mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-24 20:43:32 +00:00
4183a249b6
Fixes Arduino IDE builds for 8-bit AVR, misc: Adafruit NeoPixel currently incompatible with Teensy 3.5-6, blacklisted
515 lines
21 KiB
C
515 lines
21 KiB
C
/**********************************************************************
|
|
* $Id$ 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 ------------------------------ */
|
|
|