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MarlinFirmware/frameworks/CMSIS/LPC1768/driver/lpc17xx_qei.c

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/**********************************************************************
* $Id$ lpc17xx_qei.c 2010-05-21
*//**
* @file lpc17xx_qei.c
* @brief Contains all functions support for QEI firmware library on LPC17xx
* @version 2.0
* @date 21. May. 2010
* @author NXP MCU SW Application Team
*
* Copyright(C) 2010, NXP Semiconductor
* All rights reserved.
*
***********************************************************************
* Software that is described herein is for illustrative purposes only
* which provides customers with programming information regarding the
* products. This software is supplied "AS IS" without any warranties.
* NXP Semiconductors assumes no responsibility or liability for the
* use of the software, conveys no license or title under any patent,
* copyright, or mask work right to the product. NXP Semiconductors
* reserves the right to make changes in the software without
* notification. NXP Semiconductors also make no representation or
* warranty that such application will be suitable for the specified
* use without further testing or modification.
* Permission to use, copy, modify, and distribute this software and its
* documentation is hereby granted, under NXP Semiconductors'
* relevant copyright in the software, without fee, provided that it
* is used in conjunction with NXP Semiconductors microcontrollers. This
* copyright, permission, and disclaimer notice must appear in all copies of
* this code.
**********************************************************************/
/* Peripheral group ----------------------------------------------------------- */
/** @addtogroup QEI
* @{
*/
/* Includes ------------------------------------------------------------------- */
#include "lpc17xx_qei.h"
#include "lpc17xx_clkpwr.h"
/* If this source file built with example, the LPC17xx FW library configuration
* file in each example directory ("lpc17xx_libcfg.h") must be included,
* otherwise the default FW library configuration file must be included instead
*/
#ifdef __BUILD_WITH_EXAMPLE__
#include "lpc17xx_libcfg.h"
#else
#include "lpc17xx_libcfg_default.h"
#endif /* __BUILD_WITH_EXAMPLE__ */
#ifdef _QEI
/* Private Types -------------------------------------------------------------- */
/** @defgroup QEI_Private_Types QEI Private Types
* @{
*/
/**
* @brief QEI configuration union type definition
*/
typedef union {
QEI_CFG_Type bmQEIConfig;
uint32_t ulQEIConfig;
} QEI_CFGOPT_Type;
/**
* @}
*/
/* Public Functions ----------------------------------------------------------- */
/** @addtogroup QEI_Public_Functions
* @{
*/
/*********************************************************************//**
* @brief Resets value for each type of QEI value, such as velocity,
* counter, position, etc..
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulResetType QEI Reset Type, should be one of the following:
* - QEI_RESET_POS: Reset Position Counter
* - QEI_RESET_POSOnIDX: Reset Position Counter on Index signal
* - QEI_RESET_VEL: Reset Velocity
* - QEI_RESET_IDX: Reset Index Counter
* @return None
**********************************************************************/
void QEI_Reset(LPC_QEI_TypeDef *QEIx, uint32_t ulResetType)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_RESET(ulResetType));
QEIx->QEICON = ulResetType;
}
/*********************************************************************//**
* @brief Initializes the QEI peripheral according to the specified
* parameters in the QEI_ConfigStruct.
