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//*****************************************************************************
//
// qei.h - Prototypes for the Quadrature Encoder Driver.
//
// Copyright (c) 2005-2008 Luminary Micro, Inc. All rights reserved.
//
// Software License Agreement
//
// Luminary Micro, Inc. (LMI) is supplying this software for use solely and
// exclusively on LMI's microcontroller products.
//
// The software is owned by LMI and/or its suppliers, and is protected under
// applicable copyright laws. All rights are reserved. You may not combine
// this software with "viral" open-source software in order to form a larger
// program. Any use in violation of the foregoing restrictions may subject
// the user to criminal sanctions under applicable laws, as well as to civil
// liability for the breach of the terms and conditions of this license.
//
// THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
// LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
// CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
//
// This is part of revision 2523 of the Stellaris Peripheral Driver Library.
//
//*****************************************************************************
#ifndef __QEI_H__
#define __QEI_H__
//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif
//*****************************************************************************
//
// Values that can be passed to QEIConfigure as the ulConfig paramater.
//
//*****************************************************************************
#define QEI_CONFIG_CAPTURE_A 0x00000000 // Count on ChA edges only
#define QEI_CONFIG_CAPTURE_A_B 0x00000008 // Count on ChA and ChB edges
#define QEI_CONFIG_NO_RESET 0x00000000 // Do not reset on index pulse
#define QEI_CONFIG_RESET_IDX 0x00000010 // Reset position on index pulse
#define QEI_CONFIG_QUADRATURE 0x00000000 // ChA and ChB are quadrature
#define QEI_CONFIG_CLOCK_DIR 0x00000004 // ChA and ChB are clock and dir
#define QEI_CONFIG_NO_SWAP 0x00000000 // Do not swap ChA and ChB
#define QEI_CONFIG_SWAP 0x00000002 // Swap ChA and ChB
//*****************************************************************************
//
// Values that can be passed to QEIVelocityConfigure as the ulPreDiv parameter.
//
//*****************************************************************************
#define QEI_VELDIV_1 0x00000000 // Predivide by 1
#define QEI_VELDIV_2 0x00000040 // Predivide by 2
#define QEI_VELDIV_4 0x00000080 // Predivide by 4
#define QEI_VELDIV_8 0x000000C0 // Predivide by 8
#define QEI_VELDIV_16 0x00000100 // Predivide by 16
#define QEI_VELDIV_32 0x00000140 // Predivide by 32
#define QEI_VELDIV_64 0x00000180 // Predivide by 64
#define QEI_VELDIV_128 0x000001C0 // Predivide by 128
//*****************************************************************************
//
// Values that can be passed to QEIEnableInts, QEIDisableInts, and QEIClearInts
// as the ulIntFlags parameter, and returned by QEIGetIntStatus.
//
//*****************************************************************************
#define QEI_INTERROR 0x00000008 // Phase error detected
#define QEI_INTDIR 0x00000004 // Direction change
#define QEI_INTTIMER 0x00000002 // Velocity timer expired
#define QEI_INTINDEX 0x00000001 // Index pulse detected
//*****************************************************************************
//
// Prototypes for the APIs.
//
//*****************************************************************************
extern void QEIEnable(unsigned long ulBase);
extern void QEIDisable(unsigned long ulBase);
extern void QEIConfigure(unsigned long ulBase, unsigned long ulConfig,
unsigned long ulMaxPosition);
extern unsigned long QEIPositionGet(unsigned long ulBase);
extern void QEIPositionSet(unsigned long ulBase, unsigned long ulPosition);
extern long QEIDirectionGet(unsigned long ulBase);
extern tBoolean QEIErrorGet(unsigned long ulBase);
extern void QEIVelocityEnable(unsigned long ulBase);
extern void QEIVelocityDisable(unsigned long ulBase);
extern void QEIVelocityConfigure(unsigned long ulBase, unsigned long ulPreDiv,
unsigned long ulPeriod);
extern unsigned long QEIVelocityGet(unsigned long ulBase);
extern void QEIIntRegister(unsigned long ulBase, void (*pfnHandler)(void));
extern void QEIIntUnregister(unsigned long ulBase);
extern void QEIIntEnable(unsigned long ulBase, unsigned long ulIntFlags);
extern void QEIIntDisable(unsigned long ulBase, unsigned long ulIntFlags);
extern unsigned long QEIIntStatus(unsigned long ulBase, tBoolean bMasked);
extern void QEIIntClear(unsigned long ulBase, unsigned long ulIntFlags);
//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif
#endif // __QEI_H__
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