Contains public interface to various functions related to the quadrature pulse encoder (QEP) object. More...

#include "sw/drivers/cpu/src/32b/f28x/f2806x/cpu.h"
#include "sw/modules/math/src/32b/math.h"
#include "sw/modules/types/src/types.h"

Go to the source code of this file.

Data Structures
struct	_QEP_Obj_
	Defines the QEP object. More...

Macros
#define	QEP1_BASE_ADDR (0x00006B00)

#define	QEP2_BASE_ADDR (0x00006B40)

#define	QEP_QDECCTL_QSRC (3 << 14)
	position counter source selection More...

#define	QEP_QDECCTL_SOEN (1 << 13)
	sync output enable More...

#define	QEP_QDECCTL_SPSEL (1 << 12)
	sync output pin selection More...

#define	QEP_QDECCTL_XCR (1 << 11)
	external clock rate More...

#define	QEP_QDECCTL_SWAP (1 << 10)
	swap quadrature clock inputs More...

#define	QEP_QDECCTL_IGATE (1 << 9)
	index pulse gating option More...

#define	QEP_QDECCTL_QAP (1 << 8)
	QEPA input polarity. More...

#define	QEP_QDECCTL_QBP (1 << 7)
	QEPB input polarity. More...

#define	QEP_QDECCTL_QIP (1 << 6)
	QEPI input polarity. More...

#define	QEP_QDECCTL_QSP (1 << 5)
	QEPS input polarity. More...

#define	QEP_QEPCTL_FREESOFT ( 3 << 14)
	emulation control bit More...

#define	QEP_QEPCTL_PCRM ( 3 << 12)
	emulation control bit More...

#define	QEP_QEPCTL_SEI ( 3 << 10)
	strobe event initialization of position counter More...

#define	QEP_QEPCTL_IEI ( 3 << 8)
	index event initialization of position counter More...

#define	QEP_QEPCTL_SWI ( 1 << 7)
	software initialization of position counter More...

#define	QEP_QEPCTL_SEL ( 1 << 6)
	strobe event latch of position counter More...

#define	QEP_QEPCTL_IEL ( 3 << 4)
	index event latch of position counter (software index marker) More...

#define	QEP_QEPCTL_QPEN ( 1 << 3)
	quad position counter enable/software reset More...

#define	QEP_QEPCTL_QCLM ( 1 << 2)
	QEP capture latch mode. More...

#define	QEP_QEPCTL_UTE ( 1 << 1)
	QEP unit timer enable. More...

#define	QEP_QEPCTL_WDE ( 1 << 0)
	watchdog timer enable More...

#define	QEP_QPOSCTL_PCSHDW ( 1 << 15)
	position compare shadow enable More...

#define	QEP_QPOSCTL_PCLOAD ( 1 << 14)
	position compare shadow load mode More...

#define	QEP_QPOSCTL_PCPOL ( 1 << 13)
	load when QPOSCNT = QPOSCMP More...

#define	QEP_QPOSCTL_PCE ( 1 << 12)
	position compare enable/disable More...

#define	QEP_QPOSCTL_PCSPW (4095 << 0)
	selection position compare sync output pulse width More...

#define	QEP_QCAPCTL_CEN ( 1 << 15)
	enable QEP capture More...

#define	QEP_QCAPCTL_CCPS ( 7 << 4)
	qep capture timer clock prescaler More...

#define	QEP_QCAPCTL_UPPS ( 15 << 0)
	unit position event prescaler More...

#define	QEP_QEINT_UTO ( 1 << 11)
	unit timeout interrupt enable More...

#define	QEP_QEINT_IEL ( 1 << 10)
	index event latch interrupt enable More...

#define	QEP_QEINT_SEL ( 1 << 9)
	strobe event latch interrupt enable More...

#define	QEP_QEINT_PCM ( 1 << 8)
	position compare match interrupt enable More...

#define	QEP_QEINT_PCR ( 1 << 7)
	position compare ready interrupt enable More...

#define	QEP_QEINT_PCO ( 1 << 6)
	position counter overflow interrupt enable More...

#define	QEP_QEINT_PCU ( 1 << 5)
	position counter underflow interrupt enable More...

