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Diffstat (limited to 'KSDK_1.2.0/platform/drivers/inc/fsl_enc_driver.h')
| -rwxr-xr-x | KSDK_1.2.0/platform/drivers/inc/fsl_enc_driver.h | 311 |
1 files changed, 311 insertions, 0 deletions
diff --git a/KSDK_1.2.0/platform/drivers/inc/fsl_enc_driver.h b/KSDK_1.2.0/platform/drivers/inc/fsl_enc_driver.h new file mode 100755 index 0000000..bf3249a --- /dev/null +++ b/KSDK_1.2.0/platform/drivers/inc/fsl_enc_driver.h @@ -0,0 +1,311 @@ +/******************************************************************************* +* +* Copyright [2014-]2014 Freescale Semiconductor, Inc. + +* +* This software is owned or controlled by Freescale Semiconductor. +* Use of this software is governed by the Freescale License +* distributed with this Material. +* See the LICENSE file distributed for more details. +* +* +*******************************************************************************/ + +#ifndef __FSL_ENC_DRIVER_H__ +#define __FSL_ENC_DRIVER_H__ + +#include <stdint.h> +#include <stdbool.h> + +#include "fsl_enc_hal.h" +#include "fsl_os_abstraction.h" +#if FSL_FEATURE_SOC_ENC_COUNT + +/*! + * @addtogroup enc_driver + * @{ + */ + +/******************************************************************************* + * Definitions + ******************************************************************************/ +extern ENC_Type* const g_encBase[]; +extern const IRQn_Type g_encCmpIrqId[ENC_INSTANCE_COUNT]; +extern const IRQn_Type g_encHomeIrqId[ENC_INSTANCE_COUNT]; +extern const IRQn_Type g_encWdtIrqId[ENC_INSTANCE_COUNT]; +extern const IRQn_Type g_encIndexIrqId[ENC_INSTANCE_COUNT]; +/*! + * @brief User configuration structure for ENC driver. + * + * Use an instance of this structure with the ENC_DRV_Init()function. This enables configuration of the + * most common settings of the ENC peripheral with a single function call. + * @internal gui name="ENC configuration" id="encCfg" + */ +typedef struct EncUserConfig { + uint32_t posCntInitValue; /*!< Value to put in Initialization Register. @internal gui name="Initialization register" id="InitReg" */ + uint32_t posCmpValue; /*!< Value to put in Position Compare Register. @internal gui name="Position compare register" id="PosCompReg" */ + uint32_t moduloValue; /*!< Value to put in Modulus Register. @internal gui name="Modulus register" id="ModReg" */ + uint16_t watchdogTimeout; /*!< Value to put in Watchdog Timeout Register. @internal gui name="Watchdog time-out register" id="WdogTimetReg" */ + uint8_t filterCount; /*!< Value represents the number of consecutive samples that must agree prior to the input filter accepting an input transition. @internal gui name="Filter sample count" id="FilterCount" */ + uint8_t filterPeriod; /*!< Value represents the sampling period (in IPBus clock cycles) of the decoder input signals. @internal gui name="Filter sample period" id="FilterPeriod" */ + enc_operation_mode_t operationMode; /*!< Operation mode: Normal mode, modulo counting mode or bypass (signal phase count) mode. @internal gui name="Operation mode" id="OpMode" */ + bool reverseCounting; /*!< Counting direction: Normal (false) or reverse (true) counting direction. @internal gui name="Reverse counting" id="ReverseCnt" */ + bool indexInputNegativeEdge; /*!< Type of transition edge of INDEX input signal: positive (false) or negative (true). @internal gui name="INDEX input signal" id="IdxNegEdge" */ + bool homeInputNegativeEdge; /*!< Type of transition edge of HOME input signal: positive (false) or negative (true). @internal gui name="HOME input signal" id="HomeNegEdge" */ + bool indexPulsePosInit; /*!< To use HOME (false) or INDEX (true) input to initialize position counter to value in Initialization Register. @internal gui name="Position counter init. type" id="IdxPulsePosInit" */ + bool triggerUpdateHoldRegEnable; /*!< Enable/disable updating hold registers on TRIGGER input. @internal gui name="Update hold registers" id="UpdateHoldReg" */ + bool triggerClearPosRegEnable; /*!< Enable/disable clear of position registers on TRIGGER input. @internal gui name="Clear position registers" id="ClearPosReg" */ + bool moduloRevolutionCounting; /*!< Type of revolution counter - index pulse counting (on false) or modulo counting (on true). @internal gui name="Revolution counter" id="TypeRevCnt" */ + bool outputControlOnReading; /*!