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Add FreeRTOS-Plus directory.
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Richard Barry
parent
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commit
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6798 changed files with 134949 additions and 19 deletions
630
FreeRTOS/Demo/CORTEX_LM3S811_IAR/LuminaryCode/qei.c
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630
FreeRTOS/Demo/CORTEX_LM3S811_IAR/LuminaryCode/qei.c
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//*****************************************************************************
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//
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// qei.c - Driver for the Quadrature Encoder with Index.
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//
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// Copyright (c) 2005,2006 Luminary Micro, Inc. All rights reserved.
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//
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// Software License Agreement
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//
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// Luminary Micro, Inc. (LMI) is supplying this software for use solely and
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// exclusively on LMI's Stellaris Family of microcontroller products.
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//
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// The software is owned by LMI and/or its suppliers, and is protected under
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// applicable copyright laws. All rights are reserved. Any use in violation
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// of the foregoing restrictions may subject the user to criminal sanctions
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// under applicable laws, as well as to civil liability for the breach of the
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// terms and conditions of this license.
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//
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// THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
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// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
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// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
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// LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
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// CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
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//
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// This is part of revision 991 of the Stellaris Driver Library.
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//
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//*****************************************************************************
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//*****************************************************************************
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//
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//! \addtogroup qei_api
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//! @{
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//
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//*****************************************************************************
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#include "../hw_ints.h"
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#include "../hw_memmap.h"
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#include "../hw_qei.h"
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#include "../hw_types.h"
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#include "debug.h"
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#include "interrupt.h"
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#include "qei.h"
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//*****************************************************************************
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//
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//! Enables the quadrature encoder.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//!
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//! This will enable operation of the quadrature encoder module. It must be
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//! configured before it is enabled.
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//!
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//! \sa QEIConfigure()
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//!
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//! \return None.
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//
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//*****************************************************************************
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#if defined(GROUP_enable) || defined(BUILD_ALL) || defined(DOXYGEN)
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void
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QEIEnable(unsigned long ulBase)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Enable the QEI module.
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//
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HWREG(ulBase + QEI_O_CTL) |= QEI_CTL_ENABLE;
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}
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#endif
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//*****************************************************************************
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//
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//! Disables the quadrature encoder.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//!
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//! This will disable operation of the quadrature encoder module.
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//!
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//! \return None.
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//
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//*****************************************************************************
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#if defined(GROUP_disable) || defined(BUILD_ALL) || defined(DOXYGEN)
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void
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QEIDisable(unsigned long ulBase)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Disable the QEI module.
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//
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HWREG(ulBase + QEI_O_CTL) &= ~(QEI_CTL_ENABLE);
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}
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#endif
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//*****************************************************************************
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//
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//! Configures the quadrature encoder.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//! \param ulConfig is the configuration for the quadrature encoder. See below
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//! for a description of this parameter.
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//! \param ulMaxPosition specifies the maximum position value.
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//!
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//! This will configure the operation of the quadrature encoder. The
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//! \e ulConfig parameter provides the configuration of the encoder and is the
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//! logical OR of several values:
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//!
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//! - \b QEI_CONFIG_CAPTURE_A or \b QEI_CONFIG_CAPTURE_A_B to specify if edges
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//! on channel A or on both channels A and B should be counted by the
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//! position integrator and velocity accumulator.
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//! - \b QEI_CONFIG_NO_RESET or \b QEI_CONFIG_RESET_IDX to specify if the
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//! position integrator should be reset when the index pulse is detected.
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//! - \b QEI_CONFIG_QUADRATURE or \b QEI_CONFIG_CLOCK_DIR to specify if
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//! quadrature signals are being provided on ChA and ChB, or if a direction
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//! signal and a clock are being provided instead.
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//! - \b QEI_CONFIG_NO_SWAP or \b QEI_CONFIG_SWAP to specify if the signals
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//! provided on ChA and ChB should be swapped before being processed.
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//!
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//! \e ulMaxPosition is the maximum value of the position integrator, and is
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//! the value used to reset the position capture when in index reset mode and
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//! moving in the reverse (negative) direction.
