//###########################################################################
//
// FILE:    hw_eqep.h
//
// TITLE:   Definitions for the EQEP registers.
//
//###########################################################################
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//###########################################################################

#ifndef HW_EQEP_H
#define HW_EQEP_H

//*************************************************************************************************
//
// The following are defines for the EQEP register offsets
//
//*************************************************************************************************
#define EQEP_O_QPOSCNT        0x0U    // Position Counter
#define EQEP_O_QPOSINIT       0x2U    // Position Counter Init
#define EQEP_O_QPOSMAX        0x4U    // Maximum Position Count
#define EQEP_O_QPOSCMP        0x6U    // Position Compare
#define EQEP_O_QPOSILAT       0x8U    // Index Position Latch
#define EQEP_O_QPOSSLAT       0xAU    // Strobe Position Latch
#define EQEP_O_QPOSLAT        0xCU    // Position Latch
#define EQEP_O_QUTMR          0xEU    // QEP Unit Timer
#define EQEP_O_QUPRD          0x10U   // QEP Unit Period
#define EQEP_O_QWDTMR         0x12U   // QEP Watchdog Timer
#define EQEP_O_QWDPRD         0x13U   // QEP Watchdog Period
#define EQEP_O_QDECCTL        0x14U   // Quadrature Decoder Control
#define EQEP_O_QEPCTL         0x15U   // QEP Control
#define EQEP_O_QCAPCTL        0x16U   // Qaudrature Capture Control
#define EQEP_O_QPOSCTL        0x17U   // Position Compare Control
#define EQEP_O_QEINT          0x18U   // QEP Interrupt Control
#define EQEP_O_QFLG           0x19U   // QEP Interrupt Flag
#define EQEP_O_QCLR           0x1AU   // QEP Interrupt Clear
#define EQEP_O_QFRC           0x1BU   // QEP Interrupt Force
#define EQEP_O_QEPSTS         0x1CU   // QEP Status
#define EQEP_O_QCTMR          0x1DU   // QEP Capture Timer
#define EQEP_O_QCPRD          0x1EU   // QEP Capture Period
#define EQEP_O_QCTMRLAT       0x1FU   // QEP Capture Latch
#define EQEP_O_QCPRDLAT       0x20U   // QEP Capture Period Latch
#define EQEP_O_REV            0x30U   // QEP Revision Number
#define EQEP_O_QEPSTROBESEL   0x32U   // QEP Strobe select register
#define EQEP_O_QMACTRL        0x34U   // QMA Control register


//*************************************************************************************************
//
// The following are defines for the bit fields in the QDECCTL register
//
//*************************************************************************************************
#define EQEP_QDECCTL_QSP      0x20U     // QEPS input polarity
#define EQEP_QDECCTL_QIP      0x40U     // QEPI input polarity
#define EQEP_QDECCTL_QBP      0x80U     // QEPB input polarity
#define EQEP_QDECCTL_QAP      0x100U    // QEPA input polarity
#define EQEP_QDECCTL_IGATE    0x200U    // Index pulse gating option
#define EQEP_QDECCTL_SWAP     0x400U    // CLK/DIR Signal Source for Position Counter
#define EQEP_QDECCTL_XCR      0x800U    // External Clock Rate
#define EQEP_QDECCTL_SPSEL    0x1000U   // Sync output pin selection
#define EQEP_QDECCTL_SOEN     0x2000U   // Sync output-enable
#define EQEP_QDECCTL_QSRC_S   14U
#define EQEP_QDECCTL_QSRC_M   0xC000U   // Position-counter source selection

//*************************************************************************************************
//
// The following are defines for the bit fields in the QEPCTL register
//
//*************************************************************************************************
#define EQEP_QEPCTL_WDE           0x1U      // QEP watchdog enable
#define EQEP_QEPCTL_UTE           0x2U      // QEP unit timer enable
#define EQEP_QEPCTL_QCLM          0x4U      // QEP capture latch mode
#define EQEP_QEPCTL_QPEN          0x8U      // Quadrature postotion counter enable
#define EQEP_QEPCTL_IEL_S         4U
#define EQEP_QEPCTL_IEL_M         0x30U     // Index event latch
#define EQEP_QEPCTL_SEL           0x40U     // Strobe event latch
#define EQEP_QEPCTL_SWI           0x80U     // Software init position counter
#define EQEP_QEPCTL_IEI_S         8U
#define EQEP_QEPCTL_IEI_M         0x300U    // Index event init of position count
#define EQEP_QEPCTL_SEI_S         10U
#define EQEP_QEPCTL_SEI_M         0xC00U    // Strobe event init
#define EQEP_QEPCTL_PCRM_S        12U
#define EQEP_QEPCTL_PCRM_M        0x3000U   // Postion counter reset
#define EQEP_QEPCTL_FREE_SOFT_S   14U
#define EQEP_QEPCTL_FREE_SOFT_M   0xC000U   // Emulation mode

