tinyUSB/demos/bsp/lpc43xx/CMSIS_LPC43xx_DriverLib/src/lpc43xx_qei.c

/**********************************************************************
* $Id$		lpc43xx_qei.c		2011-06-02
*//**
* @file		lpc43xx_pwr.c
* @brief	Contains all functions support for QEI firmware library on lpc43xx
* @version	1.0
* @date		02. June. 2011
* @author	NXP MCU SW Application Team
*
* Copyright(C) 2011, NXP Semiconductor
* All rights reserved.
*
***********************************************************************
* Software that is described herein is for illustrative purposes only
* which provides customers with programming information regarding the
* products. This software is supplied "AS IS" without any warranties.
* NXP Semiconductors assumes no responsibility or liability for the
* use of the software, conveys no license or title under any patent,
* copyright, or mask work right to the product. NXP Semiconductors
* reserves the right to make changes in the software without
* notification. NXP Semiconductors also make no representation or
* warranty that such application will be suitable for the specified
* use without further testing or modification.
* Permission to use, copy, modify, and distribute this software and its
* documentation is hereby granted, under NXP Semiconductors<72>
* relevant copyright in the software, without fee, provided that it
* is used in conjunction with NXP Semiconductors microcontrollers.  This
* copyright, permission, and disclaimer notice must appear in all copies of
* this code.
**********************************************************************/

/* Peripheral group ----------------------------------------------------------- */
/** @addtogroup QEI
 * @{
 */

/* Includes ------------------------------------------------------------------- */
#include "lpc43xx_qei.h"
#include "lpc43xx_cgu.h"

/* If this source file built with example, the lpc43xx FW library configuration
 * file in each example directory ("lpc43xx_libcfg.h") must be included,
 * otherwise the default FW library configuration file must be included instead
 */
#ifdef __BUILD_WITH_EXAMPLE__
#include "lpc43xx_libcfg.h"
#else
#include "lpc43xx_libcfg_default.h"
#endif /* __BUILD_WITH_EXAMPLE__ */

#ifdef _QEI

/* Private Types -------------------------------------------------------------- */
/** @defgroup QEI_Private_Types QEI Private Types
 * @{
 */

/**
 * @brief QEI configuration union type definition
 */
typedef union {
	QEI_CFG_Type bmQEIConfig;
	uint32_t ulQEIConfig;
} QEI_CFGOPT_Type;

/**
 * @}
 */

LPC_QEI_Type* QEI_GetPointer(uint8_t qeiId);


/* Public Functions ----------------------------------------------------------- */
/** @addtogroup QEI_Public_Functions
 * @{
 */

/*********************************************************************//**
 * @brief		Get the point to typedef of QEI component
 * @param[in]	qeiId	The Id of the expected QEI component, should be: 0
 * @return		None
 **********************************************************************/
LPC_QEI_Type* QEI_GetPointer(uint8_t qeiId)
{
	LPC_QEI_Type* pQei = NULL;

	if(qeiId == 0)
	{
		pQei = LPC_QEI;
	}

	return pQei;
}


/*********************************************************************//**
 * @brief		Resets value for each type of QEI value, such as velocity,
 * 				counter, position, etc..
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulResetType	QEI Reset Type, should be one of the following:
 * 					- QEI_RESET_POS			:Reset Position Counter
 * 					- QEI_RESET_POSOnIDX	:Reset Position Counter on Index signal
 * 					- QEI_RESET_VEL			:Reset Velocity
 * 					- QEI_RESET_IDX			:Reset Index Counter
 * @return		None
 **********************************************************************/
void QEI_Reset(uint8_t qeiId, uint32_t ulResetType)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	pQei->CON = ulResetType;
}