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//!
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//! \return None.
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//
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//*****************************************************************************
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#if defined(GROUP_configure) || defined(BUILD_ALL) || defined(DOXYGEN)
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void
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QEIConfigure(unsigned long ulBase, unsigned long ulConfig,
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unsigned long ulMaxPosition)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Write the new configuration to the hardware.
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//
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HWREG(ulBase + QEI_O_CTL) = ((HWREG(ulBase + QEI_O_CTL) &
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~(QEI_CTL_CAPMODE | QEI_CTL_RESMODE |
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QEI_CTL_SIGMODE | QEI_CTL_SWAP)) |
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ulConfig);
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//
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// Set the maximum position.
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//
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HWREG(ulBase + QEI_O_MAXPOS) = ulMaxPosition;
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}
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#endif
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//*****************************************************************************
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//
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//! Gets the current encoder position.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//!
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//! This returns the current position of the encoder. Depending upon the
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//! configuration of the encoder, and the incident of an index pulse, this
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//! value may or may not contain the expected data (i.e. if in reset on index
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//! mode, if an index pulse has not been encountered, the position counter will
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//! not be aligned with the index pulse yet).
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//!
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//! \return The current position of the encoder.
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//
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//*****************************************************************************
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#if defined(GROUP_positionget) || defined(BUILD_ALL) || defined(DOXYGEN)
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unsigned long
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QEIPositionGet(unsigned long ulBase)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Return the current position counter.
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//
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return(HWREG(ulBase + QEI_O_POS));
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}
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#endif
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//*****************************************************************************
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//
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//! Sets the current encoder position.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//! \param ulPosition is the new position for the encoder.
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//!
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//! This sets the current position of the encoder; the encoder position will
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//! then be measured relative to this value.
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//!
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//! \return None.
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//
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//*****************************************************************************
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#if defined(GROUP_positionset) || defined(BUILD_ALL) || defined(DOXYGEN)
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void
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QEIPositionSet(unsigned long ulBase, unsigned long ulPosition)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Set the position counter.
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//
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HWREG(ulBase + QEI_O_POS) = ulPosition;
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}
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#endif
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//*****************************************************************************
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//
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//! Gets the current direction of rotation.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//!
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//! This returns the current direction of rotation. In this case, current
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//! means the most recently detected direction of the encoder; it may not be
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//! presently moving but this is the direction it last moved before it stopped.
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//!
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//! \return 1 if moving in the forward direction or -1 if moving in the reverse
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//! direction.
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//
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//*****************************************************************************
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#if defined(GROUP_directionget) || defined(BUILD_ALL) || defined(DOXYGEN)
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long
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QEIDirectionGet(unsigned long ulBase)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Return the direction of rotation.
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//
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return((HWREG(ulBase + QEI_O_STAT) & QEI_STAT_DIRECTION) ? -1 : 1);
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}
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#endif
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//*****************************************************************************
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//
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//! Gets the encoder error indicator.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//!
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//! This returns the error indicator for the quadrature encoder. It is an
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//! error for both of the signals of the quadrature input to change at the same
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//! time.
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//!
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//! \return true if an error has occurred and false otherwise.
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//
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//*****************************************************************************
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#if defined(GROUP_errorget) || defined(BUILD_ALL) || defined(DOXYGEN)
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tBoolean
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QEIErrorGet(unsigned long ulBase)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Return the error indicator.
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//
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return((HWREG(ulBase + QEI_O_STAT) & QEI_STAT_ERROR) ? true : false);
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}
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#endif
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//*****************************************************************************
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//
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//! Enables the velocity capture.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//!
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//! This will enable operation of the velocity capture in the quadrature
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//! encoder module. It must be configured before it is enabled. Velocity
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//! capture will not occur if the quadrature encoder is not enabled.
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//!
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//! \sa QEIVelocityConfigure() and QEIEnable()
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//!
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//! \return None.
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//
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//*****************************************************************************
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#if defined(GROUP_velocityenable) || defined(BUILD_ALL) || defined(DOXYGEN)
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void
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QEIVelocityEnable(unsigned long ulBase)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Enable the velocity capture.
