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FOR QEI1 MODULE TAKEN FROM THE EXAMPLE CODE OF CCS
/* ----------------------- Include Files --------------------- */
#include <stdint.h> // Library of Standard Integer Types
#include <stdbool.h> // Library of Standard Boolean Types
#include "inc/tm4c123gh6pm.h" // Definitions for interrupt and register assignments on Tiva C
#include "inc/hw_memmap.h" // Macros defining the memory map of the Tiva C Series device
#include "inc/hw_types.h" // Defines common types and macros
#include "inc/hw_gpio.h" // Defines Macros for GPIO hardware
#include "inc/hw_qei.h" // Macros used when accessing the QEI hardware
#include "driverlib/debug.h" // Macros for assisting debug of the driver library
#include "driverlib/sysctl.h" // Defines and macros for System Control API of DriverLib
#include "driverlib/interrupt.h" // Defines and macros for NVIC Controller API of DriverLib
#include "driverlib/gpio.h" // Defines and macros for GPIO API of DriverLib
#include "driverlib/qei.h" // Prototypes for the Quadrature Encoder Driver
#include "driverlib/pin_map.h" // Mapping of peripherals to pins for all parts
#include "driverlib/rom.h" // Defines and macros for ROM API of driverLib
#define VEL_INT_FREQ 10000 // Macro to store the Interrupt frequency of QEI1
#define QEI1_PPR 4000 // Macro to store the PPR of the QEI1
/* ----------------------- Global Variables --------------------- */
volatile uint32_t ui32Qei1Vel; // Variable to store the velocity of QEI1
volatile uint32_t ui32Qei1Pos; // Variable to store the position of QEI1
volatile int32_t i32Qei1Dir; // Variable to store the direction of QEI1
volatile uint16_t ui16Qei1Rpm; // Variable to store the RPM of QEI1
/* ----------------------- Function Prototypes --------------------- */
void QEI1IntHandler(void);
unsigned long int a;
/* ----------------------- Main Program --------------------- */
int main(void){
// a++;
// Set the System clock to 80MHz
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 |SYSCTL_USE_PLL |SYSCTL_OSC_MAIN |SYSCTL_XTAL_16MHZ);
// Enable the clock for peripherals PortC and QEI1
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI1);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
// Configure the PC5, PC6 for QEI signals
ROM_GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_5 | GPIO_PIN_6);
ROM_GPIOPinConfigure(GPIO_PC5_PHA1);
ROM_GPIOPinConfigure(GPIO_PC6_PHB1);
// Configure the QEI1 to increment for both PhA and PhB for quadrature input with "QEI1_PPR" PPR
ROM_QEIConfigure(QEI1_BASE, QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_QUADRATURE, QEI1_PPR);
// Configure the QEI1 for Velocity Calculation, Predivide by 1 at "VEL_INT_FREQ" Hz
ROM_QEIVelocityConfigure(QEI1_BASE, QEI_VELDIV_1, ROM_SysCtlClockGet() / VEL_INT_FREQ);
ROM_QEIVelocityEnable(QEI1_BASE);
// Enable the Interrupts for Velocity Timer Expiration of QEI1
void (*QEI1IntHandler_ptr)(void) = &QEI1IntHandler;
QEIIntRegister(QEI1_BASE, *QEI1IntHandler_ptr);
ROM_QEIIntEnable(QEI1_BASE, QEI_INTTIMER);
// Master interrupt enable API for all interrupts
ROM_IntMasterEnable();
// Enable the QEI1
ROM_QEIEnable(QEI1_BASE);
while (1);
}
/* ----------------------- Function Definition --------------------- */
void QEI1IntHandler(void){
// ISR for Quadrature Encoder Interface 1
// Clear the Interrupt that is generated
ROM_QEIIntClear(QEI1_BASE, ROM_QEIIntStatus(QEI1_BASE, true));
// Calculate the number of quadrature ticks in "1 / VEL_INT_FREQ" time period
ui32Qei1Vel = ROM_QEIVelocityGet(QEI1_BASE);
// Update the position reading of the encoder