#define	QEP_QEINT_WTO ( 1 << 4)
	watchdog time out interrupt enable More...

#define	QEP_QEINT_QDC ( 1 << 3)
	quadrature direction change interrupt enable More...

#define	QEP_QEINT_QPE ( 1 << 2)
	quadrature phase error interrupt enable More...

#define	QEP_QEINT_PCE ( 1 << 1)
	position counter error interrupt enable More...

#define	QEP_QFLG_UTO ( 1 << 11)
	unit timeout interrupt flag More...

#define	QEP_QFLG_IEL ( 1 << 10)
	index event latch interrupt flag More...

#define	QEP_QFLG_SEL ( 1 << 9)
	strobe event latch interrupt flag More...

#define	QEP_QFLG_PCM ( 1 << 8)
	position compare match interrupt flag More...

#define	QEP_QFLG_PCR ( 1 << 7)
	position compare ready interrupt flag More...

#define	QEP_QFLG_PCO ( 1 << 6)
	position counter overflow interrupt flag More...

#define	QEP_QFLG_PCU ( 1 << 5)
	position counter underflow interrupt flag More...

#define	QEP_QFLG_WTO ( 1 << 4)
	watchdog time out interrupt flag More...

#define	QEP_QFLG_QDC ( 1 << 3)
	quadrature direction change interrupt flag More...

#define	QEP_QFLG_QPE ( 1 << 2)
	quadrature phase error interrupt flag More...

#define	QEP_QFLG_PCE ( 1 << 1)
	position counter error interrupt flag More...

#define	QEP_QCLR_UTO ( 1 << 11)
	clear unit timeout interrupt flag More...

#define	QEP_QCLR_IEL ( 1 << 10)
	clear index event latch interrupt flag More...

#define	QEP_QCLR_SEL ( 1 << 9)
	clear strobe event latch interrupt flag More...

#define	QEP_QCLR_PCM ( 1 << 8)
	clear position compare match interrupt flag More...

#define	QEP_QCLR_PCR ( 1 << 7)
	clear position compare ready interrupt flag More...

#define	QEP_QCLR_PCO ( 1 << 6)
	clear position counter overflow interrupt flag More...

#define	QEP_QCLR_PCU ( 1 << 5)
	clear position counter underflow interrupt flag More...

#define	QEP_QCLR_WTO ( 1 << 4)
	clear watchdog time out interrupt flag More...

#define	QEP_QCLR_QDC ( 1 << 3)
	clear quadrature direction change interrupt flag More...

#define	QEP_QCLR_QPE ( 1 << 2)
	clear quadrature phase error interrupt flag More...

#define	QEP_QCLR_PCE ( 1 << 1)
	clear position counter error interrupt flag More...

#define	QEP_QFRC_UTO ( 1 << 11)
	force unit timeout interrupt More...

#define	QEP_QFRC_IEL ( 1 << 10)
	force index event latch interrupt More...

#define	QEP_QFRC_SEL ( 1 << 9)
	force strobe event latch interrupt More...

#define	QEP_QFRC_PCM ( 1 << 8)
	force position compare match interrupt More...

#define	QEP_QFRC_PCR ( 1 << 7)
	force position compare ready interrupt More...

#define	QEP_QFRC_PCO ( 1 << 6)
	force position counter overflow interrupt More...

#define	QEP_QFRC_PCU ( 1 << 5)
	force position counter underflow interrupt More...

#define	QEP_QFRC_WTO ( 1 << 4)
	force watchdog time out interrupt More...

#define	QEP_QFRC_QDC ( 1 << 3)
	force quadrature direction change interrupt More...

#define	QEP_QFRC_QPE ( 1 << 2)
	force quadrature phase error interrupt More...

#define	QEP_QFRC_PCE ( 1 << 1)
	force position counter error interrupt More...

#define	QEP_QEPSTS_UPEVNT ( 1 << 7)
	unit position event flag More...

#define	QEP_QEPSTS_FDF ( 1 << 6)
	direction on the first index marker More...

#define	QEP_QEPSTS_QDF ( 1 << 5)
	quadrature direction flag More...

