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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__