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//*****************************************************************************

//

// hw_qei.h - Macros used when accessing the QEI hardware.

//

// Copyright (c) 2005,2006 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 Stellaris Family of microcontroller products.

//

// The software is owned by LMI and/or its suppliers, and is protected under

// applicable copyright laws.  All rights are reserved.  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 816 of the Stellaris Driver Library.

//

//*****************************************************************************

#ifndef __HW_QEI_H__

#define __HW_QEI_H__

//*****************************************************************************

//

// The following define the offsets of the QEI registers.

//

//*****************************************************************************

#define QEI_O_CTL               0x00000000  // Configuration and control reg.

#define QEI_O_STAT              0x00000004  // Status register

#define QEI_O_POS               0x00000008  // Current position register

#define QEI_O_MAXPOS            0x0000000C  // Maximum position register

#define QEI_O_LOAD              0x00000010  // Velocity timer load register

#define QEI_O_TIME              0x00000014  // Velocity timer register

#define QEI_O_COUNT             0x00000018  // Velocity pulse count register

#define QEI_O_SPEED             0x0000001C  // Velocity speed register

#define QEI_O_INTEN             0x00000020  // Interrupt enable register

#define QEI_O_RIS               0x00000024  // Raw interrupt status register

#define QEI_O_ISC               0x00000028  // Interrupt status register

//*****************************************************************************

//

// The following define the bit fields in the QEI_CTL register.

//

//*****************************************************************************

#define QEI_CTL_STALLEN         0x00001000  // Stall enable

#define QEI_CTL_INVI            0x00000800  // Invert Index input

#define QEI_CTL_INVB            0x00000400  // Invert PhB input

#define QEI_CTL_INVA            0x00000200  // Invert PhA input

#define QEI_CTL_VELDIV_M        0x000001C0  // Velocity predivider mask

#define QEI_CTL_VELDIV_1        0x00000000  // Predivide by 1

#define QEI_CTL_VELDIV_2        0x00000040  // Predivide by 2

#define QEI_CTL_VELDIV_4        0x00000080  // Predivide by 4

#define QEI_CTL_VELDIV_8        0x000000C0  // Predivide by 8

#define QEI_CTL_VELDIV_16       0x00000100  // Predivide by 16

#define QEI_CTL_VELDIV_32       0x00000140  // Predivide by 32

#define QEI_CTL_VELDIV_64       0x00000180  // Predivide by 64

#define QEI_CTL_VELDIV_128      0x000001C0  // Predivide by 128

#define QEI_CTL_VELEN           0x00000020  // Velocity enable

#define QEI_CTL_RESMODE         0x00000010  // Position counter reset mode

#define QEI_CTL_CAPMODE         0x00000008  // Edge capture mode

#define QEI_CTL_SIGMODE         0x00000004  // Encoder signaling mode

#define QEI_CTL_SWAP            0x00000002  // Swap input signals

#define QEI_CTL_ENABLE          0x00000001  // QEI enable

//*****************************************************************************

//

// The following define the bit fields in the QEI_STAT register.

//

//*****************************************************************************

#define QEI_STAT_DIRECTION      0x00000002  // Direction of rotation

#define QEI_STAT_ERROR          0x00000001  // Signalling error detected

//*****************************************************************************

//

// The following define the bit fields in the QEI_POS register.

//

//*****************************************************************************

#define QEI_POS_M               0xFFFFFFFF  // Current encoder position

#define QEI_POS_S               0

//*****************************************************************************

//

// The following define the bit fields in the QEI_MAXPOS register.

//

//*****************************************************************************

#define QEI_MAXPOS_M            0xFFFFFFFF  // Maximum encoder position

#define QEI_MAXPOS_S            0

//*****************************************************************************

//

// The following define the bit fields in the QEI_LOAD register.

//

//*****************************************************************************

#define QEI_LOAD_M              0xFFFFFFFF  // Velocity timer load value

#define QEI_LOAD_S              0

//*****************************************************************************

//

// The following define the bit fields in the QEI_TIME register.

//

//*****************************************************************************

#define QEI_TIME_M              0xFFFFFFFF  // Velocity timer current value

#define QEI_TIME_S              0

//*****************************************************************************

//

// The following define the bit fields in the QEI_COUNT register.

//

//*****************************************************************************

#define QEI_COUNT_M             0xFFFFFFFF  // Encoder running pulse count

#define QEI_COUNT_S             0

//*****************************************************************************

//

// The following define the bit fields in the QEI_SPEED register.

//

//*****************************************************************************

#define QEI_SPEED_M             0xFFFFFFFF  // Encoder pulse count

#define QEI_SPEED_S             0

//*****************************************************************************

//

// The following define the bit fields in the QEI_INTEN register.

//

//*****************************************************************************

#define QEI_INTEN_ERROR         0x00000008  // Phase error detected

#define QEI_INTEN_DIR           0x00000004  // Direction change

#define QEI_INTEN_TIMER         0x00000002  // Velocity timer expired

#define QEI_INTEN_INDEX         0x00000001  // Index pulse detected

//*****************************************************************************

//

// The following define the bit fields in the QEI_RIS register.

//

//*****************************************************************************

#define QEI_RIS_ERROR           0x00000008  // Phase error detected

#define QEI_RIS_DIR             0x00000004  // Direction change

#define QEI_RIS_TIMER           0x00000002  // Velocity timer expired

#define QEI_RIS_INDEX           0x00000001  // Index pulse detected

//*****************************************************************************

//

// The following define the bit fields in the QEI_ISC register.

//

//*****************************************************************************

#define QEI_INT_ERROR           0x00000008  // Phase error detected

#define QEI_INT_DIR             0x00000004  // Direction change

#define QEI_INT_TIMER           0x00000002  // Velocity timer expired

#define QEI_INT_INDEX           0x00000001  // Index pulse detected

//*****************************************************************************

//

// The following define the reset values for the QEI registers.

//

//*****************************************************************************

#define QEI_RV_CTL              0x00000000  // Configuration and control reg.

#define QEI_RV_STAT             0x00000000  // Status register

#define QEI_RV_POS              0x00000000  // Current position register

#define QEI_RV_MAXPOS           0x00000000  // Maximum position register

#define QEI_RV_LOAD             0x00000000  // Velocity timer load register

#define QEI_RV_TIME             0x00000000  // Velocity timer register

#define QEI_RV_COUNT            0x00000000  // Velocity pulse count register

#define QEI_RV_SPEED            0x00000000  // Velocity speed register

#define QEI_RV_INTEN            0x00000000  // Interrupt enable register

#define QEI_RV_RIS              0x00000000  // Raw interrupt status register

#define QEI_RV_ISC              0x00000000  // Interrupt status register

#endif // __HW_QEI_H__