#define	QEP_QEPSTS_QDLF ( 1 << 4)
	direction latch flag More...

#define	QEP_QEPSTS_COEF ( 1 << 3)
	capture overflow error flag More...

#define	QEP_QEPSTS_CDEF ( 1 << 2)
	capture direction error flag More...

#define	QEP_QEPSTS_FIMF ( 1 << 1)
	first index marker flag More...

#define	QEP_QEPSTS_PCEF ( 1 << 0)
	position counter error flag More...

Typedefs
typedef struct _QEP_Obj_	QEP_Obj
	Defines the QEP object. More...

typedef struct _QEP_Obj_ *	QEP_Handle
	Defines the QEP handle. More...

Enumerations
enum	QEP_Qsrc_e { QEP_Qsrc_Quad_Count_Mode =(0 << 14), QEP_Qsrc_Dir_Count_Mode =(1 << 14), QEP_Qsrc_Up_Count_Mode =(2 << 14), QEP_Qsrc_Down_Count_Mode =(3 << 14) }
	QEP counting mode. More...

enum	QEP_Spsel_e { QEP_Spsel_Index_Pin_Sync_Output =(0 << 12), QEP_Spsel_Strobe_Pin_Sync_Output =(1 << 12) }
	Sync output pin selection. More...

enum	QEP_Xcr_e { QEP_Xcr_2x_Res =(0 << 11), QEP_Xcr_1x_Res =(1 << 11) }
	External clock rate. More...

enum	QEP_Swap_e { QEP_Swap_Not_Swapped =(0 << 10), QEP_Swap_Swapped =(1 << 10) }
	Swap A/B channels. More...

enum	QEP_Igate_e { QEP_Igate_Disable =(0 << 9), QEP_Igate_Enable =(1 << 9) }
	Index gating. More...

enum	QEP_Qap_e { QEP_Qap_No_Effect =(0 << 8), QEP_Qap_Inverted =(1 << 8) }
	Channel A polarity. More...

enum	QEP_Qbp_e { QEP_Qbp_No_Effect =(0 << 7), QEP_Qbp_Inverted =(1 << 7) }
	Channel B polarity. More...

enum	QEP_Qip_e { QEP_Qip_No_Effect =(0 << 6), QEP_Qip_Inverted =(1 << 6) }
	Index polarity. More...

enum	QEP_Qsp_e { QEP_Qsp_No_Effect =(0 << 5), QEP_Qsp_Inverted =(1 << 5) }
	Channel S polarity. More...

enum	QEPCTL_Freesoft_e { QEPCTL_Freesoft_Immediate_Halt =(0 << 14), QEPCTL_Freesoft_Rollover_Halt =(1 << 14), QEPCTL_Freesoft_Unaffected_Halt =(2 << 14) }
	Emulation control bits. More...

enum	QEPCTL_Pcrm_e { QEPCTL_Pcrm_Index_Reset =(0 << 12), QEPCTL_Pcrm_Max_Reset =(1 << 12), QEPCTL_Pcrm_First_Index_Reset =(2 << 12), QEPCTL_Pcrm_Unit_Time_Reset =(3 << 12) }
	Position counter reset mode. More...

enum	QEPCTL_Sei_e { QEPCTL_Sei_Nothing =(0 << 10), QEPCTL_Sei_Rising_Edge_Init =(2 << 10), QEPCTL_Sei_Rising_Falling_Edge_Init =(3 << 10) }
	Strobe event initialization of position counter. More...

enum	QEPCTL_Iei_e { QEPCTL_Iei_Nothing =(0 << 8), QEPCTL_Iei_Rising_Edge_Init =(2 << 8), QEPCTL_Iei_Rising_Falling_Edge_Init =(3 << 8) }
	Index event initialization of position counter. More...

enum	QEPCTL_Swi_e { QEPCTL_Swi_Nothing =(0 << 7), QEPCTL_Swi_Auto_Init_Counter =(1 << 7) }
	Software initialization of position counter. More...

enum	QEPCTL_Sel_e { QEPCTL_Sel_Rising_Edge =(0 << 6), QEPCTL_Sel_Rising_Falling_Edge =(1 << 6) }
	Strobe event latch of position counter. More...