/*********************************************************************//**
 * @brief		Initializes the QEI peripheral according to the specified
*               parameters in the QEI_ConfigStruct.
* @param[in]	qeiId The Id of the expected QEI component, should be: 0
* @param[in]	QEI_ConfigStruct	Pointer to a QEI_CFG_Type structure
*               that contains the configuration information for the
*               specified QEI peripheral
 * @return		None
 **********************************************************************/
void QEI_Init(uint8_t qeiId, QEI_CFG_Type *QEI_ConfigStruct)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	/* Set up clock and power for QEI module */
	// Already enabled by BASE_M3_CLK

	// Reset all remaining value in QEI peripheral

	pQei->MAXPOS = 0x00;
	pQei->CMPOS0 = 0x00;
	pQei->CMPOS1 = 0x00;
	pQei->CMPOS2 = 0x00;
	pQei->INXCMP0 = 0x00;
	pQei->VELCOMP = 0x00;

	pQei->LOAD = 0x00;
	pQei->CON = QEI_CON_RESP | QEI_CON_RESV | QEI_CON_RESI;

	pQei->FILTERPHA = 0x00;
	pQei->FILTERPHB = 0x00;
	pQei->FILTERINX = 0x00;

	// Disable all Interrupt
	pQei->IEC = QEI_IECLR_BITMASK;

	// Clear all Interrupt pending
	pQei->CLR = QEI_INTCLR_BITMASK;

	// Set QEI configuration value corresponding to its setting up value
	pQei->CONF = ((QEI_CFGOPT_Type *)QEI_ConfigStruct)->ulQEIConfig;
}


/*********************************************************************//**
 * @brief		De-Initalize QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @return 		None
 **********************************************************************/
void QEI_DeInit(uint8_t qeiId)
{
	/* Turn off clock and power for QEI module */

}


/*****************************************************************************//**
* @brief		Fills each QIE_InitStruct member with its default value:
* 					- DirectionInvert = QEI_DIRINV_NONE
* 					- SignalMode = QEI_SIGNALMODE_QUAD
* 					- CaptureMode = QEI_CAPMODE_4X
* 					- InvertIndex = QEI_INVINX_NONE
* @param[in]	QIE_InitStruct Pointer to a QEI_CFG_Type structure which will be
* 				initialized.
* @return		None
*******************************************************************************/
void QEI_GetCfgDefault(QEI_CFG_Type *QIE_InitStruct)
{
	QIE_InitStruct->CaptureMode = QEI_CAPMODE_4X;
	QIE_InitStruct->DirectionInvert = QEI_DIRINV_NONE;
	QIE_InitStruct->InvertIndex = QEI_INVINX_NONE;
	QIE_InitStruct->SignalMode = QEI_SIGNALMODE_QUAD;
}


/*********************************************************************//**
 * @brief		Check whether if specified flag status is set or not
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulFlagType	Status Flag Type, should be one of the following:
 * 					- QEI_STATUS_DIR: Direction Status
 * @return		New Status of this status flag (SET or RESET)
 **********************************************************************/
FlagStatus QEI_GetStatus(uint8_t qeiId, uint32_t ulFlagType)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	return ((pQei->STAT & ulFlagType) ? SET : RESET);
}


/*********************************************************************//**
 * @brief		Get current position value in QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @return		Current position value of QEI peripheral
 **********************************************************************/
uint32_t QEI_GetPosition(uint8_t qeiId)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	return (pQei->POS);
}

/*********************************************************************//**
 * @brief		Set max position value for QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulMaxPos	Max position value to set
 * @return		None
 **********************************************************************/
void QEI_SetMaxPosition(uint8_t qeiId, uint32_t ulMaxPos)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	pQei->MAXPOS = ulMaxPos;
}

