diff options
Diffstat (limited to 'nuttx/arch/arm/src/lpc17xx/chip/lpc17_qei.h')
| -rw-r--r-- | nuttx/arch/arm/src/lpc17xx/chip/lpc17_qei.h | 196 |
1 files changed, 110 insertions, 86 deletions
diff --git a/nuttx/arch/arm/src/lpc17xx/chip/lpc17_qei.h b/nuttx/arch/arm/src/lpc17xx/chip/lpc17_qei.h index 4179ac965..af0d69243 100644 --- a/nuttx/arch/arm/src/lpc17xx/chip/lpc17_qei.h +++ b/nuttx/arch/arm/src/lpc17xx/chip/lpc17_qei.h @@ -1,4 +1,4 @@ -/************************************************************************************ +/******************************************************************************************** * arch/arm/src/lpc17xx/chip/lpc17_qei.h * * Copyright (C) 2010, 2013 Gregory Nutt. All rights reserved. @@ -31,89 +31,99 @@ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * - ************************************************************************************/ + ********************************************************************************************/ #ifndef __ARCH_ARM_SRC_LPC17XX_CHIP_LPC17_QEI_H #define __ARCH_ARM_SRC_LPC17XX_CHIP_LPC17_QEI_H -/************************************************************************************ +/******************************************************************************************** * Included Files - ************************************************************************************/ + ********************************************************************************************/ #include <nuttx/config.h> #include "chip.h" #include "chip/lpc17_memorymap.h" -/************************************************************************************ +/******************************************************************************************** * Pre-processor Definitions - ************************************************************************************/ + ********************************************************************************************/ -/* Register offsets *****************************************************************/ +/* Register offsets *************************************************************************/ /* Control registers */ -#define LPC17_QEI_CON_OFFSET 0x0000 /* Control register */ -#define LPC17_QEI_STAT_OFFSET 0x0004 /* Encoder status register */ -#define LPC17_QEI_CONF_OFFSET 0x0008 /* Configuration register */ +#define LPC17_QEI_CON_OFFSET 0x0000 /* Control register */ +#define LPC17_QEI_STAT_OFFSET 0x0004 /* Encoder status register */ +#define LPC17_QEI_CONF_OFFSET 0x0008 /* Configuration register */ /* Position, index, and timer registers */ -#define LPC17_QEI_POS_OFFSET 0x000c /* Position register */ -#define LPC17_QEI_MAXPOS_OFFSET 0x0010 /* Maximum position register */ -#define LPC17_QEI_CMPOS0_OFFSET 0x0014 /* Position compare register */ -#define LPC17_QEI_CMPOS1_OFFSET 0x0018 /* Position compare register */ -#define LPC17_QEI_CMPOS2_OFFSET 0x001c /* Position compare register */ -#define LPC17_QEI_INXCNT_OFFSET 0x0020 /* Index count register */ -#define LPC17_QEI_INXCMP_OFFSET 0x0024 /* Index compare register */ -#define LPC17_QEI_LOAD_OFFSET 0x0028 /* Velocity timer reload register */ -#define LPC17_QEI_TIME_OFFSET 0x002c /* Velocity timer register */ -#define LPC17_QEI_VEL_OFFSET 0x0030 /* Velocity counter register */ -#define LPC17_QEI_CAP_OFFSET 0x0034 /* Velocity capture register */ -#define LPC17_QEI_VELCOMP_OFFSET 0x0038 /* Velocity compare register */ -#define LPC17_QEI_FILTER_OFFSET 0x003c /* Digital filter register */ +#define LPC17_QEI_POS_OFFSET 0x000c /* Position register */ +#define LPC17_QEI_MAXPOS_OFFSET 0x0010 /* Maximum position register */ +#define LPC17_QEI_CMPOS0_OFFSET 0x0014 /* Position compare register */ +#define