signal 00114 * - QEI_RESET_VEL: Reset Velocity 00115 * - QEI_RESET_IDX: Reset Index Counter 00116 * @return None 00117 **********************************************************************/ 00118 void QEIHW::Reset(uint32_t ulResetType) 00119 { 00120 LPC_QEI->QEICON = ulResetType; 00121 } 00122 00123 /*********************************************************************//** 00124 * @brief De-initializes the QEI peripheral registers to their 00125 * default reset values. 00126 * 00127 * @return None 00128 **********************************************************************/ 00129 void QEIHW::DeInit() 00130 { 00131 #ifdef TARGET_LPC1768 00132 /* Turn off clock and power for QEI module */ 00133 LPC_SC->PCONP &= PCONP_QEI_DISABLE; 00134 00135 00136 /* Return pins to their default assignment (PINSEL = 0, PINMODE = PULLDOWN) */ 00137 // MCI0 (PhA) -> LED-2 (p1.20) 00138 LPC_PINCON->PINSEL3 &= PINSEL3_MCI0_MASK; 00139 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI0_MASK) | PINMODE3_GPIO1p20; 00140 00141 // MCI1 (PhB) -> LED-4 (p1.23) 00142 LPC_PINCON->PINSEL3 &= PINSEL3_MCI1_MASK; 00143 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI1_MASK) | PINMODE3_GPIO1p23; 00144 00145 // MCI2 (Index) -> p1.24 00146 LPC_PINCON->PINSEL3 &= PINSEL3_MCI2_MASK; 00147 LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI2_MASK) | PINMODE3_GPIO1p24; 00148 #elif defined(TARGET_LPC1549) 00149 LPC_SWM->PINASSIGN14 = LPC_SWM ->PINASSIGN14 & 0x000000FF; 00150 #endif 00151 } 00152 00153 /*********************************************************************//** 00154 * @brief Report direction (QEISTAT bit DIR) 00155 * 00156 * @return State of the DIR bit (SET or RESET) 00157 **********************************************************************/ 00158 FlagStatus QEIHW::Direction() 00159 { 00160 return ((LPC_QEI->QEISTAT & QEI_STATUS_DIR) ? SET : RESET); 00161 } 00162 00163 /*********************************************************************//** 00164 * @brief Get current position value in QEI peripheral 00165 * 00166 * @return Current position value of QEI peripheral 00167 **********************************************************************/ 00168 uint32_t QEIHW::GetPosition() 00169 { 00170 return (LPC_QEI->QEIPOS); 00171 } 00172 00173 /*********************************************************************//** 00174 * @brief Set max position value for QEI peripheral 00175 * 00176 * @param[in] ulMaxPos Max position value to set 00177 * @return None 00178 **********************************************************************/ 00179 void QEIHW::SetMaxPosition(uint32_t ulMaxPos) 00180 { 00181 LPC_QEI->QEIMAXPOS = ulMaxPos; 00182 } 00183 00184 /*********************************************************************//** 00185 * @brief Set position compare value for QEI peripheral 00186 * @param[in] QEIx QEI peripheral, should be LPC_QEI 00187 * @param[in] bPosCompCh Compare Position channel, should be: 00188 * - QEI_COMPPOS_CH_0: QEI compare position channel 0 00189 * - QEI_COMPPOS_CH_1: QEI compare position channel 1 00190 * - QEI_COMPPOS_CH_2: QEI compare position channel 2 00191 * @param[in] ulPosComp Compare Position value to set 00192 * @return None 00193 **********************************************************************/ 00194 void QEIHW::SetPositionComp( uint8_t bPosCompCh, uint32_t ulPosComp) 00195 { 00196 uint32_t *tmp; 00197 00198 tmp = (uint32_t *) (&(LPC_QEI->CMPOS0) + bPosCompCh * 4); 00199 *tmp = ulPosComp; 00200 } 00201 00202 /*********************************************************************//** 00203 * @brief Get current index counter of QEI peripheral 00204 * 00205 * @return Current value of QEI index counter 00206 **********************************************************************/ 00207 uint32_t QEIHW::GetIndex() 00208 { 00209 return (LPC_QEI->INXCNT); 00210 } 00211 00212 /*********************************************************************//** 00213 * @brief Set value for index compare in QEI peripheral 00214 * @param[in] ulIndexComp Compare Index Value to set 00215 * @return None 00216 **********************************************************************/ 00217 void QEIHW::SetIndexComp( uint32_t ulIndexComp) 00218 { 00219 LPC_QEI->INXCMP = ulIndexComp; 00220 } 00221 