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//
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HWREG(ulBase + QEI_O_CTL) |= QEI_CTL_VELEN;
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}
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#endif
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//*****************************************************************************
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//
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//! Disables the velocity capture.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//!
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//! This will disable operation of the velocity capture in the quadrature
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//! encoder module.
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//!
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//! \return None.
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//
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//*****************************************************************************
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#if defined(GROUP_velocitydisable) || defined(BUILD_ALL) || defined(DOXYGEN)
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void
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QEIVelocityDisable(unsigned long ulBase)
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{
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//
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// Check the arguments.
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//
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ASSERT(ulBase == QEI_BASE);
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//
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// Disable the velocity capture.
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//
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HWREG(ulBase + QEI_O_CTL) &= ~(QEI_CTL_VELEN);
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}
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#endif
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//*****************************************************************************
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//
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//! Configures the velocity capture.
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//!
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//! \param ulBase is the base address of the quadrature encoder module.
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//! \param ulPreDiv specifies the predivider applied to the input quadrature
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//! signal before it is counted; can be one of QEI_VELDIV_1, QEI_VELDIV_2,
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//! QEI_VELDIV_4, QEI_VELDIV_8, QEI_VELDIV_16, QEI_VELDIV_32, QEI_VELDIV_64, or
|
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//! QEI_VELDIV_128.
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//! \param ulPeriod specifies the number of clock ticks over which to measure
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//! the velocity; must be non-zero.
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//!
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//! This will configure the operation of the velocity capture portion of the
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//! quadrature encoder. The position increment signal is predivided as
|
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//! specified by \e ulPreDiv before being accumulated by the velocity capture.
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//! The divided signal is accumulated over \e ulPeriod system clock before
|
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//! being saved and resetting the accumulator.
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//!
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//! \return None.
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//
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//*****************************************************************************
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#if defined(GROUP_velocityconfigure) || defined(BUILD_ALL) || defined(DOXYGEN)
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void
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QEIVelocityConfigure(unsigned long ulBase, unsigned long ulPreDiv,
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unsigned long ulPeriod)
|
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{
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//
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// Check the arguments.
|
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//
|
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ASSERT(ulBase == QEI_BASE);
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ASSERT(!(ulPreDiv & ~(QEI_CTL_VELDIV_M)));
|
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ASSERT(ulPeriod != 0);
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//
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// Set the velocity predivider.
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//
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HWREG(ulBase + QEI_O_CTL) = ((HWREG(ulBase + QEI_O_CTL) &
|
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~(QEI_CTL_VELDIV_M)) | ulPreDiv);
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//
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// Set the timer period.
|
||||
//
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HWREG(ulBase + QEI_O_LOAD) = ulPeriod - 1;
|
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}
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#endif
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//*****************************************************************************
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//
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//! Gets the current encoder speed.
|
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//!
|
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//! \param ulBase is the base address of the quadrature encoder module.
|
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//!
|
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//! This returns the current speed of the encoder. The value returned is the
|
||||
//! number of pulses detected in the specified time period; this number can be
|
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//! multiplied by the number of time periods per second and divided by the
|
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//! number of pulses per revolution to obtain the number of revolutions per
|
||||
//! second.
|
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//!
|
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//! \return The number of pulses captured in the given time period.
|
||||
//
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//*****************************************************************************
|
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#if defined(GROUP_velocityget) || defined(BUILD_ALL) || defined(DOXYGEN)
|
||||
unsigned long
|
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QEIVelocityGet(unsigned long ulBase)
|
||||
{
|
||||
//
|
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// Check the arguments.
|
||||
//
|
||||
ASSERT(ulBase == QEI_BASE);
|
||||
|
||||
//
|
||||
// Return the speed capture value.
|
||||
//
|
||||
return(HWREG(ulBase + QEI_O_SPEED));
|
||||
}
|
||||
#endif
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
//! Registers an interrupt handler for the quadrature encoder interrupt.
|
||||
//!
|
||||
//! \param ulBase is the base address of the quadrature encoder module.
