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-rw-r--r--bsps/arm/imxrt/mcux-sdk/drivers/enc/fsl_enc.h562
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diff --git a/bsps/arm/imxrt/mcux-sdk/drivers/enc/fsl_enc.h b/bsps/arm/imxrt/mcux-sdk/drivers/enc/fsl_enc.h
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+++ b/bsps/arm/imxrt/mcux-sdk/drivers/enc/fsl_enc.h
@@ -0,0 +1,562 @@
+/*
+ * Copyright (c) 2015, Freescale Semiconductor, Inc.
+ * Copyright 2016-2021 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, 1, 0))
+
+/*!
+ * @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. */
+#if !(defined(FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT) && FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT)
+ kENC_SimultBothPhaseChangeInterruptEnable =
+ (1U << 4U), /*!< Simultaneous PHASEA and PHASEB change interrupt enable. */
+#endif
+ 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. */
+#if !(defined(FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT) && FSL_FEATURE_ENC_HAS_NO_CTRL2_SAB_INT)
+ kENC_SimultBothPhaseChangeFlag = (1U << 4U), /*!< Simultaneous PHASEA and PHASEB change interrupt request. */
+#endif
+ 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;
+
+#if (defined(FSL_FEATURE_ENC_HAS_CTRL3) && FSL_FEATURE_ENC_HAS_CTRL3)
+/*!
+ * @brief Define prescaler value for clock in CTRL3.
+ *
+ * The clock is prescaled by a value of 2^PRSC which means that the prescaler logic
+ * can divide the clock by a minimum of 1 and a maximum of 32,768.
+ */
+typedef enum _enc_prescaler
+{
+ kENC_ClockDiv1 = 0,
+ kENC_ClockDiv2 = 1,
+ kENC_ClockDiv4 = 2,
+ kENC_ClockDiv8 = 3,
+ kENC_ClockDiv16 = 4,
+ kENC_ClockDiv32 = 5,
+ kENC_ClockDiv64 = 6,
+ kENC_ClockDiv128 = 7,
+ kENC_ClockDiv256 = 8,
+ kENC_ClockDiv512 = 9,
+ kENC_ClockDiv1024 = 10,
+ kENC_ClockDiv2048 = 11,
+ kENC_ClockDiv4096 = 12,
+ kENC_ClockDiv8192 = 13,
+ kENC_ClockDiv16384 = 14,
+ kENC_ClockDiv32768 = 15,
+} enc_prescaler_t;
+#endif
+
+/*!
+ * @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. */
+
+#if (defined(FSL_FEATURE_ENC_HAS_CTRL3) && FSL_FEATURE_ENC_HAS_CTRL3)
+ /* Prescaler. */
+ bool enablePeriodMeasurementFunction; /*!< Enable period measurement function. */
+ enc_prescaler_t prescalerValue; /*!< The value of prescaler. */
+#endif
+} 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;
+ * config->prescalerValue = kENC_ClockDiv1;
+ * config->enablePeriodMeasurementFunction = true;
+ * @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(FSL_FEATURE_ENC_HAS_LASTEDGE) && FSL_FEATURE_ENC_HAS_LASTEDGE)
+/*!
+ * @brief Get the last edge time value.
+ *
+ * @param base ENC peripheral base address.
+ *
+ * @return The last edge time hold value.
+ */
+static inline uint16_t ENC_GetLastEdgeTimeValue(ENC_Type *base)
+{
+ return base->LASTEDGE;
+}
+
+/*!
+ * @brief Get the last edge time hold value.
+ *
+ * @param base ENC peripheral base address.
+ *
+ * @return The last edge time hold value.
+ */
+static inline uint16_t ENC_GetHoldLastEdgeTimeValue(ENC_Type *base)
+{
+ return base->LASTEDGEH;
+}
+#endif
+
+#if (defined(FSL_FEATURE_ENC_HAS_POSDPER) && FSL_FEATURE_ENC_HAS_POSDPER)
+/*!
+ * @brief Get the position difference period value.
+ *
+ * @param base ENC peripheral base address.
+ *
+ * @return The position difference period hold value.
+ */
+static inline uint16_t ENC_GetPositionDifferencePeriodValue(ENC_Type *base)
+{
+ return base->POSDPER;
+}
+
+/*!
+ * @brief Get the position difference period buffer value.
+ *
+ * @param base ENC peripheral base address.
+ *
+ * @return The position difference period hold value.
+ */
+static inline uint16_t ENC_GetPositionDifferencePeriodBufferValue(ENC_Type *base)
+{
+ return base->POSDPERBFR;
+}
+
+/*!
+ * @brief Get the position difference period hold value.
+ *
+ * @param base ENC peripheral base address.
+ *
+ * @return The position difference period hold value.
+ */
+static inline uint16_t ENC_GetHoldPositionDifferencePeriodValue(ENC_Type *base)
+{
+ return base->POSDPERH;
+}
+#endif
+/* @} */
+
+#if defined(__cplusplus)
+}
+#endif
+
+/* @} */
+
+#endif /* _FSL_ENC_H_ */