Other Parts Discussed in Thread: EK-TM4C123GXL
Hello,
i try to implement a simple application, which can count the QEI edges. This edges are displayed at the console.
I use the TI-RTOS and the code compile without errors. The Problem is the output, which is always the same and varies by a maximum of 1.
I would be very grateful for help.
Output Console:Position: 500
Position: 499
Position: 499
Position: 499
Position: 500
Position: 500
/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/runtime/System.h>
#include <xdc/cfg/global.h>
/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
/* Standard IO stream etc. */
#include <stdbool.h> // Defines for standard boolean representation.
#include <stdio.h> // IO-stream for console display etc.
/* Drivers etc. */
#include "inc/hw_ints.h" // Macros defining the interrupts.
#include "inc/hw_memmap.h" // Macros defining the memory map of the device.
#include "inc/hw_sysctl.h" // Macros for usage with SysCtl.
#include "inc/hw_types.h" // Macros for common types.
#include "driverlib/debug.h" // Macros to debug the driverlib.
#include "driverlib/gpio.h" // Macros defining the GPIO assignments.
#include "driverlib/pin_map.h" // Macros defining the pin map of the device.
#include "driverlib/sysctl.h" // Prototypes for the SysCtl driver.
#include "driverlib/qei.h" // for quadratur encoder
/* Global variables */
// Put your global variables here.
uint32_t Position;
/* Function prototypes */
void Init_Clock(void);
void ConfigureQEI0(void);
/*
* ======== main ========
*/
void main(void)
{
printf("BIOS starting...\n");
// Initialize the main clock/oscillator.
Init_Clock();
//QEI Module aktivieren
ConfigureQEI0();
printf("Finished.\n");
// Start TI-RTOS. Everything is now controlled by the BIOS, as defined in your project .CFG file.
BIOS_start();
}
/*
* ======== tasks ========
*/
// This is the background task.
void Task_Idle(void)
{
// Code here ...
System_flush();
}
// This is a repetitive task that is executed every 100 ms.
// Timing can be modified in the .CFG file.
void Task_100ms(void)
{
// Read the encoder position.
Position = QEIPositionGet(QEI0_BASE);
// display values in debug window
System_printf("Position: %d\n", Position);
}
/*
* ======== user functions ========
*/
// This function initializes the clock/oscillator used in the project.
void Init_Clock(void)
{
// Settings for 80 MHz.
SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
return;
}
void ConfigureQEI0(){
printf("Initializing QEI ...");
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); // Enable the QEI0 peripheral
// while(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOF));
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0); // Enable the QEI0 peripheral
// while(!SysCtlPeripheralReady(SYSCTL_PERIPH_QEI0)); // Wait for the QEI0 module to be ready.
//Set Pins to be PHA0 and PHB0
GPIOPinConfigure(GPIO_PF0_PHA0);
GPIOPinConfigure(GPIO_PF1_PHB0);
GPIOPinTypeQEI(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOPinTypeQEI(GPIO_PORTF_BASE, GPIO_PIN_1);
//DISable peripheral and int before configuration
QEIDisable(QEI0_BASE);
QEIIntDisable(QEI0_BASE,QEI_INTERROR | QEI_INTDIR | QEI_INTTIMER | QEI_INTINDEX);
QEIConfigure(QEI0_BASE, QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_NO_RESET | QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP, 1000);
// enable QEI module
QEIEnable(QEI0_BASE);
//Set Register start Values
QEIPositionSet(QEI0_BASE,500);
printf(" done.\n");
return;
}
// End of file.