00222 /*********************************************************************//** 00223 * @brief Set Velocity timer reload value 00224 * 00225 * @param[in] ulReloadValue Velocity timer reload count 00226 * @return None 00227 **********************************************************************/ 00228 void QEIHW::SetVelocityTimerReload( uint32_t ulReloadValue) 00229 { 00230 LPC_QEI->QEILOAD = ulReloadValue; 00231 } 00232 00233 /*********************************************************************//** 00234 * @brief Set Velocity timer reload value in microseconds 00235 * 00236 * @param[in] ulReloadValue Velocity timer reload count 00237 * @return None 00238 **********************************************************************/ 00239 void QEIHW::SetVelocityTimerReload_us( uint32_t ulReloadValue) 00240 { 00241 #ifdef TARGET_LPC1768 00242 int div; 00243 00244 //Work out CCLK 00245 uint32_t m = (LPC_SC->PLL0CFG & 0xFFFF) + 1; 00246 uint32_t n = (LPC_SC->PLL0CFG >> 16) + 1; 00247 uint32_t cclkdiv = LPC_SC->CCLKCFG + 1; 00248 uint32_t Fcco = (2 * m * XTAL_FREQ) / n; 00249 uint32_t cclk = Fcco / cclkdiv; 00250 00251 00252 00253 // div = CLKPWR_GetPCLKSEL(ClkType); 00254 div = LPC_SC->PCLKSEL1 & PCLKSEL1_PCLK_QEI_MASK; 00255 switch (div) 00256 { 00257 case 0: 00258 div = 4; 00259 break; 00260 00261 case 1: 00262 div = 1; 00263 break; 00264 00265 case 2: 00266 div = 2; 00267 break; 00268 00269 case 3: 00270 div = 8; 00271 break; 00272 } 00273 cclk /=div; 00274 cclk =((uint64_t)cclk / (1000000/ulReloadValue)) - 1; 00275 LPC_QEI->QEILOAD = (uint32_t) cclk; 00276 #elif defined(TARGET_LPC1549) 00277 uint32_t p; 00278 uint32_t sysclk; 00279 uint32_t qeicount; 00280 00281 // Assuming using crystal as clock source 00282 // Workout system clock (pg 63 LPC15xx user guide) 00283 uint32_t psel = ((LPC_SYSCON->SYSPLLCTRL & 0x000000C0) >> 6); // p value 00284 uint32_t msel = ((LPC_SYSCON->SYSPLLCTRL & 0x0000001F) + 1); // m description = msel value + 1 00285 00286 switch(psel) // p description 00287 { 00288 case 0: p = 1; break; 00289 case 1: p = 2; break; 00290 case 2: p = 4; break; 00291 case 3: p = 8; break; 00292 } 00293 00294 sysclk = msel * XTAL_FREQ /(p * 2); 00295 00296 ulReloadValue = LPC_QEI->LOAD; 00297 00298 qeicount = ((uint64_t)sysclk / (1000000/ulReloadValue)) - 1; 00299 00300 //LPC_QEI->LOAD = (uint32_t)qeicount; 00301 LPC_QEI->LOAD = (uint32_t)(ulReloadValue); 00302 #endif 00303 } 00304 00305 /*********************************************************************//** 00306 * @brief Get current timer counter in QEI peripheral 00307 * 00308 * @return Current timer counter in QEI peripheral 00309 **********************************************************************/ 00310 uint32_t QEIHW::GetTimer() 00311 { 00312 return (LPC_QEI->QEITIME); 00313 } 00314 00315 /*********************************************************************//** 00316 * @brief Get current velocity pulse counter in current time period 00317 * 00318 * @return Current velocity pulse counter value 00319 **********************************************************************/ 00320 uint32_t QEIHW::GetVelocity() 00321 { 00322 return (LPC_QEI->QEIVEL); 00323 } 00324 00325 /*********************************************************************//** 00326 * @brief Get the most recently captured velocity of the QEI. When 00327 * the Velocity timer in QEI is over-flow, the current velocity 00328 * value will be loaded into Velocity Capture register. 00329 * 00330 * @return The most recently measured velocity value 00331 **********************************************************************/ 00332 uint32_t QEIHW::GetVelocityCap() 00333 { 00334 //return (LPC_QEI->QEICAP); 00335 return (LPC_QEI->QEILOAD); 00336 } 00337 00338 /*********************************************************************//** 00339 * @brief Set Velocity Compare value for QEI peripheral 00340 * 00341 * @param[in] ulVelComp Compare Velocity value to set 00342 * @return None 00343 **********************************************************************/ 00344 void QEIHW::SetVelocityComp( uint32_t ulVelComp) 00345 { 00346 LPC_QEI->VELCOMP = ulVelComp; 00347 } 00348 00349 /*********************************************************************//** 00350 * @brief Set value of