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