void _EncoderInit(){
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);
SysCtlDelay(1);
HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTD_BASE + GPIO_O_CR) |= 0x80;
//Set Pins to be PHA0 and PHB0
GPIOPinConfigure(GPIO_PD6_PHA0);
GPIOPinConfigure(GPIO_PD7_PHB0);
GPIOPinTypeQEI(GPIO_PORTD_BASE, GPIO_PIN_6 | GPIO_PIN_7);
QEIDisable(QEI0_BASE);
QEIIntDisable(QEI0_BASE,QEI_INTERROR | QEI_INTDIR | QEI_INTTIMER | QEI_INTINDEX);
QEIConfigure(QEI0_BASE, (QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_NO_RESET | QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP), 1000);
QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1,80000000/12);
QEIEnable(QEI0_BASE);
QEIVelocityEnable(QEI0_BASE);
//Set position to a middle value so we can see if things are working
QEIPositionSet(QEI0_BASE, 500);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI1);
SysCtlDelay(1);
//Set Pins to be PHA0 and PHB0
GPIOPinConfigure(GPIO_PC5_PHA1);
GPIOPinConfigure(GPIO_PC6_PHB1);
GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_5 | GPIO_PIN_6);
QEIDisable(QEI1_BASE);
QEIIntDisable(QEI1_BASE,QEI_INTERROR | QEI_INTDIR | QEI_INTTIMER | QEI_INTINDEX);
QEIConfigure(QEI1_BASE, (QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_NO_RESET | QEI_CONFIG_QUADRATURE | QEI_CONFIG_SWAP), 1000);
QEIVelocityConfigure(QEI1_BASE, QEI_VELDIV_1,80000000/12);
QEIEnable(QEI1_BASE);
QEIVelocityEnable(QEI1_BASE);
//Set position to a middle value so we can see if things are working
QEIPositionSet(QEI1_BASE, 500);
}
void initQEI(void){
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC); //PhA sur C4 et PhB sur C6
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); //PhA sur E3 et PhB sur E2
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI1);
//init QEI0 du micro pour moteur 0
GPIOPinConfigure(GPIO_PC4_PHA0);
GPIOPinConfigure(GPIO_PC6_PHB0);
GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_4); //Ph A
GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_6); //Ph B
QEIDisable(QEI0_BASE);
QEIConfigure(QEI0_BASE, (QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_NO_RESET|
QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP), 1000000); //64 counts par révolution de moteur avec un ratio 100:1
QEIEnable(QEI0_BASE);
QEIPositionSet(QEI0_BASE,0);
QEIVelocityDisable(QEI0_BASE);
QEIVelocityConfigure (QEI0_BASE, QEI_VELDIV_1, ROM_SysCtlClockGet()*dt);
QEIVelocityEnable(QEI0_BASE);
//init QEI1 du micro pour moteur 1
GPIOPinConfigure(GPIO_PE3_PHA1);
GPIOPinConfigure(GPIO_PE2_PHB1);
GPIOPinTypeQEI(GPIO_PORTE_BASE, GPIO_PIN_3); //Ph A
GPIOPinTypeQEI(GPIO_PORTE_BASE, GPIO_PIN_2); //Ph B
QEIDisable(QEI1_BASE);
QEIConfigure(QEI1_BASE, (QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_NO_RESET|
QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP), 1000000); //64 counts par révolution de moteur avec un ratio 100:1
QEIEnable(QEI1_BASE);
QEIPositionSet(QEI1_BASE,0);
QEIVelocityDisable(QEI1_BASE);
QEIVelocityConfigure (QEI1_BASE, QEI_VELDIV_1, ROM_SysCtlClockGet()*dt);
QEIVelocityEnable(QEI1_BASE);
//init decodeur fait a la mitaine pour moteur 2 et 3 (pins J4 et J5 pour moteur 2, J6 et J7 pour moteur 3)
GPIOPadConfigSet(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_6 | GPIO_PIN_7, GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPD);
GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_6 | GPIO_PIN_7);
GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_6 | GPIO_PIN_7, GPIO_BOTH_EDGES);
GPIOPinIntEnable(GPIO_PORTE_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_6 | GPIO_PIN_7);
IntEnable(INT_GPIOE);
position_m0 = 0;
position_m1 = 0;
position_m2 = 0;
position_m3 = 0;
}
//*****************************************************************************
//
// Initializes the speed sensing routines.
