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| -rw-r--r-- | bsps/arm/imxrt/include/fsl_enc.h | 458 |
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diff --git a/bsps/arm/imxrt/include/fsl_enc.h b/bsps/arm/imxrt/include/fsl_enc.h deleted file mode 100644 index 07c49307b0..0000000000 --- a/bsps/arm/imxrt/include/fsl_enc.h +++ /dev/null @@ -1,458 +0,0 @@ -/* - * Copyright (c) 2015, Freescale Semiconductor, Inc. - * Copyright 2016-2020 NXP - * All rights reserved. - * - * SPDX-License-Identifier: BSD-3-Clause - */ - -#ifndef _FSL_ENC_H_ -#define _FSL_ENC_H_ - -#include "fsl_common.h" - -/*! - * @addtogroup enc - * @{ - */ -/******************************************************************************* - * Definitions - ******************************************************************************/ -#define FSL_ENC_DRIVER_VERSION (MAKE_VERSION(2, 0, 1)) - -/*! - * @brief Interrupt enable/disable mask. - */ -enum _enc_interrupt_enable -{ - kENC_HOMETransitionInterruptEnable = (1U << 0U), /*!< HOME interrupt enable. */ - kENC_INDEXPulseInterruptEnable = (1U << 1U), /*!< INDEX pulse interrupt enable. */ - kENC_WatchdogTimeoutInterruptEnable = (1U << 2U), /*!< Watchdog timeout interrupt enable. */ - kENC_PositionCompareInerruptEnable = (1U << 3U), /*!< Position compare interrupt enable. */ - kENC_SimultBothPhaseChangeInterruptEnable = - (1U << 4U), /*!< Simultaneous PHASEA and PHASEB change interrupt enable. */ - kENC_PositionRollOverInterruptEnable = (1U << 5U), /*!< Roll-over interrupt enable. */ - kENC_PositionRollUnderInterruptEnable = (1U << 6U), /*!< Roll-under interrupt enable. */ -}; - -/*! - * @brief Status flag mask. - * - * These flags indicate the counter's events. - */ -enum _enc_status_flags -{ - kENC_HOMETransitionFlag = (1U << 0U), /*!< HOME signal transition interrupt request. */ - kENC_INDEXPulseFlag = (1U << 1U), /*!< INDEX Pulse Interrupt Request. */ - kENC_WatchdogTimeoutFlag = (1U << 2U), /*!< Watchdog timeout interrupt request. */ - kENC_PositionCompareFlag = (1U << 3U), /*!< Position compare interrupt request. */ - kENC_SimultBothPhaseChangeFlag = (1U << 4U), /*!< Simultaneous PHASEA and PHASEB change interrupt request. */ - kENC_PositionRollOverFlag = (1U << 5U), /*!< Roll-over interrupt request. */ - kENC_PositionRollUnderFlag = (1U << 6U), /*!< Roll-under interrupt request. */ - kENC_LastCountDirectionFlag = (1U << 7U), /*!< Last count was in the up direction, or the down direction. */ -}; - -/*! - * @brief Signal status flag mask. - * - * These flags indicate the counter's signal. - */ -enum _enc_signal_status_flags -{ - kENC_RawHOMEStatusFlag = ENC_IMR_HOME_MASK, /*!< Raw HOME input. */ - kENC_RawINDEXStatusFlag = ENC_IMR_INDEX_MASK, /*!< Raw INDEX input. */ - kENC_RawPHBStatusFlag = ENC_IMR_PHB_MASK, /*!< Raw PHASEB input. */ - kENC_RawPHAEXStatusFlag = ENC_IMR_PHA_MASK, /*!< Raw PHASEA input. */ - kENC_FilteredHOMEStatusFlag = ENC_IMR_FHOM_MASK, /*!< The filtered version of HOME input. */ - kENC_FilteredINDEXStatusFlag = ENC_IMR_FIND_MASK, /*!< The filtered version of INDEX input. */ - kENC_FilteredPHBStatusFlag = ENC_IMR_FPHB_MASK, /*!< The filtered version of PHASEB input. */ - kENC_FilteredPHAStatusFlag = ENC_IMR_FPHA_MASK, /*!< The filtered version of PHASEA input. */ -}; - -/*! - * @brief Define HOME signal's trigger mode. - * - * The ENC would count the trigger from HOME signal line. - */ -typedef enum _enc_home_trigger_mode -{ - kENC_HOMETriggerDisabled = 0U, /*!< HOME signal's trigger is disabled. */ - kENC_HOMETriggerOnRisingEdge, /*!< Use positive going edge-to-trigger initialization of position counters. */ - kENC_HOMETriggerOnFallingEdge, /*!< Use negative going edge-to-trigger initialization of position counters. */ -} enc_home_trigger_mode_t; - -/*! - * @brief Define INDEX signal's trigger mode. - * - * The ENC would count the trigger from INDEX signal line. - */ -typedef enum _enc_index_trigger_mode -{ - kENC_INDEXTriggerDisabled = 0U, /*!< INDEX signal's trigger is disabled. */ - kENC_INDEXTriggerOnRisingEdge, /*!< Use positive going edge-to-trigger initialization of position counters. */ - kENC_INDEXTriggerOnFallingEdge, /*!