/*********************************************************************//**
 * @brief		Set position compare value for QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	bPosCompCh	Compare Position channel, should be:
 * 					- QEI_COMPPOS_CH_0	:QEI compare position channel 0
 * 					- QEI_COMPPOS_CH_1	:QEI compare position channel 1
 * 					- QEI_COMPPOS_CH_2	:QEI compare position channel 2
 * @param[in]	ulPosComp	Compare Position value to set
 * @return		None
 **********************************************************************/
void QEI_SetPositionComp(uint8_t qeiId, uint8_t bPosCompCh, uint32_t ulPosComp)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);
	uint32_t *tmp;

	tmp = (uint32_t *) (&(pQei->CMPOS0) + bPosCompCh * 4);
	*tmp = ulPosComp;
}

/*********************************************************************//**
 * @brief		Get current index counter of QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @return		Current value of QEI index counter
 **********************************************************************/
uint32_t QEI_GetIndex(uint8_t qeiId)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	return (pQei->INXCNT);
}

/*********************************************************************//**
 * @brief		Set value for index compare in QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulIndexComp		Compare Index Value to set
 * @return		None
 **********************************************************************/
void QEI_SetIndexComp(uint8_t qeiId, uint32_t ulIndexComp)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	pQei->INXCMP0 = ulIndexComp;
}

/*********************************************************************//**
 * @brief		Set timer reload value for QEI peripheral. When the velocity timer is
 * 				over-flow, the value that set for Timer Reload register will be loaded
 * 				into the velocity timer for next period. The calculated velocity in RPM
 * 				therefore will be affect by this value.
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	QEIReloadStruct	QEI reload structure
 * @return		None
 **********************************************************************/
void QEI_SetTimerReload(uint8_t qeiId, QEI_RELOADCFG_Type *QEIReloadStruct)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);
	uint64_t pclk;

	if (QEIReloadStruct->ReloadOption == QEI_TIMERRELOAD_TICKVAL)
	{
		pQei->LOAD = QEIReloadStruct->ReloadValue - 1;
	}
	else
	{
#if 1
//		pclk = CGU_GetPCLKFrequency(CGU_PERIPHERAL_M3CORE);
		pclk = CGU_GetPCLKFrequency(CGU_PERIPHERAL_M4CORE);

		pclk = (pclk /(1000000/QEIReloadStruct->ReloadValue)) - 1;

		pQei->LOAD = (uint32_t)pclk;
#else
		ld = M3Frequency;

		if (ld/1000000 > 0)
		{
		 	ld /= 1000000;
			ld *= QEIReloadStruct->ReloadValue;
			ld -= 1;
		}
		else
		{
			ld *= QEIReloadStruct->ReloadValue;
			ld /= 1000000;
			ld -= 1;
		}

		pQei->LOAD = ld;
#endif
	}
}

/*********************************************************************//**
 * @brief		Get current timer counter in QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @return		Current timer counter in QEI peripheral
 **********************************************************************/
uint32_t QEI_GetTimer(uint8_t qeiId)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	return (pQei->TIME);
}

/*********************************************************************//**
 * @brief		Get current velocity pulse counter in current time period
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @return		Current velocity pulse counter value
 **********************************************************************/
uint32_t QEI_GetVelocity(uint8_t qeiId)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	return (pQei->VEL);
}

/*********************************************************************//**
 * @brief		Get the most recently measured velocity of the QEI. When
 * 				the Velocity timer in QEI is over-flow, the current velocity
 * 				value will be loaded into Velocity Capture register.
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @return		The most recently measured velocity value
 **********************************************************************/
uint32_t QEI_GetVelocityCap(uint8_t qeiId)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	return (pQei->CAP);
}

/*********************************************************************//**
 * @brief		Set Velocity Compare value for QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulVelComp		Compare Velocity value to set
 * @return		None
 **********************************************************************/
void QEI_SetVelocityComp(uint8_t qeiId, uint32_t ulVelComp)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	pQei->VELCOMP = ulVelComp;
}

/*********************************************************************//**
 * @brief		Set value of sampling count for the digital filter in
 * 				QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulSamplingPulse	Value of sampling count to set
 * @return		None
 **********************************************************************/
void QEI_SetDigiFilter(uint8_t qeiId, st_Qei_FilterCfg FilterVal)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	pQei->FILTERPHA = FilterVal.PHA_FilterVal;
	pQei->FILTERPHB = FilterVal.PHB_FilterVal;
	pQei->FILTERINX = FilterVal.INX_FilterVal;
}