enum	QEPCTL_Iel_e { QEPCTL_Iel_Rising_Edge =(1 << 4), QEPCTL_Iel_Falling_Edge =(2 << 4), QEPCTL_Iel_Software_Index_Marker =(3 << 4) }
	Index event latch of position counter (software index marker) More...

enum	QEPCTL_Qclm_e { QEPCTL_Qclm_Latch_on_CPU_Read =(0 << 2), QEPCTL_Qclm_Latch_on_Unit_Timeout =(1 << 2) }
	QEP capture latch mode. More...

enum	QPOSCTL_Pcshdw_e { QPOSCTL_Pcshdw_Load_Immediate =(0 << 15), QPOSCTL_Pcshdw_Shadow_Enabled =(1 << 15) }
	Position compare shadow enable. More...

enum	QPOSCTL_Pcload_e { QPOSCTL_Pcload_Load_Posn_Count_Zero =(0 << 14), QPOSCTL_Pcload_Load_Posn_Count_Equal_Compare =(1 << 14) }
	Position compare shadow load mode. More...

enum	QPOSCTL_Pcpol_e { QPOSCTL_Pcpol_Active_High =(0 << 13), QPOSCTL_Pcpol_Active_Low =(1 << 13) }
	Polarity of sync output. More...

enum	QCAPCTL_Ccps_e { QCAPCTL_Ccps_Capture_Div_1 =(0 << 4), QCAPCTL_Ccps_Capture_Div_2 =(1 << 4), QCAPCTL_Ccps_Capture_Div_4 =(2 << 4), QCAPCTL_Ccps_Capture_Div_8 =(3 << 4), QCAPCTL_Ccps_Capture_Div_16 =(4 << 4), QCAPCTL_Ccps_Capture_Div_32 =(5 << 4), QCAPCTL_Ccps_Capture_Div_64 =(6 << 4), QCAPCTL_Ccps_Capture_Div_128 =(7 << 4) }
	QEP capture timer clock prescaler. More...

enum	QCAPCTL_Upps_e { QCAPCTL_Upps_Div_1_Prescale =(0 << 0), QCAPCTL_Upps_Div_2_Prescale =(1 << 0), QCAPCTL_Upps_Div_4_Prescale =(2 << 0), QCAPCTL_Upps_Div_8_Prescale =(3 << 0), QCAPCTL_Upps_Div_16_Prescale =(4 << 0), QCAPCTL_Upps_Div_32_Prescale =(5 << 0), QCAPCTL_Upps_Div_64_Prescale =(6 << 0), QCAPCTL_Upps_Div_128_Prescale =(7 << 0), QCAPCTL_Upps_Div_256_Prescale =(8 << 0), QCAPCTL_Upps_Div_512_Prescale =(9 << 0), QCAPCTL_Upps_Div_1024_Prescale =(10 << 0), QCAPCTL_Upps_Div_2048_Prescale =(11 << 0) }
	Unit position event prescaler. More...

enum	QEINT_e { QEINT_Uto =(1 << 11), QEINT_Iel =(1 << 10), QEINT_Sel =(1 << 9), QEINT_Pcm =(1 << 8), QEINT_Pcr =(1 << 7), QEINT_Pco =(1 << 6), QEINT_Pcu =(1 << 5), QEINT_Wto =(1 << 4), QEINT_Qdc =(1 << 3), QEINT_Qpe =(1 << 2), QEINT_Pce =(1 << 1) }
	QEP interrupt enable flags. More...

enum	QEP_qepsts_e { UPEVNT =(1 << 7), FDF = (1 << 6), QDF = (1 << 5), QDLF = (1 << 4), COEF = (1 << 3), CDEF = (1 << 2), FIMF = (1 << 1), PCEF = (1 << 0) }
	QEP status bits. More...