< Used to control the behaviour of the POSMATCH output signal. True - output control on reading position register, false - OC on match position register. @internal gui name="POSMATCH output signal" id="PosMatchOut" */ +} enc_user_config_t; + +/*! + * @brief User configuration structure for ENC driver - ENC test module configuration. + * + * Use an instance of this structure with the ENC_DRV_TestInit()function. + * This enables configuration of the Test module of the ENC peripheral + * with a single function call. + */ +typedef struct EncTestConfig { + uint8_t testCount; /*!< Test count - holds the number of quadrature advances to generate. */ + uint8_t testPeriod; /*!< Test period - holds the period of quadrature phase in IPBus clock cycles. */ + bool testNegativeSignalEnable; /*!< Test signal type, positive (false) or negative (true). */ +} enc_test_config_t; + +/*! + * @brief Counter registers structure for ENC driver. + * + * Use an instance of this structure with the ENC_DRV_ReadHoldRegisters() or + * ENC_DRV_ReadCounters() functions. This reads counters and hold registers of + * Position, PositionDifference, Revolution Counter. + */ +typedef struct EncCounter { + int32_t position; /*!< Position Counter/Hold Register. */ + int16_t posDiff; /*!< Position Difference Counter/Hold Register. */ + int16_t revolution; /*!< Revolution Counter/Hold Register. */ +} enc_counter_t; + +/*! + * @brief Input monitor structure for ENC driver. + * + * Use an instance of this structure with the ENC_DRV_ReadInputMonitorRegister(). + * This reads Input Monitor register that contains the values of the raw or filtered + * PHASEA, PHASEB, INDEX and HOME input signals. + */ +typedef struct EncInputMonitor { + bool phaseA; /*!< PHASEA input. */ + bool phaseB; /*!< PHASEB input. */ + bool index; /*!< INDEX input. */ + bool home; /*!< HOME input. */ +} enc_input_monitor_t; + +/******************************************************************************* + * API + ******************************************************************************/ + +#if defined(__cplusplus) +extern "C" { +#endif + +/*! + * @name Configuration + * @{ + */ + +/*! + * @brief Fills the initial user configuration for the ENC module + * without the interrupts enablement. + * + * This function fills the initial user configuration. Calling the initialization + * function with the filled parameter configures the ENC module to function as + * a simple Quadrature Encoder. The settings are: + * + @code + encUserConfig.operationMode = kEncNormalMode; + encUserConfig.reverseCounting = false; + encUserConfig.indexInputNegativeEdge = false; + encUserConfig.homeInputNegativeEdge = false; + encUserConfig.indexPulsePosInit = true; + encUserConfig.posCntInitValue = 0U; + encUserConfig.posCmpValue = 0xFFFFU; + encUserConfig.moduloValue = 0U; + encUserConfig.triggerUpdateHoldRegEnable = false; + encUserConfig.triggerClearPosRegEnable = false; + encUserConfig.moduloRevolutionCounting = false; + encUserConfig.outputControlOnReading = false; + encUserConfig.watchdogTimeout = 0U; + encUserConfig.filterCount = 0U; + encUserConfig.filterPeriod = 0U; + @endcode + * + * @param userConfigPtr Pointer to the user configuration structure. + * @return Execution status. + */ +enc_status_t ENC_DRV_StructInitUserConfigNormal(enc_user_config_t * userConfigPtr); + +/*! + * @brief Initializes an ENC instance for operation. + * + * This function initializes the run-time state structure to un-gate the clock to the ENC module, + * initializes the module to user-defined settings and default settings, + * configures the IRQ state structure, and enables the module-level interrupt to the core. + * This example shows how to set up the enc_state_t and the + * enc_user_config_t parameters and how to call the ENC_DRV_Init function by passing + * in these parameters: + @code + enc_user_config_t encUserConfig; + encUserConfig.operationMode = kEncNormalMode; + encUserConfig.reverseCounting = false; + encUserConfig.indexInputNegativeEdge = false; + encUserConfig.homeInputNegativeEdge = false; + encUserConfig.indexPulsePosInit = true; + encUserConfig.posCntInitValue = 0U; + encUserConfig.posCmpValue = 0xFFFFU; + encUserConfig.moduloValue = 0U; + encUserConfig.triggerUpdateHoldRegEnable = false; + encUserConfig.triggerClearPosRegEnable = false; + encUserConfig.moduloRevolutionCounting = false; + encUserConfig.outputControlOnReading = false; + encUserConfig.watchdogTimeout = 0U; + encUserConfig.filterCount = 