sampling count for the digital filter in 00351 * QEI peripheral 00352 * 00353 * @param[in] ulSamplingPulse Value of sampling count to set 00354 * @return None 00355 **********************************************************************/ 00356 void QEIHW::SetDigiFilter( uint32_t ulSamplingPulse) 00357 { 00358 #ifdef TARGET_LPC1768 00359 LPC_QEI->FILTER = ulSamplingPulse; 00360 #elif defined(TARGET_LPC1549) 00361 LPC_QEI->FILTERPHA = ulSamplingPulse; 00362 LPC_QEI->FILTERPHB = ulSamplingPulse; 00363 LPC_QEI->FILTERINX = ulSamplingPulse; 00364 #endif 00365 00366 } 00367 00368 /*********************************************************************//** 00369 * @brief Check whether if specified interrupt flag status in QEI 00370 * peripheral is set or not 00371 * 00372 * @param[in] ulIntType Interrupt Flag Status type, should be: 00373 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00374 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00375 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00376 - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00377 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00378 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00379 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00380 current position interrupt 00381 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00382 current position interrupt 00383 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00384 current position interrupt 00385 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00386 index count interrupt 00387 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00388 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00389 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00390 * @return New State of specified interrupt flag status (SET or RESET) 00391 **********************************************************************/ 00392 FlagStatus QEIHW::GetIntStatus( uint32_t ulIntType) 00393 { 00394 return((LPC_QEI->QEIINTSTAT & ulIntType) ? SET : RESET); 00395 } 00396 00397 /*********************************************************************//** 00398 * @brief Enable/Disable specified interrupt in QEI peripheral 00399 * 00400 * @param[in] ulIntType Interrupt Flag Status type, should be: 00401 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00402 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00403 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00404 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00405 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00406 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00407 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00408 * current position interrupt 00409 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00410 * current position interrupt 00411 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00412 * current position interrupt 00413 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00414 * index count interrupt 00415 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00416 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00417 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00418 * @param[in] NewState New function state, should be: 00419 * - DISABLE 00420 * - ENABLE 00421 * @return None 00422 **********************************************************************/ 00423 void QEIHW::IntCmd( uint32_t ulIntType, FunctionalState NewState) 00424 { 00425 if (NewState == ENABLE) { 00426 LPC_QEI->QEIIES = ulIntType; 00427 } else { 00428 LPC_QEI->QEIIEC = ulIntType; 00429 } 00430 } 00431 00432 /*********************************************************************//** 00433 * @brief Assert specified interrupt in QEI peripheral 00434 * 00435 * @param[in] ulIntType Interrupt Flag Status type, should be: 00436 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00437 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00438 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00439 - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00440 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00441 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00442 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00443 current position interrupt 00444 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00445 