< Use negative going edge-to-trigger initialization of position counters. */ -} enc_index_trigger_mode_t; - -/*! - * @brief Define type for decoder work mode. - * - * The normal work mode uses the standard quadrature decoder with PHASEA and PHASEB. When in signal phase count mode, - * a positive transition of the PHASEA input generates a count signal while the PHASEB input and the reverse direction - * control the counter direction. If the reverse direction is not enabled, PHASEB = 0 means counting up and PHASEB = 1 - * means counting down. Otherwise, the direction is reversed. - */ -typedef enum _enc_decoder_work_mode -{ - kENC_DecoderWorkAsNormalMode = 0U, /*!< Use standard quadrature decoder with PHASEA and PHASEB. */ - kENC_DecoderWorkAsSignalPhaseCountMode, /*!< PHASEA input generates a count signal while PHASEB input control the - direction. */ -} enc_decoder_work_mode_t; - -/*! - * @brief Define type for the condition of POSMATCH pulses. - */ -typedef enum _enc_position_match_mode -{ - kENC_POSMATCHOnPositionCounterEqualToComapreValue = 0U, /*!< POSMATCH pulses when a match occurs between the - position counters (POS) and the compare value (COMP). */ - kENC_POSMATCHOnReadingAnyPositionCounter, /*!< POSMATCH pulses when any position counter register is read. */ -} enc_position_match_mode_t; - -/*! - * @brief Define type for determining how the revolution counter (REV) is incremented/decremented. - */ -typedef enum _enc_revolution_count_condition -{ - kENC_RevolutionCountOnINDEXPulse = 0U, /*!< Use INDEX pulse to increment/decrement revolution counter. */ - kENC_RevolutionCountOnRollOverModulus, /*!< Use modulus counting roll-over/under to increment/decrement revolution - counter. */ -} enc_revolution_count_condition_t; - -/*! - * @brief Define type for direction of self test generated signal. - */ -typedef enum _enc_self_test_direction -{ - kENC_SelfTestDirectionPositive = 0U, /*!< Self test generates the signal in positive direction. */ - kENC_SelfTestDirectionNegative, /*!< Self test generates the signal in negative direction. */ -} enc_self_test_direction_t; - -/*! - * @brief Define user configuration structure for ENC module. - */ -typedef struct _enc_config -{ - /* Basic counter. */ - bool enableReverseDirection; /*!< Enable reverse direction counting. */ - enc_decoder_work_mode_t decoderWorkMode; /*!< Enable signal phase count mode. */ - - /* Signal detection. */ - enc_home_trigger_mode_t HOMETriggerMode; /*!< Enable HOME to initialize position counters. */ - enc_index_trigger_mode_t INDEXTriggerMode; /*!< Enable INDEX to initialize position counters. */ - bool enableTRIGGERClearPositionCounter; /*!< Clear POSD, REV, UPOS and LPOS on rising edge of TRIGGER, or not. */ - bool enableTRIGGERClearHoldPositionCounter; /*!< Enable update of hold registers on rising edge of TRIGGER, or not. - */ - - /* Watchdog. */ - bool enableWatchdog; /*!< Enable the watchdog to detect if the target is moving or not. */ - uint16_t watchdogTimeoutValue; /*!< Watchdog timeout count value. It stores the timeout count for the quadrature - decoder module watchdog timer. This field is only available when - "enableWatchdog" = true. The available value is a 16-bit unsigned number.*/ - - /* Filter for PHASEA, PHASEB, INDEX and HOME. */ - uint16_t filterCount; /*!< Input Filter Sample Count. This value should be chosen to reduce the probability of - noisy samples causing an incorrect transition to be recognized. The value represent the - number of consecutive samples that must agree prior to the input filter accepting an - input transition. A value of 0x0 represents 3 samples. A value of 0x7 represents 10 - samples. The Available range is 0 - 7.*/ - uint16_t filterSamplePeriod; /*!< Input Filter Sample Period. This value should be set such that the sampling period - is larger than the period of the expected noise. This value represents the - sampling period (in IPBus clock cycles) of the decoder input signals. - The available range is 0 - 255. */ - - /* Position compare. */ - enc_position_match_mode_t positionMatchMode; /*!< The condition of POSMATCH pulses. */ - uint32_t positionCompareValue; /*!< Position compare value. The available value is a 32-bit number.*/ - - /* Modulus counting. */ - enc_revolution_count_condition_t revolutionCountCondition; /*!< Revolution Counter Modulus Enable. */ - bool enableModuloCountMode; /*!< Enable Modulo Counting. */ - uint32_t positionModulusValue; /*!< Position modulus value. This value would be available only when - "enableModuloCountMode" = true. The available value is a 32-bit number. */ - uint32_t positionInitialValue; /*!