lpc177x_8x_qei.c

NXPl788上lwip的无操作系统移植,基于Embest开发板

	if (QEIReloadStruct->ReloadOption == QEI_TIMERRELOAD_TICKVAL)
	{
		pQei->LOAD = QEIReloadStruct->ReloadValue - 1;
	}
	else
	{
#if 1
		pclk = CLKPWR_GetCLK(CLKPWR_CLKTYPE_PER);

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

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

		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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @return		Current timer counter in QEI peripheral
 **********************************************************************/
uint32_t QEI_GetTimer(uint8_t qeiId)
{
	LPC_QEI_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @return		Current velocity pulse counter value
 **********************************************************************/
uint32_t QEI_GetVelocity(uint8_t qeiId)
{
	LPC_QEI_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @return		The most recently measured velocity value
 **********************************************************************/
uint32_t QEI_GetVelocityCap(uint8_t qeiId)
{
	LPC_QEI_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @param[in]	ulVelComp		Compare Velocity value to set
 * @return		None
 **********************************************************************/
void QEI_SetVelocityComp(uint8_t qeiId, uint32_t ulVelComp)
{
	LPC_QEI_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @param[in]	ulSamplingPulse	Value of sampling count to set
 * @return		None
 **********************************************************************/
void QEI_SetDigiFilter(uint8_t qeiId, st_Qei_FilterCfg FilterVal)
{
	LPC_QEI_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @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_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @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_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @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_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @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_TypeDef* 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
 *								 It should be 0 (zero) always with LPC177x_8x
 *
 * @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_TypeDef* pQei = QEI_GetPointer(qeiId);

	uint64_t rpm, clock, Load, edges;

	// Get current Clock rate for timer input
	clock = CLKPWR_GetCLK(CLKPWR_CLKTYPE_PER);

	// 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 ------------------------------ */