ui32Qei1Pos = ROM_QEIPositionGet(QEI1_BASE);
// Update the direction reading of the encoder
i32Qei1Dir = ROM_QEIDirectionGet(QEI1_BASE);
// Calculate the velocity in RPM
ui16Qei1Rpm = ui32Qei1Vel * VEL_INT_FREQ * 60 / QEI1_PPR;
}
/* ----------------------- Include Files --------------------- */
#include <stdint.h> // Library of Standard Integer Types
#include <stdbool.h> // Library of Standard Boolean Types
#include "inc/tm4c123gh6pm.h" // Definitions for interrupt and register assignments on Tiva C
#include "inc/hw_memmap.h" // Macros defining the memory map of the Tiva C Series device
#include "inc/hw_types.h" // Defines common types and macros
#include "inc/hw_gpio.h" // Defines Macros for GPIO hardware
#include "inc/hw_qei.h" // Macros used when accessing the QEI hardware
#include "driverlib/debug.h" // Macros for assisting debug of the driver library
#include "driverlib/sysctl.h" // Defines and macros for System Control API of DriverLib
#include "driverlib/interrupt.h" // Defines and macros for NVIC Controller API of DriverLib
#include "driverlib/gpio.h" // Defines and macros for GPIO API of DriverLib
#include "driverlib/qei.h" // Prototypes for the Quadrature Encoder Driver
#include "driverlib/pin_map.h" // Mapping of peripherals to pins for all parts
#include "driverlib/rom.h" // Defines and macros for ROM API of driverLib
#define VEL_INT_FREQ 10000
#define QEI0_PPR 4000
/* ----------------------- Global Variables --------------------- */
volatile uint32_t ui32Qei0Vel;
volatile uint32_t ui32Qei0Pos;
volatile int32_t i32Qei0Dir;
volatile uint16_t ui16Qei0Rpm;
/* ----------------------- Function Prototypes --------------------- */
void QEI0IntHandler(void);
unsigned long int a;
/* ----------------------- Main Program --------------------- */
int main(void){
// Set the System clock to 80MHz
ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 |SYSCTL_USE_PLL |SYSCTL_OSC_MAIN |SYSCTL_XTAL_16MHZ);
// Enable the clock for peripherals PortD and QEI0
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
// Configure the PC5, PC6 for QEI signals
ROM_GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_6 | GPIO_PIN_7);
ROM_GPIOPinConfigure(GPIO_PD6_PHA0);
ROM_GPIOPinConfigure(GPIO_PD7_PHB0);
// Configure the QEI1 to increment for both PhA and PhB for quadrature input with "QEI0_PPR" PPR
ROM_QEIConfigure(QEI0_BASE, QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_QUADRATURE, QEI0_PPR);
// Configure the QEI1 for Velocity Calculation, Predivide by 1 at "VEL_INT_FREQ" Hz
ROM_QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, ROM_SysCtlClockGet() / VEL_INT_FREQ);
ROM_QEIVelocityEnable(QEI0_BASE);
// Enable the Interrupts for Velocity Timer Expiration of QEI0
void (*QEI0IntHandler_ptr)(void) = &QEI0IntHandler;
QEIIntRegister(QEI0_BASE, *QEI0IntHandler_ptr);
ROM_QEIIntEnable(QEI0_BASE, QEI_INTTIMER);
// Master interrupt enable API for all interrupts
ROM_IntMasterEnable();
ROM_QEIEnable(QEI0_BASE);
while (1);
}
/* ----------------------- Function Definition --------------------- */
void QEI0IntHandler(void)
{
// ISR for Quadrature Encoder Interface 1
// Clear the Interrupt that is generated
ROM_QEIIntClear(QEI0_BASE, ROM_QEIIntStatus(QEI0_BASE, true));
// Calculate the number of quadrature ticks in "1 / VEL_INT_FREQ" time period
ui32Qei0Vel = ROM_QEIVelocityGet(QEI0_BASE);
// Update the position reading of the encoder
ui32Qei0Pos = ROM_QEIPositionGet(QEI0_BASE);
// Update the direction reading of the encoder
i32Qei0Dir = ROM_QEIDirectionGet(QEI0_BASE);
// Calculate the velocity in RPM
ui16Qei0Rpm = ui32Qei0Vel * VEL_INT_FREQ * 60 / QEI0_PPR;
}