Functions
void	QEP_clear_all_interrupt_flags (QEP_Handle qepHandle)
	Clears all QEP interrupt flags. More...

void	QEP_clear_interrupt_flag (QEP_Handle qepHandle, const QEINT_e QEINT)
	Clears a single interrupt flag. More...

void	QEP_clear_posn_counter (QEP_Handle qepHandle)
	Clears the position counter. More...

void	QEP_disable_all_interrupts (QEP_Handle qepHandle)
	Disables all interrupts. More...

void	QEP_disable_capture (QEP_Handle qepHandle)
	Disable capture. More...

void	QEP_disable_gate_index (QEP_Handle qepHandle)
	Disable gating of index pulse. More...

void	QEP_disable_interrupt (QEP_Handle qepHandle, const QEINT_e QEINT)
	Disable individual interrupt. More...

void	QEP_disable_posn_compare (QEP_Handle qepHandle)
	Disable position compare. More...

void	QEP_disable_posn_compare_shadow (QEP_Handle qepHandle)
	Disable position compare shadowing. More...

void	QEP_disable_sync_out (QEP_Handle qepHandle)
	Disable output sync pulse. More...

void	QEP_disable_unit_timer (QEP_Handle qepHandle)
	Disable unit timer. More...

void	QEP_disable_watchdog (QEP_Handle qepHandle)
	Disable watchdog timer. More...

void	QEP_enable_capture (QEP_Handle qepHandle)
	Enable capture. More...

void	QEP_enable_counter (QEP_Handle qepHandle)
	Enable counter. More...

void	QEP_enable_gate_index (QEP_Handle qepHandle)
	Enable gating of index pulse. More...

void	QEP_enable_interrupt (QEP_Handle qepHandle, const QEINT_e QEINT)
	Enable individual interrupt. More...

void	QEP_enable_posn_compare (QEP_Handle qepHandle)
	Enable position compare. More...

void	QEP_enable_posn_compare_shadow (QEP_Handle qepHandle)
	Enable position compare shadowing. More...

void	QEP_enable_sync_out (QEP_Handle qepHandle)
	Enable output sync pulse. More...

void	QEP_enable_unit_timer (QEP_Handle qepHandle)
	Enable unit timer. More...

void	QEP_enable_watchdog (QEP_Handle qepHandle)
	Enable watchdog timer. More...

void	QEP_force_interrupt (QEP_Handle qepHandle, const QEINT_e QEINT)
	Manually force QEP interrupt. More...

QEP_Handle	QEP_init (void *pMemory, const size_t numBytes)
	Initializes the QEP object. More...

uint16_t	QEP_read_capture_period_latch (QEP_Handle qepHandle)
	Reads capture period latch. More...

uint16_t	QEP_read_capture_timer_latch (QEP_Handle qepHandle)
	Reads timer latch. More...

uint16_t	QEP_read_interrupt_flag (QEP_Handle qepHandle, const QEINT_e QEINT)
	Reads interrupt flag value. More...

uint32_t	QEP_read_posn_compare (QEP_Handle qepHandle)
	Reads position compare register. More...

uint32_t	QEP_read_posn_count (QEP_Handle qepHandle)
	Reads position counter. More...

uint32_t	QEP_read_posn_index_latch (QEP_Handle qepHandle)
	Reads position counter value index pulse latch register. More...

uint32_t	QEP_read_posn_latch (QEP_Handle qepHandle)
	Reads position counter value. More...

uint32_t	QEP_read_posn_strobe_latch (QEP_Handle qepHandle)
	Reads position strobe latch. More...

uint16_t	QEP_read_status (QEP_Handle qepHandle)
	Reads status register. More...

void	QEP_reset_counter (QEP_Handle qepHandle)
	Resets counter. More...

void	QEP_reset_status (QEP_Handle qepHandle, const QEP_qepsts_e qepsts)
	Resets the individual QEP status register bits. More...

void	QEP_set_capture_latch_mode (QEP_Handle qepHandle, const QEPCTL_Qclm_e QEPCTL_Qclm)
	Sets capture latch mode. More...

void	QEP_set_capture_period (QEP_Handle qepHandle, const uint16_t period)
	Sets capture period. More...

void	QEP_set_capture_prescale (QEP_Handle qepHandle, const QCAPCTL_Ccps_e QCAPCTL_Ccps)
	Sets capture pre-scaler. More...

void	QEP_set_emu_control (QEP_Handle qepHandle, const QEPCTL_Freesoft_e QEPCTL_Freesoft)
	Sets emulation control. More...

