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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__