|
||||
//! \param pfnHandler is a pointer to the function to be called when the
|
||||
//! quadrature encoder interrupt occurs.
|
||||
//!
|
||||
//! This sets the handler to be called when a quadrature encoder interrupt
|
||||
//! occurs. This will enable the global interrupt in the interrupt controller;
|
||||
//! specific quadrature encoder interrupts must be enabled via QEIIntEnable().
|
||||
//! It is the interrupt handler's responsibility to clear the interrupt source
|
||||
//! via QEIIntClear().
|
||||
//!
|
||||
//! \sa IntRegister() for important information about registering interrupt
|
||||
//! handlers.
|
||||
//!
|
||||
//! \return None.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#if defined(GROUP_intregister) || defined(BUILD_ALL) || defined(DOXYGEN)
|
||||
void
|
||||
QEIIntRegister(unsigned long ulBase, void (*pfnHandler)(void))
|
||||
{
|
||||
//
|
||||
// Check the arguments.
|
||||
//
|
||||
ASSERT(ulBase == QEI_BASE);
|
||||
|
||||
//
|
||||
// Register the interrupt handler, returning an error if an error occurs.
|
||||
//
|
||||
IntRegister(INT_QEI, pfnHandler);
|
||||
|
||||
//
|
||||
// Enable the quadrature encoder interrupt.
|
||||
//
|
||||
IntEnable(INT_QEI);
|
||||
}
|
||||
#endif
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
//! Unregisters an interrupt handler for the quadrature encoder interrupt.
|
||||
//!
|
||||
//! \param ulBase is the base address of the quadrature encoder module.
|
||||
//!
|
||||
//! This function will clear the handler to be called when a quadrature encoder
|
||||
//! interrupt occurs. This will also mask off the interrupt in the interrupt
|
||||
//! controller so that the interrupt handler no longer is called.
|
||||
//!
|
||||
//! \sa IntRegister() for important information about registering interrupt
|
||||
//! handlers.
|
||||
//!
|
||||
//! \return None.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#if defined(GROUP_intunregister) || defined(BUILD_ALL) || defined(DOXYGEN)
|
||||
void
|
||||
QEIIntUnregister(unsigned long ulBase)
|
||||
{
|
||||
//
|
||||
// Check the arguments.
|
||||
//
|
||||
ASSERT(ulBase == QEI_BASE);
|
||||
|
||||
//
|
||||
// Disable the interrupt.
|
||||
//
|
||||
IntDisable(INT_QEI);
|
||||
|
||||
//
|
||||
// Unregister the interrupt handler.
|
||||
//
|
||||
IntUnregister(INT_QEI);
|
||||
}
|
||||
#endif
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
//! Enables individual quadrature encoder interrupt sources.
|
||||
//!
|
||||
//! \param ulBase is the base address of the quadrature encoder module.
|
||||
//! \param ulIntFlags is a bit mask of the interrupt sources to be enabled.
|
||||
//! Can be any of the QEI_INTERROR, QEI_INTDIR, QEI_INTTIMER, or QEI_INTINDEX
|
||||
//! values.
|
||||
//!
|
||||
//! Enables the indicated quadrature encoder interrupt sources. Only the
|
||||
//! sources that are enabled can be reflected to the processor interrupt;
|
||||
//! disabled sources have no effect on the processor.
|
||||
//!
|
||||
//! \return None.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#if defined(GROUP_intenable) || defined(BUILD_ALL) || defined(DOXYGEN)
|
||||
void
|
||||
QEIIntEnable(unsigned long ulBase, unsigned long ulIntFlags)
|
||||
{
|
||||
//
|
||||
// Check the arguments.
|
||||
//
|
||||
ASSERT(ulBase == QEI_BASE);
|
||||
|
||||
//
|
||||
// Enable the specified interrupts.
|
||||
//
|
||||
HWREG(ulBase + QEI_O_INTEN) |= ulIntFlags;
|
||||
}
|
||||
#endif
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
//! Disables individual quadrature encoder interrupt sources.
|
||||
//!
|
||||
//! \param ulBase is the base address of the quadrature encoder module.