LPC17_QEI_CMPOS1_OFFSET 0x0018 /* Position compare register */ +#define LPC17_QEI_CMPOS2_OFFSET 0x001c /* Position compare register */ +#define LPC17_QEI_INXCNT_OFFSET 0x0020 /* Index count register */ +#define LPC17_QEI_INXCMP_OFFSET 0x0024 /* Index compare register */ +#define LPC17_QEI_LOAD_OFFSET 0x0028 /* Velocity timer reload register */ +#define LPC17_QEI_TIME_OFFSET 0x002c /* Velocity timer register */ +#define LPC17_QEI_VEL_OFFSET 0x0030 /* Velocity counter register */ +#define LPC17_QEI_CAP_OFFSET 0x0034 /* Velocity capture register */ +#define LPC17_QEI_VELCOMP_OFFSET 0x0038 /* Velocity compare register */ +#define LPC17_QEI_FILTER_OFFSET 0x003c /* Digital filter register */ + +#ifdef LPC178 +# define LPC17_QEI_INXCMP0_OFFSET 0x0024 /* Index compare0 register */ +# define LPC17_QEI_INXCMP1_OFFSET 0x004c /* Index compare1 register */ +# define LPC17_QEI_INXCMP2_OFFSET 0x0050 /* Index compare2 register */ +# define LPC17_QEI_FILTER_PHA_OFFSET 0x003c /* Digital filter register */ +# define LPC17_QEI_FILTER_PHB_OFFSET 0x0040 /* Digital filter register */ +# define LPC17_QEI_FILTER_INX_OFFSET 0x0044 /* Digital filter register */ +# define LPC17_QEI_WINDOW_OFFSET 0x0048 /* Index acceptance register */ +#endif /* Interrupt registers */ -#define LPC17_QEI_IEC_OFFSET 0x0fd8 /* Interrupt enable clear register */ -#define LPC17_QEI_IES_OFFSET 0x0fdc /* Interrupt enable set register */ -#define LPC17_QEI_INTSTAT_OFFSET 0x0fe0 /* Interrupt status register */ -#define LPC17_QEI_IE_OFFSET 0x0fe4 /* Interrupt enable register */ -#define LPC17_QEI_CLR_OFFSET 0x0fe8 /* Interrupt status clear register */ -#define LPC17_QEI_SET_OFFSET 0x0fec /* Interrupt status set register */ +#define LPC17_QEI_IEC_OFFSET 0x0fd8 /* Interrupt enable clear register */ +#define LPC17_QEI_IES_OFFSET 0x0fdc /* Interrupt enable set register */ +#define LPC17_QEI_INTSTAT_OFFSET 0x0fe0 /* Interrupt status register */ +#define LPC17_QEI_IE_OFFSET 0x0fe4 /* Interrupt enable register */ +#define LPC17_QEI_CLR_OFFSET 0x0fe8 /* Interrupt status clear register */ +#define LPC17_QEI_SET_OFFSET 0x0fec /* Interrupt status set register */ -/* Register addresses ***************************************************************/ +/* Register addresses ***********************************************************************/ /* Control registers */ -#define LPC17_QEI_CON (LPC17_QEI_BASE+LPC17_QEI_CON_OFFSET) -#define LPC17_QEI_STAT (LPC17_QEI_BASE+LPC17_QEI_STAT_OFFSET) -#define LPC17_QEI_CONF (LPC17_QEI_BASE+LPC17_QEI_CONF_OFFSET) +#define LPC17_QEI_CON (LPC17_QEI_BASE+LPC17_QEI_CON_OFFSET) +#define LPC17_QEI_STAT (LPC17_QEI_BASE+LPC17_QEI_STAT_OFFSET) +#define LPC17_QEI_CONF (LPC17_QEI_BASE+LPC17_QEI_CONF_OFFSET) /* Position, index, and timer registers */ -#define LPC17_QEI_POS (LPC17_QEI_BASE+LPC17_QEI_POS_OFFSET) -#define LPC17_QEI_MAXPOS (LPC17_QEI_BASE+LPC17_QEI_MAXPOS_OFFSET) -#define LPC17_QEI_CMPOS0 (LPC17_QEI_BASE+LPC17_QEI_CMPOS0_OFFSET) -#define LPC17_QEI_CMPOS1 (LPC17_QEI_BASE+LPC17_QEI_CMPOS1_OFFSET) -#define LPC17_QEI_CMPOS2 (LPC17_QEI_BASE+LPC17_QEI_CMPOS2_OFFSET) -#define LPC17_QEI_INXCNT (LPC17_QEI_BASE+LPC17_QEI_INXCNT_OFFSET) -#define LPC17_QEI_INXCMP (LPC17_QEI_BASE+LPC17_QEI_INXCMP_OFFSET) -#define LPC17_QEI_LOAD (LPC17_QEI_BASE+LPC17_QEI_LOAD_OFFSET) -#define LPC17_QEI_TIME (LPC17_QEI_BASE+LPC17_QEI_TIME_OFFSET) -#define LPC17_QEI_VEL (LPC17_QEI_BASE+LPC17_QEI_VEL_OFFSET) -#define LPC17_QEI_CAP (LPC17_QEI_BASE+LPC17_QEI_CAP_OFFSET) -#define LPC17_QEI_VELCOMP (LPC17_QEI_BASE+LPC17_QEI_VELCOMP_OFFSET) -#define LPC17_QEI_FILTER (LPC17_QEI_BASE+LPC17_QEI_FILTER_OFFSET) +#define LPC17_QEI_POS (LPC17_QEI_BASE+LPC17_QEI_POS_OFFSET) +#define LPC17_QEI_MAXPOS (LPC17_QEI_BASE+LPC17_QEI_MAXPOS_OFFSET) +#define LPC17_QEI_CMPOS0 (LPC17_QEI_BASE+LPC17_QEI_CMPOS0_OFFSET) +#define LPC17_QEI_CMPOS1 (LPC17_QEI_BASE+LPC17_QEI_CMPOS1_OFFSET) +#define LPC17_QEI_CMPOS2 (LPC17_QEI_BASE+LPC17_QEI_CMPOS2_OFFSET) +#define LPC17_QEI_INXCNT (LPC17_QEI_BASE+LPC17_QEI_INXCNT_OFFSET) +#define LPC17_QEI_INXCMP (LPC17_QEI_BASE+LPC17_QEI_INXCMP_OFFSET) +#define LPC17_QEI_LOAD (LPC17_QEI_BASE+LPC17_QEI_LOAD_OFFSET) +#define LPC17_QEI_TIME (LPC17_QEI_BASE+LPC17_QEI_TIME_OFFSET) +#define LPC17_QEI_VEL (LPC17_QEI_BASE+LPC17_QEI_VEL_OFFSET) +#define LPC17_QEI_CAP (LPC17_QEI_BASE+LPC17_QEI_CAP_OFFSET) +#define LPC17_QEI_VELCOMP (LPC17_QEI_BASE+LPC17_QEI_VELCOMP_OFFSET) +#define LPC17_QEI_FILTER (LPC17_QEI_BASE+LPC17_QEI_FILTER_OFFSET) /* Interrupt registers */ -#define LPC17_QEI_IEC (LPC17_QEI_BASE+LPC17_QEI_IEC_OFFSET) -#define LPC17_QEI_IES (LPC17_QEI_BASE+LPC17_QEI_IES_OFFSET) -#define LPC17_QEI_INTSTAT (LPC17_QEI_BASE+LPC17_QEI_INTSTAT_OFFSET) -#define LPC17_QEI_IE (LPC17_QEI_BASE+LPC17_QEI_IE_OFFSET) -#define LPC17_QEI_CLR (LPC17_QEI_BASE+LPC17_QEI_CLR_OFFSET) -#define LPC17_QEI_SET (LPC17_QEI_BASE+LPC17_QEI_SET_OFFSET) +#define LPC17_QEI_IEC (LPC17_QEI_BASE+LPC17_QEI_IEC_OFFSET) +#define LPC17_QEI_IES (LPC17_QEI_BASE+LPC17_QEI_IES_OFFSET) +#define LPC17_QEI_INTSTAT (LPC17_QEI_BASE+LPC17_QEI_INTSTAT_OFFSET) +#define LPC17_QEI_IE (LPC17_QEI_BASE+LPC17_QEI_IE_OFFSET) +#define LPC17_QEI_CLR (LPC17_QEI_BASE+LPC17_QEI_CLR_OFFSET) +#define LPC17_QEI_SET (LPC17_QEI_BASE+LPC17_QEI_SET_OFFSET) -/* Register bit definitions *********************************************************/ +/* Register bit definitions *****************************************************************/ /* The following registers hold 32-bit integer values and have no bit fields defined * in this section: * @@ -135,22 +145,30 @@ /* Control registers */ /* Control register */ -#define QEI_CON_RESP (1 << 0) /* Bit 0: Reset position counter */ -#define QEI_CON_RESPI (1 << 1) /* Bit 1: Reset position counter on index */ -#define QEI_CON_RESV (1 << 2) /* Bit 2: Reset velocity */ -#define QEI_CON_RESI (1 << 3) /* Bit 3: Reset index counter */ - /* Bits 4-31: reserved */ +#define QEI_CON_RESP (1 << 0) /* Bit 0: Reset position counter */ +#define QEI_CON_RESPI (1 << 1) /* Bit 1: Reset position counter on index */ +#define QEI_CON_RESV (1 << 2) /* Bit 2: Reset velocity */ +#define QEI_CON_RESI (1 << 3) /* Bit 3: Reset index counter */ + /* Bits 4-31: reserved */ /* Encoder status register */ -#define QEI_STAT_DIR (1 << 0) /* Bit 0: Direction bit */ - /* Bits 1-31: reserved */ +#define QEI_STAT_DIR (1 << 0) /* Bit 0: Direction bit */ + /* Bits 1-31: reserved */ /* Configuration register */ -#define QEI_CONF_DIRINV (1 << 0) /* Bit 0: Direction invert */ -#define QEI_CONF_SIGMODE (1 << 1) /* Bit 1: Signal Mode */ -#define QEI_CONF_CAPMODE (1 << 2) /* Bit 2: Capture Mode */ -#define QEI_CONF_INVINX (1 << 3) /* Bit 3: Invert Index */ - /* Bits 4-31: reserved */ +#define QEI_CONF_DIRINV (1 << 0) /* Bit 0: Direction invert */ +#define QEI_CONF_SIGMODE (1 << 1) /* Bit 1: Signal Mode */ +#define QEI_CONF_CAPMODE (1 << 2) /* Bit 2: Capture Mode */ +#define QEI_CONF_INVINX (1 << 3) /* Bit 3: Invert Index */ + +#ifdef LPC178x +# define QEI_CONF_CRESPI (1 << 4) /* Bit 4: Continuous Index reset */ + /* Bits 5-15: reserved */ +# define QEI_CONF_INXGATE_SHIFT (16) /* Bit 16:19 Index Gating */ +# define QEI_CONF_INXGATE_MASK (15 << QEI_CONF_INXGATE_SHIFT) +#endif + /* Bits 20-31: reserved */ + /* Position, index, and timer registers (all 32-bit integer values with not bit fields */ /* Interrupt registers */ @@ -160,31 +178,37 @@ * bit definitions. */ -#define QEI_INT_INX (1 << 0) /* Bit 