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/************************************************************************************
* arch/arm/src/lpc43xx/lpc43_qei.h
*
* Copyright (C) 2010 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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 <nuttx/config.h>
/************************************************************************************
* 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 */
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