| //***************************************************************************** | |
| // | |
| // hw_qei.h - Macros used when accessing the QEI hardware. | |
| // | |
| // Copyright (c) 2005,2006 Luminary Micro, Inc. All rights reserved. | |
| // | |
| // Software License Agreement | |
| // | |
| // Luminary Micro, Inc. (LMI) is supplying this software for use solely and | |
| // exclusively on LMI's Stellaris Family of microcontroller products. | |
| // | |
| // The software is owned by LMI and/or its suppliers, and is protected under | |
| // applicable copyright laws. All rights are reserved. Any use in violation | |
| // of the foregoing restrictions may subject the user to criminal sanctions | |
| // under applicable laws, as well as to civil liability for the breach of the | |
| // terms and conditions of this license. | |
| // | |
| // THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED | |
| // OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF | |
| // MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. | |
| // LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR | |
| // CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. | |
| // | |
| // This is part of revision 816 of the Stellaris Driver Library. | |
| // | |
| //***************************************************************************** | |
| #ifndef __HW_QEI_H__ | |
| #define __HW_QEI_H__ | |
| //***************************************************************************** | |
| // | |
| // The following define the offsets of the QEI registers. | |
| // | |
| //***************************************************************************** | |
| #define QEI_O_CTL 0x00000000 // Configuration and control reg. | |
| #define QEI_O_STAT 0x00000004 // Status register | |
| #define QEI_O_POS 0x00000008 // Current position register | |
| #define QEI_O_MAXPOS 0x0000000C // Maximum position register | |
| #define QEI_O_LOAD 0x00000010 // Velocity timer load register | |
| #define QEI_O_TIME 0x00000014 // Velocity timer register | |
| #define QEI_O_COUNT 0x00000018 // Velocity pulse count register | |
| #define QEI_O_SPEED 0x0000001C // Velocity speed register | |
| #define QEI_O_INTEN 0x00000020 // Interrupt enable register | |
| #define QEI_O_RIS 0x00000024 // Raw interrupt status register | |
| #define QEI_O_ISC 0x00000028 // Interrupt status register | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_CTL register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_CTL_STALLEN 0x00001000 // Stall enable | |
| #define QEI_CTL_INVI 0x00000800 // Invert Index input | |
| #define QEI_CTL_INVB 0x00000400 // Invert PhB input | |
| #define QEI_CTL_INVA 0x00000200 // Invert PhA input | |
| #define QEI_CTL_VELDIV_M 0x000001C0 // Velocity predivider mask | |
| #define QEI_CTL_VELDIV_1 0x00000000 // Predivide by 1 | |
| #define QEI_CTL_VELDIV_2 0x00000040 // Predivide by 2 | |
| #define QEI_CTL_VELDIV_4 0x00000080 // Predivide by 4 | |
| #define QEI_CTL_VELDIV_8 0x000000C0 // Predivide by 8 | |
| #define QEI_CTL_VELDIV_16 0x00000100 // Predivide by 16 | |
| #define QEI_CTL_VELDIV_32 0x00000140 // Predivide by 32 | |
| #define QEI_CTL_VELDIV_64 0x00000180 // Predivide by 64 | |
| #define QEI_CTL_VELDIV_128 0x000001C0 // Predivide by 128 | |
| #define QEI_CTL_VELEN 0x00000020 // Velocity enable | |
| #define QEI_CTL_RESMODE 0x00000010 // Position counter reset mode | |
| #define QEI_CTL_CAPMODE 0x00000008 // Edge capture mode | |
| #define QEI_CTL_SIGMODE 0x00000004 // Encoder signaling mode | |
| #define QEI_CTL_SWAP 0x00000002 // Swap input signals | |
| #define QEI_CTL_ENABLE 0x00000001 // QEI enable | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_STAT register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_STAT_DIRECTION 0x00000002 // Direction of rotation | |
| #define QEI_STAT_ERROR 0x00000001 // Signalling error detected | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_POS register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_POS_M 0xFFFFFFFF // Current encoder position | |
| #define QEI_POS_S 0 | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_MAXPOS register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_MAXPOS_M 0xFFFFFFFF // Maximum encoder position | |
| #define QEI_MAXPOS_S 0 | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_LOAD register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_LOAD_M 0xFFFFFFFF // Velocity timer load value | |
| #define QEI_LOAD_S 0 | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_TIME register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_TIME_M 0xFFFFFFFF // Velocity timer current value | |
| #define QEI_TIME_S 0 | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_COUNT register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_COUNT_M 0xFFFFFFFF // Encoder running pulse count | |
| #define QEI_COUNT_S 0 | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_SPEED register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_SPEED_M 0xFFFFFFFF // Encoder pulse count | |
| #define QEI_SPEED_S 0 | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_INTEN register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_INTEN_ERROR 0x00000008 // Phase error detected | |
| #define QEI_INTEN_DIR 0x00000004 // Direction change | |
| #define QEI_INTEN_TIMER 0x00000002 // Velocity timer expired | |
| #define QEI_INTEN_INDEX 0x00000001 // Index pulse detected | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_RIS register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_RIS_ERROR 0x00000008 // Phase error detected | |
| #define QEI_RIS_DIR 0x00000004 // Direction change | |
| #define QEI_RIS_TIMER 0x00000002 // Velocity timer expired | |
| #define QEI_RIS_INDEX 0x00000001 // Index pulse detected | |
| //***************************************************************************** | |
| // | |
| // The following define the bit fields in the QEI_ISC register. | |
| // | |
| //***************************************************************************** | |
| #define QEI_INT_ERROR 0x00000008 // Phase error detected | |
| #define QEI_INT_DIR 0x00000004 // Direction change | |
| #define QEI_INT_TIMER 0x00000002 // Velocity timer expired | |
| #define QEI_INT_INDEX 0x00000001 // Index pulse detected | |
| //***************************************************************************** | |
| // | |
| // The following define the reset values for the QEI registers. | |
| // | |
| //***************************************************************************** | |
| #define QEI_RV_CTL 0x00000000 // Configuration and control reg. | |
| #define QEI_RV_STAT 0x00000000 // Status register | |
| #define QEI_RV_POS 0x00000000 // Current position register | |
| #define QEI_RV_MAXPOS 0x00000000 // Maximum position register | |
| #define QEI_RV_LOAD 0x00000000 // Velocity timer load register | |
| #define QEI_RV_TIME 0x00000000 // Velocity timer register | |
| #define QEI_RV_COUNT 0x00000000 // Velocity pulse count register | |
| #define QEI_RV_SPEED 0x00000000 // Velocity speed register | |
| #define QEI_RV_INTEN 0x00000000 // Interrupt enable register | |
| #define QEI_RV_RIS 0x00000000 // Raw interrupt status register | |
| #define QEI_RV_ISC 0x00000000 // Interrupt status register | |
| #endif // __HW_QEI_H__ |