//*************************************************************************************************
//
// The following are defines for the bit fields in the QCAPCTL register
//
//*************************************************************************************************
#define EQEP_QCAPCTL_UPPS_S   0U
#define EQEP_QCAPCTL_UPPS_M   0xFU      // Unit position event prescaler
#define EQEP_QCAPCTL_CCPS_S   4U
#define EQEP_QCAPCTL_CCPS_M   0x70U     // eQEP capture timer clock prescaler
#define EQEP_QCAPCTL_CEN      0x8000U   // Enable eQEP capture

//*************************************************************************************************
//
// The following are defines for the bit fields in the QPOSCTL register
//
//*************************************************************************************************
#define EQEP_QPOSCTL_PCSPW_S   0U
#define EQEP_QPOSCTL_PCSPW_M   0xFFFU    // Position compare sync pulse width
#define EQEP_QPOSCTL_PCE       0x1000U   // Position compare enable/disable
#define EQEP_QPOSCTL_PCPOL     0x2000U   // Polarity of sync output
#define EQEP_QPOSCTL_PCLOAD    0x4000U   // Position compare of shadow load
#define EQEP_QPOSCTL_PCSHDW    0x8000U   // Position compare of shadow enable

//*************************************************************************************************
//
// The following are defines for the bit fields in the QEINT register
//
//*************************************************************************************************
#define EQEP_QEINT_PCE    0x2U      // Position counter error interrupt enable
#define EQEP_QEINT_QPE    0x4U      // Quadrature phase error interrupt enable
#define EQEP_QEINT_QDC    0x8U      // Quadrature direction change interrupt enable
#define EQEP_QEINT_WTO    0x10U     // Watchdog time out interrupt enable
#define EQEP_QEINT_PCU    0x20U     // Position counter underflow interrupt enable
#define EQEP_QEINT_PCO    0x40U     // Position counter overflow interrupt enable
#define EQEP_QEINT_PCR    0x80U     // Position-compare ready interrupt enable
#define EQEP_QEINT_PCM    0x100U    // Position-compare match interrupt enable
#define EQEP_QEINT_SEL    0x200U    // Strobe event latch interrupt enable
#define EQEP_QEINT_IEL    0x400U    // Index event latch interrupt enable
#define EQEP_QEINT_UTO    0x800U    // Unit time out interrupt enable
#define EQEP_QEINT_QMAE   0x1000U   // QMA error interrupt enable

//*************************************************************************************************
//
// The following are defines for the bit fields in the QFLG register
//
//*************************************************************************************************
#define EQEP_QFLG_INT    0x1U      // Global interrupt status flag
#define EQEP_QFLG_PCE    0x2U      // Position counter error interrupt flag
#define EQEP_QFLG_PHE    0x4U      // Quadrature phase error interrupt flag
#define EQEP_QFLG_QDC    0x8U      // Quadrature direction change interrupt flag
#define EQEP_QFLG_WTO    0x10U     // Watchdog timeout interrupt flag
#define EQEP_QFLG_PCU    0x20U     // Position counter underflow interrupt flag
#define EQEP_QFLG_PCO    0x40U     // Position counter overflow interrupt flag
#define EQEP_QFLG_PCR    0x80U     // Position-compare ready interrupt flag
#define EQEP_QFLG_PCM    0x100U    // eQEP compare match event interrupt flag
#define EQEP_QFLG_SEL    0x200U    // Strobe event latch interrupt flag
#define EQEP_QFLG_IEL    0x400U    // Index event latch interrupt flag
#define EQEP_QFLG_UTO    0x800U    // Unit time out interrupt flag
#define EQEP_QFLG_QMAE   0x1000U   // QMA error interrupt flag