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] QEI_ConfigStruct Pointer to a QEI_CFG_Type structure
* that contains the configuration information for the
* specified QEI peripheral
* @return None
**********************************************************************/
void QEI_Init(LPC_QEI_TypeDef *QEIx, QEI_CFG_Type *QEI_ConfigStruct)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_DIRINV(QEI_ConfigStruct->DirectionInvert));
CHECK_PARAM(PARAM_QEI_SIGNALMODE(QEI_ConfigStruct->SignalMode));
CHECK_PARAM(PARAM_QEI_CAPMODE(QEI_ConfigStruct->CaptureMode));
CHECK_PARAM(PARAM_QEI_INVINX(QEI_ConfigStruct->InvertIndex));
/* Set up clock and power for QEI module */
CLKPWR_ConfigPPWR (CLKPWR_PCONP_PCQEI, ENABLE);
/* As default, peripheral clock for QEI module
* is set to FCCLK / 2 */
CLKPWR_SetPCLKDiv(CLKPWR_PCLKSEL_QEI, CLKPWR_PCLKSEL_CCLK_DIV_1);
// Reset all remaining value in QEI peripheral
QEIx->QEICON = QEI_CON_RESP | QEI_CON_RESV | QEI_CON_RESI;
QEIx->QEIMAXPOS = 0x00;
QEIx->CMPOS0 = 0x00;
QEIx->CMPOS1 = 0x00;
QEIx->CMPOS2 = 0x00;
QEIx->INXCMP = 0x00;
QEIx->QEILOAD = 0x00;
QEIx->VELCOMP = 0x00;
QEIx->FILTER = 0x00;
// Disable all Interrupt
QEIx->QEIIEC = QEI_IECLR_BITMASK;
// Clear all Interrupt pending
QEIx->QEICLR = QEI_INTCLR_BITMASK;
// Set QEI configuration value corresponding to its setting up value
QEIx->QEICONF = ((QEI_CFGOPT_Type *)QEI_ConfigStruct)->ulQEIConfig;
}
/*********************************************************************//**
* @brief De-initializes the QEI peripheral registers to their
* default reset values.
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @return None
**********************************************************************/
void QEI_DeInit(LPC_QEI_TypeDef *QEIx)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
/* Turn off clock and power for QEI module */
CLKPWR_ConfigPPWR (CLKPWR_PCONP_PCQEI, DISABLE);
}
/*****************************************************************************//**
* @brief Fills each QIE_InitStruct member with its default value:
* - DirectionInvert = QEI_DIRINV_NONE
* - SignalMode = QEI_SIGNALMODE_QUAD
* - CaptureMode = QEI_CAPMODE_4X
* - InvertIndex = QEI_INVINX_NONE
* @param[in] QIE_InitStruct Pointer to a QEI_CFG_Type structure
* which will be initialized.
* @return None
*******************************************************************************/
void QEI_ConfigStructInit(QEI_CFG_Type *QIE_InitStruct)
{
QIE_InitStruct->CaptureMode = QEI_CAPMODE_4X;
QIE_InitStruct->DirectionInvert = QEI_DIRINV_NONE;
QIE_InitStruct->InvertIndex = QEI_INVINX_NONE;
QIE_InitStruct->SignalMode = QEI_SIGNALMODE_QUAD;
}
/*********************************************************************//**
* @brief Check whether if specified flag status is set or not
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulFlagType Status Flag Type, should be one of the following:
* - QEI_STATUS_DIR: Direction Status
* @return New Status of this status flag (SET or RESET)
**********************************************************************/
FlagStatus QEI_GetStatus(LPC_QEI_TypeDef *QEIx, uint32_t ulFlagType)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_STATUS(ulFlagType));
return ((QEIx->QEISTAT & ulFlagType) ? SET : RESET);
}
/*********************************************************************//**
* @brief Get current position value in QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @return Current position value of QEI peripheral
**********************************************************************/
uint32_t QEI_GetPosition(LPC_QEI_TypeDef *QEIx)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
return (QEIx->QEIPOS);
}
/*********************************************************************//**
* @brief Set max position value for QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulMaxPos Max position value to set
* @return None
**********************************************************************/
void QEI_SetMaxPosition(LPC_QEI_TypeDef *QEIx, uint32_t ulMaxPos)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
QEIx->QEIMAXPOS = ulMaxPos;
}
/*********************************************************************//**
* @brief Set position compare value for QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] bPosCompCh Compare Position channel, should be:
* - QEI_COMPPOS_CH_0: QEI compare position channel 0
* - QEI_COMPPOS_CH_1: QEI compare position channel 1
* - QEI_COMPPOS_CH_2: QEI compare position channel 2
* @param[in] ulPosComp Compare Position value to set
* @return None
**********************************************************************/
void QEI_SetPositionComp(LPC_QEI_TypeDef *QEIx, uint8_t bPosCompCh, uint32_t ulPosComp)
{
uint32_t *tmp;
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_COMPPOS_CH(bPosCompCh));
tmp = (uint32_t *) (&(QEIx->CMPOS0) + bPosCompCh * 4);
*tmp = ulPosComp;
}
/*********************************************************************//**
* @brief Get current index counter of QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @return Current value of QEI index counter
**********************************************************************/
uint32_t QEI_GetIndex(LPC_QEI_TypeDef *QEIx)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
return (QEIx->INXCNT);
}
/*********************************************************************//**
* @brief Set value for index compare in QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulIndexComp Compare Index Value to set
* @return None
**********************************************************************/
void QEI_SetIndexComp(LPC_QEI_TypeDef *QEIx, uint32_t ulIndexComp)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
QEIx->INXCMP = ulIndexComp;
}
/*********************************************************************//**
* @brief Set timer reload value for QEI peripheral. When the velocity timer is
* over-flow, the value that set for Timer Reload register will be loaded
* into the velocity timer for next period. The calculated velocity in RPM
* therefore will be affect by this value.
