QEI0 & QEI1 LM4F230H5QR

Hello,

 I have two incremental encode and I connect them to Quadrature Encoder Interface IDX0/PhA0/PhB0 and IDX1/PhA1/PhB1

But I only get QEI1 position will I use QEIPositionGet(QEI1_BASE) function

The QEI0 are return 0 or 1 value .

In addition there is a strange thing that I see only in QEI0, whenever interrupt QEI0IntHandler() happening the ulstatus == QEI_INTDIR.

Thanks

Eran SEgal.

/*****************************************************/
/*  For LM4F230H5QR             */
/*****************************************************/
#define QEI_PITCH_INDEX_PORT           GPIO_PORTD_BASE
#define QEI_PITCH_INDEX_PIN            GPIO_PIN_3
#define QEI_PITCH_INDEX_INT            INT_GPIOD

#define QEI_PITCH_PHA_PORT             GPIO_PORTD_BASE
#define QEI_PITCH_PHA_PIN              GPIO_PIN_6
#define QEI_PITCH_PHA_INT             INT_GPIOD

#define QEI_PITCH_PHB_PORT            GPIO_PORTD_BASE
#define QEI_PITCH_PHB_PIN              GPIO_PIN_7

//*****************************************************

#define QEI_ROLL_INDEX_PORT           GPIO_PORTC_BASE
#define QEI_ROLL_INDEX_PIN            GPIO_PIN_4
#define QEI_ROLL_INDEX_INT            INT_GPIOC

#define QEI_ROLL_PHA_PORT             GPIO_PORTC_BASE
#define QEI_ROLL_PHA_PIN              GPIO_PIN_5
#define QEI_ROLL_PHA_INT              INT_GPIOC

#define QEI_ROLL_PHB_PORT             GPIO_PORTC_BASE
#define QEI_ROLL_PHB_PIN              GPIO_PIN_6

//*****************************************************

//*****************************************************************************
//
// This function prepares the quadrature encoder module for capturing the
// position and speed of the motor.
//
//*****************************************************************************
void
Encoder_Init(unsigned long ulBase)
{

 if(ulBase == QEI0_BASE) // PITCH Encoder
 {
  //
  // Enable the peripherals QEI example.
  // 
  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
  SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);
 
  
  GPIOPinTypeQEI(QEI_PITCH_PHA_PORT,QEI_PITCH_PHA_PIN);
  GPIOPinTypeQEI(QEI_PITCH_PHB_PORT,QEI_PITCH_PHB_PIN);
  GPIOPinTypeQEI(QEI_PITCH_INDEX_PORT,QEI_PITCH_INDEX_PIN);
  
  
  // Set D 0 and 1 to alternative use
  GPIODirModeSet(GPIO_PORTD_BASE, GPIO_PIN_3, GPIO_DIR_MODE_HW);//GPIO_DIR_MODE_HW 
  GPIODirModeSet(GPIO_PORTD_BASE, GPIO_PIN_6, GPIO_DIR_MODE_HW);
  GPIODirModeSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_DIR_MODE_HW);
  

  //Enable GPIO for QEI0
  //PD3-> IDX0     
  //PD6-> PHA0
  //PD7-> PHB0
  GPIOPinConfigure(GPIO_PD3_IDX0);  
  GPIOPinConfigure(GPIO_PD6_PHA0); 
  GPIOPinConfigure(GPIO_PD7_PHB0);

  //
  // Configure the QEI module.
  //
  QEIConfigure(QEI0_BASE,
       (QEI_CONFIG_NO_RESET | QEI_CONFIG_CAPTURE_A_B |
        QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP), QEI1_POSCNT_MAX-1);
  
  
  //Set to 0
  QEIPositionSet(QEI0_BASE, 100);

  QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, 500000); //Configure the Velocity capture Module //500000 is 10ms at 50MHz

  QEIVelocityEnable(QEI0_BASE); //Enable the Velocity capture Module 
  
  QEIIntEnable(QEI0_BASE, QEI_INTDIR | QEI_INTINDEX);   //Enable Interrupt when the Timer is reach 0 on Valocity capture mode
  
  QEIEnable(QEI0_BASE);
    
  //
  // Configure the encoder input to generate an interrupt on every rising
  // edge.
  //
  GPIOIntTypeSet(QEI_PITCH_PHA_PORT, QEI_PITCH_PHA_PIN, GPIO_RISING_EDGE);
  GPIOPinIntEnable(QEI_PITCH_PHA_PORT, QEI_PITCH_PHA_PIN);
  IntEnable(QEI_PITCH_PHA_INT);   

  //Interrupt Enable
  //IntEnable(INT_QEI1);
  

 }
 else
 if(ulBase == QEI1_BASE)  // ROLL Encoder
 {

  //
  // Enable the peripherals QEI example.
  // 
  SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
  SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI1);
   
  GPIOPinTypeQEI(QEI_ROLL_PHA_PORT,QEI_ROLL_PHA_PIN);
  GPIOPinTypeQEI(QEI_ROLL_PHB_PORT,QEI_ROLL_PHB_PIN);
  GPIOPinTypeQEI(QEI_ROLL_INDEX_PORT,QEI_ROLL_INDEX_PIN);
  
  
  // Set F 0 and 1 to alternative use
  GPIODirModeSet(GPIO_PORTC_BASE, GPIO_PIN_4, GPIO_DIR_MODE_HW);//GPIO_DIR_MODE_HW 
  GPIODirModeSet(GPIO_PORTC_BASE, GPIO_PIN_5, GPIO_DIR_MODE_HW);
  GPIODirModeSet(GPIO_PORTC_BASE, GPIO_PIN_6, GPIO_DIR_MODE_HW);
  

  //Enable GPIO for QEI1
  //PC4-> IDX0     
  //PC5-> PHA0
  //PC6-> PHB0
  GPIOPinConfigure(GPIO_PC4_IDX1);  
  GPIOPinConfigure(GPIO_PC5_PHA1); 
  GPIOPinConfigure(GPIO_PC6_PHB1);

  //
  // Configure the QEI module.
  //
  QEIConfigure(QEI1_BASE,
       (QEI_CONFIG_NO_RESET | QEI_CONFIG_CAPTURE_A_B |
        QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP), QEI1_POSCNT_MAX-1);
  
  
  //Set to 0
  QEIPositionSet(QEI1_BASE, 100);

  QEIVelocityConfigure(QEI1_BASE, QEI_VELDIV_1, 500000); //Configure the Velocity capture Module //500000 is 10ms at 50MHz

  QEIVelocityEnable(QEI1_BASE); //Enable the Velocity capture Module 
  
  QEIIntEnable(QEI1_BASE, QEI_INTDIR | QEI_INTINDEX);   //Enable Interrupt when the Timer is reach 0 on Valocity capture mode
  
  QEIEnable(QEI1_BASE);
    
  //
  // Configure the encoder input to generate an interrupt on every rising
  // edge.
  //
  GPIOIntTypeSet(QEI_ROLL_PHA_PORT, QEI_ROLL_PHA_PIN, GPIO_RISING_EDGE);
  GPIOPinIntEnable(QEI_ROLL_PHA_PORT, QEI_ROLL_PHA_PIN);
  IntEnable(QEI_ROLL_PHA_INT);   

  }
}