0: Index pulse detected */ -#define QEI_INT_TIM (1 << 1) /* Bit 1: Velocity timer overflow occurred */ -#define QEI_INT_VELC (1 << 2) /* Bit 2: Captured velocity less than compare velocity */ -#define QEI_INT_DIR (1 << 3) /* Bit 3: Change of direction detected */ -#define QEI_INT_ERR (1 << 4) /* Bit 4: Encoder phase error detected */ -#define QEI_INT_ENCLK (1 << 5) /* Bit 5: Eencoder clock pulse detected */ -#define QEI_INT_POS0 (1 << 6) /* Bit 6: Position 0 compare equal to current position */ -#define QEI_INT_POS1 (1 << 7) /* Bit 7: Position 1 compare equal to current position */ -#define QEI_INT_POS2 (1 << 8) /* Bit 8: Position 2 compare equal to current position */ -#define QEI_INT_REV (1 << 9) /* Bit 9: Index compare value equal to current index count */ -#define QEI_INT_POS0REV (1 << 10) /* Bit 10: Combined position 0 and revolution count interrupt */ -#define QEI_INT_POS1REV (1 << 11) /* Bit 11: Position 1 and revolution count interrupt */ -#define QEI_INT_POS2REV (1 << 12) /* Bit 12: Position 2 and revolution count interrupt */ - /* Bits 13-31: reserved */ - -/************************************************************************************ +#define QEI_INT_INX (1 << 0) /* Bit 0: Index pulse detected */ +#define QEI_INT_TIM (1 << 1) /* Bit 1: Velocity timer overflow occurred */ +#define QEI_INT_VELC (1 << 2) /* Bit 2: Captured velocity less than compare velocity */ +#define QEI_INT_DIR (1 << 3) /* Bit 3: Change of direction detected */ +#define QEI_INT_ERR (1 << 4) /* Bit 4: Encoder phase error detected */ +#define QEI_INT_ENCLK (1 << 5) /* Bit 5: Eencoder clock pulse detected */ +#define QEI_INT_POS0 (1 << 6) /* Bit 6: Position 0 compare equal to current position */ +#define QEI_INT_POS1 (1 << 7) /* Bit 7: Position 1 compare equal to current position */ +#define QEI_INT_POS2 (1 << 8) /* Bit 8: Position 2 compare equal to current position */ +#define QEI_INT_REV (1 << 9) /* Bit 9: Index compare value equal to current index count */ +#define QEI_INT_POS0REV (1 << 10) /* Bit 10: Combined position 0 and revolution count interrupt */ +#define QEI_INT_POS1REV (1 << 11) /* Bit 11: Position 1 and revolution count interrupt */ +#define QEI_INT_POS2REV (1 << 12) /* Bit 12: Position 2 and revolution count interrupt */ + +#ifdef LPC178x +# define QEI_INT_REV1 (1 << 13) /* Bit 13: Index compare1 value to current index interrupt */ +# define QEI_INT_REV2 (1 << 14) /* Bit 14: Index compare2 value to current index interrupt */ +# define QEI_INT_MAXPOS (1 << 15) /* Bit 15: Current position count interrupt */ +#endif + /* Bits 16-31: reserved */ + +/******************************************************************************************** * Public Types - ************************************************************************************/ + ********************************************************************************************/ -/************************************************************************************ +/******************************************************************************************** * Public Data - ************************************************************************************/ + ********************************************************************************************/ -/************************************************************************************ +/******************************************************************************************** * Public Functions - ************************************************************************************/ + ********************************************************************************************/ #endif /* __ARCH_ARM_SRC_LPC17XX_CHIP_LPC17_QEI_H */ |