current position interrupt 00446 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00447 current position interrupt 00448 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00449 index count interrupt 00450 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00451 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00452 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00453 * @return None 00454 **********************************************************************/ 00455 void QEIHW::IntSet( uint32_t ulIntType) 00456 { 00457 LPC_QEI->QEISET = ulIntType; 00458 } 00459 00460 /*********************************************************************//** 00461 * @brief De-assert specified interrupt (pending) in QEI peripheral 00462 * 00463 * @param[in] ulIntType Interrupt Flag Status type, should be: 00464 - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00465 - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00466 - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00467 - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00468 - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00469 - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00470 - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00471 current position interrupt 00472 - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00473 current position interrupt 00474 - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00475 current position interrupt 00476 - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00477 index count interrupt 00478 - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00479 - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00480 - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00481 * @return None 00482 **********************************************************************/ 00483 void QEIHW::IntClear( uint32_t ulIntType) 00484 { 00485 LPC_QEI->QEICLR = ulIntType; 00486 } 00487 00488 /*********************************************************************//** 00489 * @brief Calculates the actual velocity in RPM passed via velocity 00490 * capture value and Pulse Per Revolution (of the encoder) value 00491 * parameter input. 00492 * 00493 * @param[in] ulVelCapValue Velocity capture input value that can 00494 * be got from QEI_GetVelocityCap() function 00495 * @param[in] ulPPR Pulse per round of encoder 00496 * @return The actual value of velocity in RPM (Revolutions per minute) 00497 **********************************************************************/ 00498 uint32_t QEIHW::CalculateRPM( uint32_t ulVelCapValue, uint32_t ulPPR) 00499 { 00500 uint64_t rpm, Load, edges; 00501 int div; 00502 00503 #ifdef TARGET_LPC1768 00504 // Get current Clock rate for timer input 00505 //Work out CCLK 00506 uint32_t m = (LPC_SC->PLL0CFG & 0xFFFF) + 1; 00507 uint32_t n = (LPC_SC->PLL0CFG >> 16) + 1; 00508 uint32_t cclkdiv = LPC_SC->CCLKCFG + 1; 00509 uint32_t Fcco = (2 * m * XTAL_FREQ) / n; 00510 uint32_t cclk = Fcco / cclkdiv; 00511 00512 // div = CLKPWR_GetPCLKSEL(ClkType); 00513 div = LPC_SC->PCLKSEL1 & PCLKSEL1_PCLK_QEI_MASK; 00514 switch (div) 00515 { 00516 case 0: 00517 div = 4; 00518 break; 00519 00520 case 1: 00521 div = 1; 00522 break; 00523 00524 case 2: 00525 div = 2; 00526 break; 00527 00528 case 3: 00529 div = 8; 00530 break; 00531 } 00532 cclk /= div; 00533 00534 // Get Timer load value (velocity capture period) 00535 Load = (uint64_t)(LPC_QEI->QEILOAD + 1); 00536 // Get Edge 00537 edges = (uint64_t)((LPC_QEI->QEICONF & QEI_CONF_CAPMODE) ? 4 : 2); 00538 // Calculate RPM 00539 rpm = ((( uint64_t)cclk * ulVelCapValue * 60) / (Load * ulPPR * edges)); 00540 #elif defined(TARGET_LPC1549) 00541 // Assuming using crystal as clock source 00542 // Workout system clock (pg 63 LPC15xx user guide) 00543 uint32_t psel = ((LPC_SYSCON->SYSPLLCTRL & 0x000000C0) >> 6); // p value 00544 uint32_t msel = ((LPC_SYSCON->SYSPLLCTRL & 0x0000001F) + 1); // m description = msel value + 1 00545 00546 uint32_t p; 00547 uint32_t sysclk; 00548 uint32_t qeicount; 00549 uint32_t ulReloadValue; 00550 00551 switch(psel) // p description 00552 { 00553 case 0: p = 1; break; 00554 case 1: p = 2; break; 00555 case 2: p = 4; break; 00556 case 3: p = 8; break; 00557 } 00558 00559 sysclk = msel * XTAL_FREQ /(p * 2); 00560 00561 ulReloadValue = LPC_QEI->LOAD; 00562 00563 qeicount = ((uint64_t)sysclk / (1000000/ulReloadValue)) - 1; 00564 00565 // Get Timer load value (velocity capture period) 00566 Load = (uint64_t)(LPC_QEI->LOAD + 1); 00567 00568 // Get Edge 00569 edges = (uint64_t)((LPC_QEI->CONF & QEI_CONF_CAPMODE) ? 