//
// This function will initialize the peripherals used determine the speed of
// the motor's rotor.
//
// \return None.
//
//*****************************************************************************
void
SpeedSenseInit(void)
{
//
// Configure the encoder A pin for use by the QEI block. Even though this
// pin is now used to drive the QEI block, its state is still visible to
// the GPIO block.
// Encoder B and Index pins are not used, but should be configured here,
// for test support.
//
GPIOPinTypeQEI(PIN_ENCA_PORT, PIN_ENCA_PIN);
GPIOPinTypeQEI(PIN_ENCB_PORT, PIN_ENCB_PIN);
GPIOPinTypeQEI(PIN_INDEX_PORT, PIN_INDEX_PIN);
//
// A GPIO interrupt should be generated on rising edges of the encoder A
// pin.
//
GPIOIntTypeSet(PIN_ENCA_PORT, PIN_ENCA_PIN, GPIO_RISING_EDGE);
//
// Enable the encoder A pin GPIO interrupt.
//
GPIOPinIntEnable(PIN_ENCA_PORT, PIN_ENCA_PIN);
IntEnable(INT_GPIOC);
//
// Configure the QEI block for capturing the velocity of the encoder A pin
// (which it does by counting the number of edges during a fixed time
// period).
//
QEIConfigure(QEI0_BASE, (QEI_CONFIG_CAPTURE_A | QEI_CONFIG_NO_RESET |
QEI_CONFIG_CLOCK_DIR | QEI_CONFIG_NO_SWAP), 0);
QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, SYSTEM_CLOCK / QEI_INT_RATE);
//
// Enable the QEI block and the velocity capture.
//
QEIEnable(QEI0_BASE);
QEIVelocityEnable(QEI0_BASE);
//
// Enable the QEI velocity interrupt.
//
QEIIntEnable(QEI0_BASE, QEI_INTTIMER);
IntEnable(INT_QEI0);
}
void qeiInit(void) {
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = 0;
GPIOPinTypeQEI(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOPinTypeQEI(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPinConfigure(GPIO_PF0_PHA0);
GPIOPinConfigure(GPIO_PF1_PHB0);
QEIConfigure(QEI0_BASE,QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_RESET | QEI_CONFIG_NO_SWAP,3999);
QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, SysCtlClockGet()/QEIfrequency);
QEIVelocityEnable(QEI0_BASE);
QEIIntEnable(QEI0_BASE, QEI_INTTIMER);
IntEnable(INT_QEI0);
QEIEnable(QEI0_BASE);
}
//*****************************************************************************
//
// This function prepares the quadrature encoder module for capturing the
// position and speed of the motor.
//
//*****************************************************************************
void
Encoder_Init(unsigned long ulBase)
{
if(ulBase == QEI0_BASE) // J6 PITCH Encoder
{
//
// Enable the peripherals QEI example.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);
// unlock GPIO PD7
GPIO_PORTD_LOCK_R = GPIO_LOCK_KEY;
GPIO_PORTD_CR_R = GPIO_PIN_7;
//Enable GPIO for QEI0
//PD3-> IDX0
//PD6-> PHA0
//PD7-> PHB0
GPIOPinConfigure(GPIO_PD3_IDX0);
GPIOPinConfigure(GPIO_PD6_PHA0);
GPIOPinConfigure(GPIO_PD7_PHB0);
GPIOPinTypeQEI(QEI_PITCH_PHA_PORT,QEI_PITCH_PHA_PIN);
GPIOPinTypeQEI(QEI_PITCH_PHB_PORT,QEI_PITCH_PHB_PIN);
GPIOPinTypeQEI(QEI_PITCH_INDEX_PORT,QEI_PITCH_INDEX_PIN);
// Set D 0 and 1 to alternative use
GPIODirModeSet(GPIO_PORTD_BASE, GPIO_PIN_3, GPIO_DIR_MODE_HW);//GPIO_DIR_MODE_HW
GPIODirModeSet(GPIO_PORTD_BASE, GPIO_PIN_6, GPIO_DIR_MODE_HW);
GPIODirModeSet(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_DIR_MODE_HW);
//
// Configure the QEI module.