/*********************************************************************//**
 * @brief		Check whether if specified interrupt flag status in QEI
 * 				peripheral is set or not
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulIntType Interrupt Flag Status type, should be:
 * 					- QEI_INTFLAG_INX_Int		: index pulse was detected interrupt
 * 					- QEI_INTFLAG_TIM_Int		: Velocity timer over flow interrupt
 * 					- QEI_INTFLAG_VELC_Int		: Capture velocity is less than compare interrupt
 * 					- QEI_INTFLAG_DIR_Int		: Change of direction interrupt
 * 					- QEI_INTFLAG_ERR_Int		: An encoder phase error interrupt
 * 					- QEI_INTFLAG_ENCLK_Int		: An encoder clock pulse was detected interrupt
 * 					- QEI_INTFLAG_POS0_Int		: position 0 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_POS1_Int		: position 1 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_POS2_Int		: position 2 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_REV_Int		: Index compare value is equal to the current index count interrupt
 * 					- QEI_INTFLAG_POS0REV_Int	: Combined position 0 and revolution count interrupt
 * 					- QEI_INTFLAG_POS1REV_Int	: Combined position 1 and revolution count interrupt
 * 					- QEI_INTFLAG_POS2REV_Int	: Combined position 2 and revolution count interrupt
 * @return		New State of specified interrupt flag status (SET or RESET)
 **********************************************************************/
FlagStatus QEI_GetIntStatus(uint8_t qeiId, uint32_t ulIntType)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	return((pQei->INTSTAT & ulIntType) ? SET : RESET);
}

/*********************************************************************//**
 * @brief		Enable/Disable specified interrupt in QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulIntType		Interrupt Flag Status type, should be:
 * 					- QEI_INTFLAG_INX_Int		: index pulse was detected interrupt
 * 					- QEI_INTFLAG_TIM_Int		: Velocity timer over flow interrupt
 * 					- QEI_INTFLAG_VELC_Int		: Capture velocity is less than compare interrupt
 * 					- QEI_INTFLAG_DIR_Int		: Change of direction interrupt
 * 					- QEI_INTFLAG_ERR_Int		: An encoder phase error interrupt
 * 					- QEI_INTFLAG_ENCLK_Int		: An encoder clock pulse was detected interrupt
 * 					- QEI_INTFLAG_POS0_Int		: position 0 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_POS1_Int		: position 1 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_POS2_Int		: position 2 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_REV_Int		: Index compare value is equal to the current index count interrupt
 * 					- QEI_INTFLAG_POS0REV_Int	: Combined position 0 and revolution count interrupt
 * 					- QEI_INTFLAG_POS1REV_Int	: Combined position 1 and revolution count interrupt
 * 					- QEI_INTFLAG_POS2REV_Int	: Combined position 2 and revolution count interrupt
 * @param[in]	NewState	New function state, should be:
 *					- DISABLE
 *					- ENABLE
 * @return		None
 **********************************************************************/
void QEI_IntCmd(uint8_t qeiId, uint32_t ulIntType, FunctionalState NewState)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	if (NewState == ENABLE)
	{
		pQei->IES = ulIntType;
	}
	else
	{
		pQei->IEC = ulIntType;
	}
}