4 : 2); 00570 00571 rpm = (sysclk * ulVelCapValue * 60) / (Load * ulPPR * edges); 00572 #endif 00573 00574 return (uint32_t)(rpm); 00575 } 00576 00577 /*********************************************************************//** 00578 * @brief Append interrupt handler for specific QEI interrupt source 00579 * 00580 * @param[in] ulISRType Interrupt Flag Status type, should be: 00581 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00582 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00583 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00584 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00585 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00586 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00587 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00588 * current position interrupt 00589 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00590 * current position interrupt 00591 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00592 * current position interrupt 00593 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00594 * index count interrupt 00595 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00596 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00597 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00598 * 00599 * @return none 00600 **********************************************************************/ 00601 void QEIHW::AppendISR(uint32_t ulISRType, void(*fptr)(void)) { 00602 int i; 00603 00604 for(i = 0; i < 13; i++) { 00605 if( ulISRType == (1UL << i) ) { 00606 _qei_isr[i] = fptr; 00607 break; 00608 } 00609 } 00610 return; 00611 } 00612 00613 /*********************************************************************//** 00614 * @brief Unappend interrupt handler for specific QEI interrupt source 00615 * 00616 * @param[in] ulISRType Interrupt Flag Status type, should be: 00617 * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt 00618 * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt 00619 * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt 00620 * - QEI_INTFLAG_DIR_Int: Change of direction interrupt 00621 * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt 00622 * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt 00623 * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the 00624 * current position interrupt 00625 * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the 00626 * current position interrupt 00627 * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the 00628 * current position interrupt 00629 * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current 00630 * index count interrupt 00631 * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt 00632 * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt 00633 * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt 00634 * 00635 * @return none 00636 **********************************************************************/ 00637 void QEIHW::UnAppendISR(uint32_t ulISRType) { 00638 int i; 00639 00640 for(i = 0; i < 13; i++) { 00641 if( ulISRType == (1UL << i) ) { 00642 _qei_isr[i] = NULL; 00643 break; 00644 } 00645 } 00646 return; 00647 } 00648 00649 00650 void QEIHW::_Qeiisr(void) 00651 { 00652 instance->Qeiisr(); 00653 } 00654 00655 /*********************************************************************//** 00656 * @brief QEI interrupt service dispatcher. 00657 * 00658 * @param[in] none 00659 * 00660 * @return none 00661 **********************************************************************/ 00662 void QEIHW::Qeiisr(void) 00663 { 00664 int32_t i; 00665 00666 //User defined interrupt handlers. Check all possible sources, dispatch to corresponding non-null service routines. 00667 for(i = 0; i < 13; i++) { 00668 if(LPC_QEI->QEIINTSTAT & ((uint32_t)(1<<i)) ) { 00669 if (_qei_isr[i] != NULL) { 00670 _qei_isr[i](); 00671 } 00672 } 00673 } 00674 return; 00675 } 00676
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