void	QEP_set_ext_clock_rate (QEP_Handle qepHandle, const QEP_Xcr_e QEP_Xcr)
	Sets external clock rate. More...

void	QEP_set_index_event_init (QEP_Handle qepHandle, const QEPCTL_Iei_e QEPCTL_Iei)
	Sets the event which initializes the counter register. More...

void	QEP_set_index_event_latch (QEP_Handle qepHandle, const QEPCTL_Iel_e QEPCTL_Iel)
	Sets the index event which latches the position counter. More...

void	QEP_set_index_polarity (QEP_Handle qepHandle, const QEP_Qip_e QEP_Qip)
	Sets index polarity. More...

void	QEP_set_max_posn_count (QEP_Handle qepHandle, const uint32_t max_count)
	Sets max position count. More...

void	QEP_set_posn_compare_pulse_width (QEP_Handle qepHandle, const uint16_t pulse_width)
	Sets output pulse width when a match occur. More...

void	QEP_set_posn_compare_shadow_load (QEP_Handle qepHandle, const QPOSCTL_Pcload_e QPOSCTL_Pcload)
	Sets position compare shadow load mode. More...

void	QEP_set_posn_count_reset_mode (QEP_Handle qepHandle, const QEPCTL_Pcrm_e QEPCTL_Pcrm)
	Sets position counter reset mode. More...

void	QEP_set_posn_init_count (QEP_Handle qepHandle, const uint32_t init_count)
	Sets initial position counter value. More...

void	QEP_set_select_sync_pin (QEP_Handle qepHandle, const QEP_Spsel_e QEP_SPsel)
	Selects whether index or strobe pin is used for sync output. More...

void	QEP_set_soft_init (QEP_Handle qepHandle, const QEPCTL_Swi_e QEPCTL_Swi)
	Determines if software initialization of position counter enabled. More...

void	QEP_set_strobe_event_init (QEP_Handle qepHandle, const QEPCTL_Sei_e QEPCTL_Sei)
	Determines strobe initialization of position counter. More...

void	QEP_set_strobe_event_latch (QEP_Handle qepHandle, const QEPCTL_Sel_e QEPCTL_Sel)
	Sets up strobe latch of position counter. More...

void	QEP_set_strobe_polarity (QEP_Handle qepHandle, const QEP_Qsp_e QEP_Qsp)
	Sets up strobe polarity. More...

void	QEP_set_swap_quad_inputs (QEP_Handle qepHandle, QEP_Swap_e QEP_Swap)
	Sets up swapping of A/B channels. More...

void	QEP_set_synch_output_compare_polarity (QEP_Handle qepHandle, const QPOSCTL_Pcpol_e QPOSCTL_Pcpol)
	Sets synch output compare polarity. More...

void	QEP_set_unit_period (QEP_Handle qepHandle, const uint32_t unit_period)
	Sets unit timer period. More...

void	QEP_set_unit_posn_prescale (QEP_Handle qepHandle, const QCAPCTL_Upps_e QCAPCTL_Upps)
	Sets unit timer prescaling. More...

void	QEP_set_watchdog_period (QEP_Handle qepHandle, const uint16_t watchdog_period)
	Sets watchdog period. More...

void	QEP_set_A_polarity (QEP_Handle qepHandle, const QEP_Qap_e QEP_Qap)
	Sets A polarity. More...

void	QEP_set_B_polarity (QEP_Handle qepHandle, const QEP_Qbp_e QEP_Qbp)
	Sets B polarity. More...

void	QEP_set_QEP_source (QEP_Handle qepHandle, const QEP_Qsrc_e QEP_Qsrc)
	QEP counting mode. More...

void	QEP_setup_strobe_event_latch (QEP_Handle qepHandle, const QEPCTL_Sel_e QEPCTL_Sel)
	QEP strobe latch event. More...

void	QEP_write_posn_compare (QEP_Handle qepHandle, const uint32_t posn)
	Writes a value to the position compare register. More...

Detailed Description

Contains public interface to various functions related to the quadrature pulse encoder (QEP) object.

Definition in file qep.h.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description