< Position initial value. The available value is a 32-bit number. */ -} enc_config_t; - -/*! - * @brief Define configuration structure for self test module. - * - * The self test module provides a quadrature test signal to the inputs of the quadrature decoder module. - * This is a factory test feature. It is also useful to customers' software development and testing. - */ -typedef struct _enc_self_test_config -{ - enc_self_test_direction_t signalDirection; /*!< Direction of self test generated signal. */ - uint16_t signalCount; /*!< Hold the number of quadrature advances to generate. The available range is 0 - 255.*/ - uint16_t signalPeriod; /*!< Hold the period of quadrature phase in IPBus clock cycles. - The available range is 0 - 31. */ -} enc_self_test_config_t; - -#if defined(__cplusplus) -extern "C" { -#endif - -/******************************************************************************* - * API - ******************************************************************************/ - -/*! - * @name Initialization and De-initialization - * @{ - */ - -/*! - * @brief Initialization for the ENC module. - * - * This function is to make the initialization for the ENC module. It should be called firstly before any operation to - * the ENC with the operations like: - * - Enable the clock for ENC module. - * - Configure the ENC's working attributes. - * - * @param base ENC peripheral base address. - * @param config Pointer to configuration structure. See to "enc_config_t". - */ -void ENC_Init(ENC_Type *base, const enc_config_t *config); - -/*! - * @brief De-initialization for the ENC module. - * - * This function is to make the de-initialization for the ENC module. It could be called when ENC is no longer used with - * the operations like: - * - Disable the clock for ENC module. - * - * @param base ENC peripheral base address. - */ -void ENC_Deinit(ENC_Type *base); - -/*! - * @brief Get an available pre-defined settings for ENC's configuration. - * - * This function initializes the ENC configuration structure with an available settings, the default value are: - * @code - * config->enableReverseDirection = false; - * config->decoderWorkMode = kENC_DecoderWorkAsNormalMode; - * config->HOMETriggerMode = kENC_HOMETriggerDisabled; - * config->INDEXTriggerMode = kENC_INDEXTriggerDisabled; - * config->enableTRIGGERClearPositionCounter = false; - * config->enableTRIGGERClearHoldPositionCounter = false; - * config->enableWatchdog = false; - * config->watchdogTimeoutValue = 0U; - * config->filterCount = 0U; - * config->filterSamplePeriod = 0U; - * config->positionMatchMode = kENC_POSMATCHOnPositionCounterEqualToComapreValue; - * config->positionCompareValue = 0xFFFFFFFFU; - * config->revolutionCountCondition = kENC_RevolutionCountOnINDEXPulse; - * config->enableModuloCountMode = false; - * config->positionModulusValue = 0U; - * config->positionInitialValue = 0U; - * @endcode - * @param config Pointer to a variable of configuration structure. See to "enc_config_t". - */ -void ENC_GetDefaultConfig(enc_config_t *config); - -/*! - * @brief Load the initial position value to position counter. - * - * This function is to transfer the initial position value (UINIT and LINIT) contents to position counter (UPOS and - * LPOS), so that to provide the consistent operation the position counter registers. - * - * @param base ENC peripheral base address. - */ -void ENC_DoSoftwareLoadInitialPositionValue(ENC_Type *base); - -/*! - * @brief Enable and configure the self test function. - * - * This function is to enable and configuration the self test function. It controls and sets the frequency of a - * quadrature signal generator. It provides a quadrature test signal to the inputs of the quadrature decoder module. - * It is a factory test feature; however, it may be useful to customers' software development and testing. - * - * @param base ENC peripheral base address. - * @param config Pointer to configuration structure. See to "enc_self_test_config_t". Pass "NULL" to disable. - */ -void ENC_SetSelfTestConfig(ENC_Type *base, const enc_self_test_config_t *config); - -/*! - * @brief Enable watchdog for ENC module. - * - * @param base ENC peripheral base address - * @param enable Enables or disables the watchdog - */ -void