148 lines
4.5 KiB
C
148 lines
4.5 KiB
C
//###########################################################################
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//
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// FILE: eqep.c
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//
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// TITLE: C28x eQEP driver.
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//
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//###########################################################################
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// $Copyright:
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// Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// $
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//###########################################################################
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#include "eqep.h"
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//*****************************************************************************
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//
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// EQEP_setCompareConfig
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//
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//*****************************************************************************
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void
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EQEP_setCompareConfig(uint32_t base, uint16_t config, uint32_t compareValue,
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uint16_t cycles)
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{
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uint16_t regValue;
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//
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// Check the arguments.
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//
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ASSERT(EQEP_isBaseValid(base));
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ASSERT(cycles <= (EQEP_QPOSCTL_PCSPW_M + 1U));
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//
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// Set the compare match value
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//
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HWREG(base + EQEP_O_QPOSCMP) = compareValue;
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//
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// Set the shadow register settings and pulse width.
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//
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regValue = (config & (uint16_t)(EQEP_QPOSCTL_PCSHDW |
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EQEP_QPOSCTL_PCLOAD)) | (cycles - 1U);
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HWREGH(base + EQEP_O_QPOSCTL) = (HWREGH(base + EQEP_O_QPOSCTL) &
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~(EQEP_QPOSCTL_PCSPW_M |
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EQEP_QPOSCTL_PCLOAD |
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EQEP_QPOSCTL_PCSHDW)) | regValue;
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//
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// Set position compare sync-output mode.
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//
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regValue = config & (uint16_t)(EQEP_QDECCTL_SOEN | EQEP_QDECCTL_SPSEL);
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HWREGH(base + EQEP_O_QDECCTL) = (HWREGH(base + EQEP_O_QDECCTL) &
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~(EQEP_QDECCTL_SOEN |
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EQEP_QDECCTL_SPSEL)) | regValue;
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}
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//*****************************************************************************
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//
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// EQEP_setInputPolarity
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//
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//*****************************************************************************
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void
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EQEP_setInputPolarity(uint32_t base, bool invertQEPA, bool invertQEPB,
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bool invertIndex, bool invertStrobe)
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{
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//
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// Check the arguments.
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//
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ASSERT(EQEP_isBaseValid(base));
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//
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// Configure QEPA signal
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//
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if(invertQEPA)
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{
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HWREGH(base + EQEP_O_QDECCTL) |= EQEP_QDECCTL_QAP;
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}
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else
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{
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HWREGH(base + EQEP_O_QDECCTL) &= ~EQEP_QDECCTL_QAP;
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}
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//
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// Configure QEPB signal
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//
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if(invertQEPB)
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{
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HWREGH(base + EQEP_O_QDECCTL) |= EQEP_QDECCTL_QBP;
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}
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else
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{
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HWREGH(base + EQEP_O_QDECCTL) &= ~EQEP_QDECCTL_QBP;
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}
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//
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// Configure index signal
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//
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if(invertIndex)
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{
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HWREGH(base + EQEP_O_QDECCTL) |= EQEP_QDECCTL_QIP;
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}
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else
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{
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HWREGH(base + EQEP_O_QDECCTL) &= ~EQEP_QDECCTL_QIP;
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}
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//
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// Configure strobe signal
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//
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if(invertStrobe)
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{
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HWREGH(base + EQEP_O_QDECCTL) |= EQEP_QDECCTL_QSP;
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}
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else
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{
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HWREGH(base + EQEP_O_QDECCTL) &= ~EQEP_QDECCTL_QSP;
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}
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}
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