/*********************************************************************//**
 * @brief		Sets (forces) specified interrupt in QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulIntType		Interrupt Flag Status type, should be:
 * 					- QEI_INTFLAG_INX_Int		: index pulse was detected interrupt
 * 					- QEI_INTFLAG_TIM_Int		: Velocity timer over flow interrupt
 * 					- QEI_INTFLAG_VELC_Int		: Capture velocity is less than compare interrupt
 * 					- QEI_INTFLAG_DIR_Int		: Change of direction interrupt
 * 					- QEI_INTFLAG_ERR_Int		: An encoder phase error interrupt
 * 					- QEI_INTFLAG_ENCLK_Int		: An encoder clock pulse was detected interrupt
 * 					- QEI_INTFLAG_POS0_Int		: position 0 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_POS1_Int		: position 1 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_POS2_Int		: position 2 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_REV_Int		: Index compare value is equal to the current index count interrupt
 * 					- QEI_INTFLAG_POS0REV_Int	: Combined position 0 and revolution count interrupt
 * 					- QEI_INTFLAG_POS1REV_Int	: Combined position 1 and revolution count interrupt
 * 					- QEI_INTFLAG_POS2REV_Int	: Combined position 2 and revolution count interrupt
 * @return		None
 **********************************************************************/
void QEI_IntSet(uint8_t qeiId, uint32_t ulIntType)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	pQei->SET = ulIntType;
}

/*********************************************************************//**
 * @brief		Clear (force) specified interrupt (pending) in QEI peripheral
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulIntType		Interrupt Flag Status type, should be:
 * 					- QEI_INTFLAG_INX_Int		: index pulse was detected interrupt
 * 					- QEI_INTFLAG_TIM_Int		: Velocity timer over flow interrupt
 * 					- QEI_INTFLAG_VELC_Int		: Capture velocity is less than compare interrupt
 * 					- QEI_INTFLAG_DIR_Int		: Change of direction interrupt
 * 					- QEI_INTFLAG_ERR_Int		: An encoder phase error interrupt
 * 					- QEI_INTFLAG_ENCLK_Int		: An encoder clock pulse was detected interrupt
 * 					- QEI_INTFLAG_POS0_Int		: position 0 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_POS1_Int		: position 1 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_POS2_Int		: position 2 compare value is equal to the current position interrupt
 * 					- QEI_INTFLAG_REV_Int		: Index compare value is equal to the current index count interrupt
 * 					- QEI_INTFLAG_POS0REV_Int	: Combined position 0 and revolution count interrupt
 * 					- QEI_INTFLAG_POS1REV_Int	: Combined position 1 and revolution count interrupt
 * 					- QEI_INTFLAG_POS2REV_Int	: Combined position 2 and revolution count interrupt
 * @return		None
 **********************************************************************/
void QEI_IntClear(uint8_t qeiId, uint32_t ulIntType)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	pQei->CLR = ulIntType;
}


/*********************************************************************//**
 * @brief		Calculates the actual velocity in RPM passed via velocity
 * 				capture value and Pulse Per Round (of the encoder) value
 * 				parameter input.
 * @param[in]	qeiId The Id of the expected QEI component, should be: 0
 * @param[in]	ulVelCapValue	Velocity capture input value that can be
 * 				got from QEI_GetVelocityCap() function
 * @param[in]	ulPPR	Pulse per round of encoder
 * @return		The actual value of velocity in RPM (Round per minute)
 **********************************************************************/
uint32_t QEI_CalculateRPM(uint8_t qeiId, uint32_t ulVelCapValue, uint32_t ulPPR)
{
	LPC_QEI_Type* pQei = QEI_GetPointer(qeiId);

	uint64_t rpm, clock, Load, edges;

	// Get current Clock rate for timer input
//	clock = CGU_GetPCLKFrequency(CGU_PERIPHERAL_M3CORE);
	clock = CGU_GetPCLKFrequency(CGU_PERIPHERAL_M4CORE);
	// Get Timer load value (velocity capture period)
	Load  = (uint64_t)(pQei->LOAD + 1);

	// Get Edge
	edges = (uint64_t)((pQei->CONF & QEI_CONF_CAPMODE) ? 4 : 2);

	// Calculate RPM
	rpm = ((clock * ulVelCapValue * 60) / (Load * ulPPR * edges));

	return (uint32_t)(rpm);
}


/**
 * @}
 */

#endif /* _QEI */

/**
 * @}
 */

/* --------------------------------- End Of File ------------------------------ */