//*************************************************************************************************
//
// The following are defines for the bit fields in the QCLR register
//
//*************************************************************************************************
#define EQEP_QCLR_INT    0x1U      // Global interrupt clear flag
#define EQEP_QCLR_PCE    0x2U      // Clear position counter error interrupt flag
#define EQEP_QCLR_PHE    0x4U      // Clear quadrature phase error interrupt flag
#define EQEP_QCLR_QDC    0x8U      // Clear quadrature direction change interrupt flag
#define EQEP_QCLR_WTO    0x10U     // Clear watchdog timeout interrupt flag
#define EQEP_QCLR_PCU    0x20U     // Clear position counter underflow interrupt flag
#define EQEP_QCLR_PCO    0x40U     // Clear position counter overflow interrupt flag
#define EQEP_QCLR_PCR    0x80U     // Clear position-compare ready interrupt flag
#define EQEP_QCLR_PCM    0x100U    // Clear eQEP compare match event interrupt flag
#define EQEP_QCLR_SEL    0x200U    // Clear strobe event latch interrupt flag
#define EQEP_QCLR_IEL    0x400U    // Clear index event latch interrupt flag
#define EQEP_QCLR_UTO    0x800U    // Clear unit time out interrupt flag
#define EQEP_QCLR_QMAE   0x1000U   // Clear QMA error interrupt flag

//*************************************************************************************************
//
// The following are defines for the bit fields in the QFRC register
//
//*************************************************************************************************
#define EQEP_QFRC_PCE    0x2U      // Force position counter error interrupt
#define EQEP_QFRC_PHE    0x4U      // Force quadrature phase error interrupt
#define EQEP_QFRC_QDC    0x8U      // Force quadrature direction change interrupt
#define EQEP_QFRC_WTO    0x10U     // Force watchdog time out interrupt
#define EQEP_QFRC_PCU    0x20U     // Force position counter underflow interrupt
#define EQEP_QFRC_PCO    0x40U     // Force position counter overflow interrupt
#define EQEP_QFRC_PCR    0x80U     // Force position-compare ready interrupt
#define EQEP_QFRC_PCM    0x100U    // Force position-compare match interrupt
#define EQEP_QFRC_SEL    0x200U    // Force strobe event latch interrupt
#define EQEP_QFRC_IEL    0x400U    // Force index event latch interrupt
#define EQEP_QFRC_UTO    0x800U    // Force unit time out interrupt
#define EQEP_QFRC_QMAE   0x1000U   // Force QMA error interrupt

//*************************************************************************************************
//
// The following are defines for the bit fields in the QEPSTS register
//
//*************************************************************************************************
#define EQEP_QEPSTS_PCEF     0x1U    // Position counter error flag.
#define EQEP_QEPSTS_FIMF     0x2U    // First index marker flag
#define EQEP_QEPSTS_CDEF     0x4U    // Capture direction error flag
#define EQEP_QEPSTS_COEF     0x8U    // Capture overflow error flag
#define EQEP_QEPSTS_QDLF     0x10U   // eQEP direction latch flag
#define EQEP_QEPSTS_QDF      0x20U   // Quadrature direction flag
#define EQEP_QEPSTS_FIDF     0x40U   // The first index marker
#define EQEP_QEPSTS_UPEVNT   0x80U   // Unit position event flag

//*************************************************************************************************
//
// The following are defines for the bit fields in the REV register
//
//*************************************************************************************************
#define EQEP_REV_MAJOR_S   0U
#define EQEP_REV_MAJOR_M   0x7U    // Major Revision Number
#define EQEP_REV_MINOR_S   3U
#define EQEP_REV_MINOR_M   0x38U   // Minor Revision Number

//*************************************************************************************************
//
// The following are defines for the bit fields in the QEPSTROBESEL register
//
//*************************************************************************************************
#define EQEP_QEPSTROBESEL_STROBESEL_S   0U
#define EQEP_QEPSTROBESEL_STROBESEL_M   0x3U   // QMA Mode Select

//*************************************************************************************************
//
// The following are defines for the bit fields in the QMACTRL register
//
//*************************************************************************************************
#define EQEP_QMACTRL_MODE_S   0U
#define EQEP_QMACTRL_MODE_M   0x7U   // QMA Mode Select



#endif
