/************************************************************************************ * arch/arm/src/lpc43xx/lpc43_qei.h * * Copyright (C) 2010 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ #ifndef __ARCH_ARM_SRC_LPC43XX_LPC43_QEI_H #define __ARCH_ARM_SRC_LPC43XX_LPC43_QEI_H /************************************************************************************ * Included Files ************************************************************************************/ #include /************************************************************************************ * Pre-processor Definitions ************************************************************************************/ /* Register offsets *****************************************************************/ /* Control registers */ #define LPC43_QEI_CON_OFFSET 0x0000 /* Control register */ #define LPC43_QEI_STAT_OFFSET 0x0004 /* Encoder status register */ #define LPC43_QEI_CONF_OFFSET 0x0008 /* Configuration register */ /* Position, index, and timer registers */ #define LPC43_QEI_POS_OFFSET 0x000c /* Position register */ #define LPC43_QEI_MAXPOS_OFFSET 0x0010 /* Maximum position register */ #define LPC43_QEI_CMPOS0_OFFSET 0x0014 /* Position compare register */ #define LPC43_QEI_CMPOS1_OFFSET 0x0018 /* Position compare register */ #define LPC43_QEI_CMPOS2_OFFSET 0x001c /* Position compare register */ #define LPC43_QEI_INXCNT_OFFSET 0x0020 /* Index count register */ #define LPC43_QEI_INXCMP0_OFFSET 0x0024 /* Index compare register 0 */ #define LPC43_QEI_LOAD_OFFSET 0x0028 /* Velocity timer reload register */ #define LPC43_QEI_TIME_OFFSET 0x002c /* Velocity timer register */ #define LPC43_QEI_VEL_OFFSET 0x0030 /* Velocity counter register */ #define LPC43_QEI_CAP_OFFSET 0x0034 /* Velocity capture register */ #define LPC43_QEI_VELCOMP_OFFSET 0x0038 /* Velocity compare register */ #define LPC43_QEI_FLTRPHA_OFFSET 0x003c /* Input digital filter register phase A */ #define LPC43_QEI_FLTRPHB_OFFSET 0x0040 /* Input digital filter register phase B */ #define LPC43_QEI_FLTRINX_OFFSET 0x0044 /* Input digital filter register index */ #define LPC43_QEI_WINDOW_OFFSET 0x0048 /* Index acceptance window register */ #define LPC43_QEI_INXCMP1_OFFSET 0x004c /* Index compare register 1 */ #define LPC43_QEI_INXCMP2_OFFSET 0x0050 /* Index compare register 2 */ /* Interrupt registers */ #define LPC43_QEI_IEC_OFFSET 0x0fd8 /* Interrupt enable clear register */ #define LPC43_QEI_IES_OFFSET 0x0fdc /* Interrupt enable set register */ #define LPC43_QEI_INTSTAT_OFFSET 0x0fe0 /* Interrupt status register */ #define LPC43_QEI_IE_OFFSET 0x0fe4 /* Interrupt enable register */ #define LPC43_QEI_CLR_OFFSET 0x0fe8 /* Interrupt status clear register */ #define LPC43_QEI_SET_OFFSET 0x0fec /* Interrupt status set register */ /* Register addresses ***************************************************************/ /* Control registers */ #define LPC43_QEI_CON (LPC43_QEI_BASE+LPC43_QEI_CON_OFFSET) #define LPC43_QEI_STAT (LPC43_QEI_BASE+LPC43_QEI_STAT_OFFSET) #define LPC43_QEI_CONF (LPC43_QEI_BASE+LPC43_QEI_CONF_OFFSET) /* Position, index, and timer registers */ #define LPC43_QEI_POS (LPC43_QEI_BASE+LPC43_QEI_POS_OFFSET) #define LPC43_QEI_MAXPOS (LPC43_QEI_BASE+LPC43_QEI_MAXPOS_OFFSET) #define LPC43_QEI_CMPOS0 (LPC43_QEI_BASE+LPC43_QEI_CMPOS0_OFFSET) #define LPC43_QEI_CMPOS1 (LPC43_QEI_BASE+LPC43_QEI_CMPOS1_OFFSET) #define LPC43_QEI_CMPOS2 (LPC43_QEI_BASE+LPC43_QEI_CMPOS2_OFFSET) #define LPC43_QEI_INXCNT (LPC43_QEI_BASE+LPC43_QEI_INXCNT_OFFSET) #define LPC43_QEI_INXCMP0 (LPC43_QEI_BASE+LPC43_QEI_INXCMP0_OFFSET) #define LPC43_QEI_LOAD (LPC43_QEI_BASE+LPC43_QEI_LOAD_OFFSET) #define LPC43_QEI_TIME (LPC43_QEI_BASE+LPC43_QEI_TIME_OFFSET) #define LPC43_QEI_VEL (LPC43_QEI_BASE+LPC43_QEI_VEL_OFFSET) #define LPC43_QEI_CAP (LPC43_QEI_BASE+LPC43_QEI_CAP_OFFSET) #define LPC43_QEI_VELCOMP (LPC43_QEI_BASE+LPC43_QEI_VELCOMP_OFFSET) #define LPC43_QEI_FLTRPHA (LPC43_QEI_BASE+LPC43_QEI_FLTRPHA_OFFSET) #define LPC43_QEI_FLTRPHB (LPC43_QEI_BASE+LPC43_QEI_FLTRPHB_OFFSET) #define LPC43_QEI_FLTRINX (LPC43_QEI_BASE+LPC43_QEI_FLTRINX_OFFSET) #define LPC43_QEI_WINDOW (LPC43_QEI_BASE+LPC43_QEI_WINDOW_OFFSET) #define LPC43_QEI_INXCMP1 (LPC43_QEI_BASE+LPC43_QEI_INXCMP1_OFFSET) #define LPC43_QEI_INXCMP2 (LPC43_QEI_BASE+LPC43_QEI_INXCMP2_OFFSET) /* Interrupt registers */ #define LPC43_QEI_IEC (LPC43_QEI_BASE+LPC43_QEI_IEC_OFFSET) #define LPC43_QEI_IES (LPC43_QEI_BASE+LPC43_QEI_IES_OFFSET) #define LPC43_QEI_INTSTAT (LPC43_QEI_BASE+LPC43_QEI_INTSTAT_OFFSET) #define LPC43_QEI_IE (LPC43_QEI_BASE+LPC43_QEI_IE_OFFSET) #define LPC43_QEI_CLR (LPC43_QEI_BASE+LPC43_QEI_CLR_OFFSET) #define LPC43_QEI_SET (LPC43_QEI_BASE+LPC43_QEI_SET_OFFSET) /* Register bit definitions *********************************************************/ /* The following registers hold 32-bit integer values and have no bit fields defined * in this section: * * Position register (POS) * Maximum position register (MAXPOS) * Position compare register 0 (CMPOS0) * Position compare register 1 (CMPOS1) * Position compare register 2 (CMPOS2) * Index count register (INXCNT) * Index compare register 0 (INXCMP0) * Index compare register 1 (INXCMP1) * Index compare register 2 (INXCMP2) * Velocity timer reload register (LOAD) * Velocity timer register (TIME) * Velocity counter register (VEL) * Velocity capture register (CAP) * Velocity compare register (VELCOMP) * Digital filter registers (FLTRPHA, FLTRPHB) * Digital filter index register (FLTINX) * Index acceptance window register (WINDOW) */ /* 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 */ /* Encoder status register */ #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 */ #define QEI_CONF_CRESPI (1 << 4) /* Bit 4: Reset position counter on index */ /* Bits 1-15: reserved */ #define QEI_CONF_INXGATE_SHIFT (16) /* Bits 16-19: Index gating configuration */ #define QEI_CONF_INXGATE_MASK (15 << QEI_CONF_INXGATE_SHIFT) # define QEI_CONF_INXGATE_A1B0 (1 << QEI_CONF_INXGATE_SHIFT) /* Pass index on Pha=1 Phb=0 */ # define QEI_CONF_INXGATE_A1B1 (2 << QEI_CONF_INXGATE_SHIFT) /* Pass index on Pha=1 Phb=1 */ # define QEI_CONF_INXGATE_A0B1 (4 << QEI_CONF_INXGATE_SHIFT) /* Pass index on Pha=0 Phb=1 */ # define QEI_CONF_INXGATE_A0B0 (8 << QEI_CONF_INXGATE_SHIFT) /* Pass index on Pha=0 Phb=0 */ /* Bits 4-31: reserved */ /* Interrupt registers */ /* Interrupt enable clear register (IEC), Interrupt enable set register (IES), * Interrupt status register (INTSTAT), Interrupt enable register (IE), Interrupt * status clear register (CLR), and Interrupt status set register (SET) common * 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_REV0 (1 << 9) /* Bit 9: Index 0 compare equal to current index count */ #define QEI_INT_POS0REV (1 << 10) /* Bit 10: 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 */ #define QEI_INT_REV1 (1 << 13) /* Bit 13: Index 1 compare equal to current index count */ #define QEI_INT_REV2 (1 << 14) /* Bit 14: Index 2 compare equal to current index count */ #define QEI_INT_MAXPOS (1 << 15) /* Bit 15: Current position count goes through MAXPOS */ /* Bits 16-31: reserved */ /************************************************************************************ * Public Types ************************************************************************************/ /************************************************************************************ * Public Data ************************************************************************************/ /************************************************************************************ * Public Functions ************************************************************************************/ #endif /* __ARCH_ARM_SRC_LPC43XX_LPC43_QEI_H */