ENC_EnableWatchdog(ENC_Type *base, bool enable); - -/*! - * @brief Set initial position value for ENC module. - * - * @param base ENC peripheral base address - * @param value Positive initial value - */ -void ENC_SetInitialPositionValue(ENC_Type *base, uint32_t value); - -/* @} */ - -/*! - * @name Status - * @{ - */ -/*! - * @brief Get the status flags. - * - * @param base ENC peripheral base address. - * - * @return Mask value of status flags. For available mask, see to "_enc_status_flags". - */ -uint32_t ENC_GetStatusFlags(ENC_Type *base); - -/*! - * @brief Clear the status flags. - * - * @param base ENC peripheral base address. - * @param mask Mask value of status flags to be cleared. For available mask, see to "_enc_status_flags". - */ -void ENC_ClearStatusFlags(ENC_Type *base, uint32_t mask); - -/*! - * @brief Get the signals' real-time status. - * - * @param base ENC peripheral base address. - * - * @return Mask value of signals' real-time status. For available mask, see to "_enc_signal_status_flags" - */ -static inline uint16_t ENC_GetSignalStatusFlags(ENC_Type *base) -{ - return base->IMR; -} -/* @} */ - -/*! - * @name Interrupts - * @{ - */ - -/*! - * @brief Enable the interrupts. - * - * @param base ENC peripheral base address. - * @param mask Mask value of interrupts to be enabled. For available mask, see to "_enc_interrupt_enable". - */ -void ENC_EnableInterrupts(ENC_Type *base, uint32_t mask); - -/*! - * @brief Disable the interrupts. - * - * @param base ENC peripheral base address. - * @param mask Mask value of interrupts to be disabled. For available mask, see to "_enc_interrupt_enable". - */ -void ENC_DisableInterrupts(ENC_Type *base, uint32_t mask); - -/*! - * @brief Get the enabled interrupts' flags. - * - * @param base ENC peripheral base address. - * - * @return Mask value of enabled interrupts. - */ -uint32_t ENC_GetEnabledInterrupts(ENC_Type *base); - -/* @} */ - -/*! - * @name Value Operation - * @{ - */ - -/*! - * @brief Get the current position counter's value. - * - * @param base ENC peripheral base address. - * - * @return Current position counter's value. - */ -uint32_t ENC_GetPositionValue(ENC_Type *base); - -/*! - * @brief Get the hold position counter's value. - * - * When any of the counter registers is read, the contents of each counter register is written to the corresponding hold - * register. Taking a snapshot of the counters' values provides a consistent view of a system position and a velocity to - * be attained. - * - * @param base ENC peripheral base address. - * - * @return Hold position counter's value. - */ -uint32_t ENC_GetHoldPositionValue(ENC_Type *base); - -/*! - * @brief Get the position difference counter's value. - * - * @param base ENC peripheral base address. - * - * @return The position difference counter's value. - */ -static inline uint16_t ENC_GetPositionDifferenceValue(ENC_Type *base) -{ - return base->POSD; -} - -/*! - * @brief Get the hold position difference counter's value. - * - * When any of the counter registers is read, the contents of each counter register is written to the corresponding hold - * register. Taking a snapshot of the counters' values provides a consistent view of a system position and a velocity to - * be attained. - * - * @param base ENC peripheral base address. - * - * @return Hold position difference counter's value. - */ -static inline uint16_t ENC_GetHoldPositionDifferenceValue(ENC_Type *base) -{ - return base->POSDH; -} - -/*! - * @brief Get the position revolution counter's value. - * - * @param base ENC peripheral base address. - * - * @return The position revolution counter's value. - */ -static inline uint16_t ENC_GetRevolutionValue(ENC_Type *base) -{ - return base->REV; -} -/*! - * @brief Get the hold position revolution counter's value. - * - * When any of the counter registers is read, the contents of each counter register is written to the corresponding hold - * register. Taking a snapshot of the counters' values provides a consistent view of a system position and a velocity to - * be attained. - * - * @param base ENC peripheral base address. - * - * @return Hold position revolution counter's value. - */ -static inline uint16_t ENC_GetHoldRevolutionValue(ENC_Type *base) -{ - return base->REVH; -} - -/* @} */ - -#if defined(__cplusplus) -} -#endif - -/* @} */ - -#endif /* _FSL_ENC_H_ */ |