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] QEIReloadStruct QEI reload structure
* @return None
**********************************************************************/
void QEI_SetTimerReload(LPC_QEI_TypeDef *QEIx, QEI_RELOADCFG_Type *QEIReloadStruct)
{
uint64_t pclk;
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_TIMERRELOAD(QEIReloadStruct->ReloadOption));
if (QEIReloadStruct->ReloadOption == QEI_TIMERRELOAD_TICKVAL) {
QEIx->QEILOAD = QEIReloadStruct->ReloadValue - 1;
} else {
pclk = (uint64_t)CLKPWR_GetPCLK(CLKPWR_PCLKSEL_QEI);
pclk = (pclk /(1000000/QEIReloadStruct->ReloadValue)) - 1;
QEIx->QEILOAD = (uint32_t)pclk;
}
}
/*********************************************************************//**
* @brief Get current timer counter in QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @return Current timer counter in QEI peripheral
**********************************************************************/
uint32_t QEI_GetTimer(LPC_QEI_TypeDef *QEIx)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
return (QEIx->QEITIME);
}
/*********************************************************************//**
* @brief Get current velocity pulse counter in current time period
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @return Current velocity pulse counter value
**********************************************************************/
uint32_t QEI_GetVelocity(LPC_QEI_TypeDef *QEIx)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
return (QEIx->QEIVEL);
}
/*********************************************************************//**
* @brief Get the most recently measured velocity of the QEI. When
* the Velocity timer in QEI is over-flow, the current velocity
* value will be loaded into Velocity Capture register.
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @return The most recently measured velocity value
**********************************************************************/
uint32_t QEI_GetVelocityCap(LPC_QEI_TypeDef *QEIx)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
return (QEIx->QEICAP);
}
/*********************************************************************//**
* @brief Set Velocity Compare value for QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulVelComp Compare Velocity value to set
* @return None
**********************************************************************/
void QEI_SetVelocityComp(LPC_QEI_TypeDef *QEIx, uint32_t ulVelComp)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
QEIx->VELCOMP = ulVelComp;
}
/*********************************************************************//**
* @brief Set value of sampling count for the digital filter in
* QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulSamplingPulse Value of sampling count to set
* @return None
**********************************************************************/
void QEI_SetDigiFilter(LPC_QEI_TypeDef *QEIx, uint32_t ulSamplingPulse)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
QEIx->FILTER = ulSamplingPulse;
}
/*********************************************************************//**
* @brief Check whether if specified interrupt flag status in QEI
* peripheral is set or not
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulIntType Interrupt Flag Status type, should be:
- QEI_INTFLAG_INX_Int: index pulse was detected interrupt
- QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
- QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
- QEI_INTFLAG_DIR_Int: Change of direction interrupt
- QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
- QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
- QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
current position interrupt
- QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
current position interrupt
- QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
current position interrupt
- QEI_INTFLAG_REV_Int: Index compare value is equal to the current
index count interrupt
- QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
- QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
- QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
* @return New State of specified interrupt flag status (SET or RESET)
**********************************************************************/
FlagStatus QEI_GetIntStatus(LPC_QEI_TypeDef *QEIx, uint32_t ulIntType)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_INTFLAG(ulIntType));
return((QEIx->QEIINTSTAT & ulIntType) ? SET : RESET);
}
/*********************************************************************//**
* @brief Enable/Disable specified interrupt in QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulIntType Interrupt Flag Status type, should be:
* - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
* - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
* - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
* - QEI_INTFLAG_DIR_Int: Change of direction interrupt
* - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
* - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
* - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
* current position interrupt
* - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
* current position interrupt
* - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
* current position interrupt
* - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
* index count interrupt
* - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
* - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
* - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
* @param[in] NewState New function state, should be:
* - DISABLE
* - ENABLE
* @return None
**********************************************************************/
void QEI_IntCmd(LPC_QEI_TypeDef *QEIx, uint32_t ulIntType, FunctionalState NewState)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_INTFLAG(ulIntType));
CHECK_PARAM(PARAM_FUNCTIONALSTATE(NewState));
if (NewState == ENABLE) {
QEIx->QEIIES = ulIntType;
} else {
QEIx->QEIIEC = ulIntType;
}
}
/*********************************************************************//**
* @brief Sets (forces) specified interrupt in QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulIntType Interrupt Flag Status type, should be:
- QEI_INTFLAG_INX_Int: index pulse was detected interrupt
- QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
- QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
- QEI_INTFLAG_DIR_Int: Change of direction interrupt
- QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
- QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
- QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
current position interrupt
- QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
current position interrupt
- QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
current position interrupt
- QEI_INTFLAG_REV_Int: Index compare value is equal to the current
index count interrupt
- QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
- QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
- QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
* @return None
**********************************************************************/
void QEI_IntSet(LPC_QEI_TypeDef *QEIx, uint32_t ulIntType)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_INTFLAG(ulIntType));
QEIx->QEISET = ulIntType;
}
/*********************************************************************//**
* @brief Clear (force) specified interrupt (pending) in QEI peripheral
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulIntType Interrupt Flag Status type, should be:
- QEI_INTFLAG_INX_Int: index pulse was detected interrupt
- QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
- QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
- QEI_INTFLAG_DIR_Int: Change of direction interrupt
- QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
- QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
- QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
current position interrupt
- QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
current position interrupt
- QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
current position interrupt
- QEI_INTFLAG_REV_Int: Index compare value is equal to the current
index count interrupt
- QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
- QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
- QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
* @return None
**********************************************************************/
void QEI_IntClear(LPC_QEI_TypeDef *QEIx, uint32_t ulIntType)
{
CHECK_PARAM(PARAM_QEIx(QEIx));
CHECK_PARAM(PARAM_QEI_INTFLAG(ulIntType));
QEIx->QEICLR = ulIntType;
}
/*********************************************************************//**
* @brief Calculates the actual velocity in RPM passed via velocity
* capture value and Pulse Per Round (of the encoder) value
* parameter input.
* @param[in] QEIx QEI peripheral, should be LPC_QEI
* @param[in] ulVelCapValue Velocity capture input value that can
* be got from QEI_GetVelocityCap() function
* @param[in] ulPPR Pulse per round of encoder
* @return The actual value of velocity in RPM (Round per minute)
**********************************************************************/
uint32_t QEI_CalculateRPM(LPC_QEI_TypeDef *QEIx, uint32_t ulVelCapValue, uint32_t ulPPR)
{
uint64_t rpm, clock, Load, edges;
// Get current Clock rate for timer input
clock = (uint64_t)CLKPWR_GetPCLK(CLKPWR_PCLKSEL_QEI);
// Get Timer load value (velocity capture period)
Load = (uint64_t)(QEIx->QEILOAD + 1);
// Get Edge
edges = (uint64_t)((QEIx->QEICONF & QEI_CONF_CAPMODE) ? 4 : 2);
// Calculate RPM
rpm = ((clock * ulVelCapValue * 60) / (Load * ulPPR * edges));
return (uint32_t)(rpm);
}
/**
* @}
*/
#endif /* _QEI */
/**
* @}
*/
/* --------------------------------- End Of File ------------------------------ */
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