0U; + encUserConfig.filterPeriod = 0U; + ENC_DRV_Init(&encUserConfig); + @endcode + * + * @param instance ENC instance ID. + * @param userConfigPtr The user configuration structure of type enc_user_config_t. The user + * is responsible to fill out the members of this structure and to pass the pointer + * of this structure into this function. + * @return Execution status. + */ +enc_status_t ENC_DRV_Init(uint32_t instance, const enc_user_config_t *userConfigPtr); + +/*! + * @brief De-initializes the ENC peripheral. + * + * This function shuts down the ENC clock to reduce power consumption. + * + * @param instance ENC instance ID. + */ +void ENC_DRV_Deinit(uint32_t instance); + +/*! + * @brief Initializes an ENC test module. + * + * This function initializes the run-time state structure to enable the test module + * and sets the test period and test count values. + * This example shows how to set up the enc_test_config_t parameters and + * how to call the ENC_DRV_TestInit function by passing in these parameters: + @code + enc_test_config_t encTestConfig; + encTestConfig.testNegativeSignalEnable = false; + encTestConfig.testCount = 100; + encTestConfig.testPeriod = 10; + ENC_DRV_TestInit(&encTestConfig); + @endcode + * + * @param instance ENC instance ID. + * @param userConfigPtr The user configuration structure of type enc_test_config_t. + * @return Execution status. + */ +enc_status_t ENC_DRV_TestInit(uint32_t instance, const enc_test_config_t * userConfigPtr); + +/*! + * @brief Shuts down the ENC test module, disables test counter, + * and clears the test period and test count values. + * + * @param instance ENC instance ID. + */ +void ENC_DRV_TestDeinit(uint32_t instance); + +/*! + * @brief Enables/disables the selected ENC interrupt. + * + * The interrupt source is passing as argument of type enc_interrupt_source_t. + * + * @param instance ENC instance ID. + * @param intSrc The type of interrupt to enable/disable. + * @param enable Bool parameter to enable/disable. + * @return Execution status. + */ +enc_status_t ENC_DRV_SetIntMode + (uint32_t instance, enc_int_source_t intSrc, bool enable); + +/*! + * @brief Gets the configuration of the selected ENC interrupt. + * + * The interrupt type is passing as an argument of type enc_int_source_t. + * + * @param instance ENC instance ID. + * @param intSrc The type of interrupt to get configuration. + * @return Configuration of selected interrupt source. + */ +bool ENC_DRV_GetIntMode(uint32_t instance, enc_int_source_t intSrc); + +/*! + * @brief Gets the interrupt status flag of the selected interrupt source. + * + * @param instance ENC instance ID. + * @param flag Selected type of status flag. + * @return State of selected flag. + */ +bool ENC_DRV_GetStatusFlag(uint32_t instance, enc_status_flag_t flag); + +/*! + * @brief Clears the status flag of the selected status source. + * + * @param instance ENC instance ID. + * @param flag Selected type of status flag. + */ +void ENC_DRV_ClearStatusFlag(uint32_t instance, enc_status_flag_t flag); + +/*! + * @brief Reads the actual values of the ENC counter registers. + * + * @param instance ENC instance ID. + * @param countRegPtr The structure of ENC counter registers. + * @return Execution status. + */ +enc_status_t ENC_DRV_ReadCounters(uint32_t instance, enc_counter_t * countRegPtr); + +/*! + * @brief Reads the ENC hold registers. + * + * @param instance ENC instance ID. + * @param holdRegPtr The structure of ENC hold registers. + * @return Execution status. + */ +enc_status_t ENC_DRV_ReadHoldReg(uint32_t instance, enc_counter_t * holdRegPtr); + +/*! + * @brief Resets the ENC counter registers. + * + * @param instance ENC instance ID. + */ +void ENC_DRV_ResetCounters(uint32_t instance); + +/*! + * @brief Reads the ENC input monitor register. + * + * @param instance ENC instance ID. + * @param inputMonitorRaw The type of input monitor - raw (true) / filtered (false). + * @param inputMonitorPtr The structure of ENC Monitor register variables. + * @return Execution status. + */ +enc_status_t ENC_DRV_ReadInputMonitor + (uint32_t instance, bool inputMonitorRaw, enc_input_monitor_t * inputMonitorPtr); + +/*@}*/ + +#if defined(__cplusplus) +} +#endif + +/*! @}*/ + +#endif +#endif /* __FSL_ENC_DRIVER_H__*/ + +/******************************************************************************* + * EOF + ******************************************************************************/ |