|
||||
//! \param ulIntFlags is a bit mask of the interrupt sources to be disabled.
|
||||
//! Can be any of the QEI_INTERROR, QEI_INTDIR, QEI_INTTIMER, or QEI_INTINDEX
|
||||
//! values.
|
||||
//!
|
||||
//! Disables the indicated quadrature encoder interrupt sources. Only the
|
||||
//! sources that are enabled can be reflected to the processor interrupt;
|
||||
//! disabled sources have no effect on the processor.
|
||||
//!
|
||||
//! \return None.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#if defined(GROUP_intdisable) || defined(BUILD_ALL) || defined(DOXYGEN)
|
||||
void
|
||||
QEIIntDisable(unsigned long ulBase, unsigned long ulIntFlags)
|
||||
{
|
||||
//
|
||||
// Check the arguments.
|
||||
//
|
||||
ASSERT(ulBase == QEI_BASE);
|
||||
|
||||
//
|
||||
// Disable the specified interrupts.
|
||||
//
|
||||
HWREG(ulBase + QEI_O_INTEN) &= ~(ulIntFlags);
|
||||
}
|
||||
#endif
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
//! Gets the current interrupt status.
|
||||
//!
|
||||
//! \param ulBase is the base address of the quadrature encoder module.
|
||||
//! \param bMasked is false if the raw interrupt status is required and true if
|
||||
//! the masked interrupt status is required.
|
||||
//!
|
||||
//! This returns the interrupt status for the quadrature encoder module.
|
||||
//! Either the raw interrupt status or the status of interrupts that are
|
||||
//! allowed to reflect to the processor can be returned.
|
||||
//!
|
||||
//! \return The current interrupt status, enumerated as a bit field of
|
||||
//! QEI_INTERROR, QEI_INTDIR, QEI_INTTIMER, and QEI_INTINDEX.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#if defined(GROUP_intstatus) || defined(BUILD_ALL) || defined(DOXYGEN)
|
||||
unsigned long
|
||||
QEIIntStatus(unsigned long ulBase, tBoolean bMasked)
|
||||
{
|
||||
//
|
||||
// Check the arguments.
|
||||
//
|
||||
ASSERT(ulBase == QEI_BASE);
|
||||
|
||||
//
|
||||
// Return either the interrupt status or the raw interrupt status as
|
||||
// requested.
|
||||
//
|
||||
if(bMasked)
|
||||
{
|
||||
return(HWREG(ulBase + QEI_O_ISC));
|
||||
}
|
||||
else
|
||||
{
|
||||
return(HWREG(ulBase + QEI_O_RIS));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
//! Clears quadrature encoder interrupt sources.
|
||||
//!
|
||||
//! \param ulBase is the base address of the quadrature encoder module.
|
||||
//! \param ulIntFlags is a bit mask of the interrupt sources to be cleared.
|
||||
//! Can be any of the QEI_INTERROR, QEI_INTDIR, QEI_INTTIMER, or QEI_INTINDEX
|
||||
//! values.
|
||||
//!
|
||||
//! The specified quadrature encoder interrupt sources are cleared, so that
|
||||
//! they no longer assert. This must be done in the interrupt handler to keep
|
||||
//! it from being called again immediately upon exit.
|
||||
//!
|
||||
//! \return None.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#if defined(GROUP_intclear) || defined(BUILD_ALL) || defined(DOXYGEN)
|
||||
void
|
||||
QEIIntClear(unsigned long ulBase, unsigned long ulIntFlags)
|
||||
{
|
||||
//
|
||||
// Check the arguments.
|
||||
//
|
||||
ASSERT(ulBase == QEI_BASE);
|
||||
|
||||
//
|
||||
// Clear the requested interrupt sources.
|
||||
//
|
||||
HWREG(ulBase + QEI_O_ISC) = ulIntFlags;
|
||||
}
|
||||
#endif
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// Close the Doxygen group.
|
||||
//! @}
|
||||
//
|
||||
//*****************************************************************************
|
||||
Loading…
Add table
Add a link
Reference in a new issue