//
QEIConfigure(QEI0_BASE,
(QEI_CONFIG_NO_RESET | QEI_CONFIG_CAPTURE_A_B |
QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP), QEI0_POSCNT_MAX-1);
//Set to 0
QEIPositionSet(QEI0_BASE, 0);
QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, 500000); //Configure the Velocity capture Module //500000 is 10ms at 50MHz
QEIVelocityEnable(QEI0_BASE); //Enable the Velocity capture Module
QEIIntEnable(QEI0_BASE, QEI_INTDIR | QEI_INTINDEX); //Enable Interrupt when the Timer is reach 0 on Valocity capture mode
QEIEnable(QEI0_BASE);
//
// Configure the encoder input to generate an interrupt on every rising
// edge.
//
//GPIOIntTypeSet(QEI_PITCH_PHA_PORT, QEI_PITCH_PHA_PIN, GPIO_RISING_EDGE);
//GPIOPinIntEnable(QEI_PITCH_PHA_PORT, QEI_PITCH_PHA_PIN);
//IntEnable(QEI_PITCH_PHA_INT);
//Interrupt Enable
//IntEnable(INT_QEI1);
}
else
if(ulBase == QEI1_BASE) // J8 ROLL Encoder
{
//
// Enable the peripherals QEI example.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI1);
//Enable GPIO for QEI1
//PC4-> IDX0
//PC5-> PHA0
//PC6-> PHB0
GPIOPinConfigure(GPIO_PC4_IDX1);
GPIOPinConfigure(GPIO_PC5_PHA1);
GPIOPinConfigure(GPIO_PC6_PHB1);
GPIOPinTypeQEI(QEI_ROLL_PHA_PORT,QEI_ROLL_PHA_PIN);
GPIOPinTypeQEI(QEI_ROLL_PHB_PORT,QEI_ROLL_PHB_PIN);
GPIOPinTypeQEI(QEI_ROLL_INDEX_PORT,QEI_ROLL_INDEX_PIN);
// Set F 0 and 1 to alternative use
GPIODirModeSet(GPIO_PORTC_BASE, GPIO_PIN_4, GPIO_DIR_MODE_HW);//GPIO_DIR_MODE_HW
GPIODirModeSet(GPIO_PORTC_BASE, GPIO_PIN_5, GPIO_DIR_MODE_HW);
GPIODirModeSet(GPIO_PORTC_BASE, GPIO_PIN_6, GPIO_DIR_MODE_HW);
//
// Configure the QEI module.
//
QEIConfigure(QEI1_BASE,
(QEI_CONFIG_NO_RESET | QEI_CONFIG_CAPTURE_A_B |
QEI_CONFIG_QUADRATURE | QEI_CONFIG_SWAP), QEI1_POSCNT_MAX-1);
//Set to 0
QEIPositionSet(QEI1_BASE, 0);
QEIVelocityConfigure(QEI1_BASE, QEI_VELDIV_1, 500000); //Configure the Velocity capture Module //500000 is 10ms at 50MHz
QEIVelocityEnable(QEI1_BASE); //Enable the Velocity capture Module
QEIIntEnable(QEI1_BASE, QEI_INTDIR | QEI_INTINDEX); //Enable Interrupt when the Timer is reach 0 on Valocity capture mode
QEIEnable(QEI1_BASE);
//
// Configure the encoder input to generate an interrupt on every rising
// edge.
//
//GPIOIntTypeSet(QEI_ROLL_PHA_PORT, QEI_ROLL_PHA_PIN, GPIO_RISING_EDGE);
//GPIOPinIntEnable(QEI_ROLL_PHA_PORT, QEI_ROLL_PHA_PIN);
//IntEnable(QEI_ROLL_PHA_INT);
//Interrupt Enable
//IntEnable(INT_QEI1);
}
}
int main(void)
{
long dir;
unsigned long vel, pos;
//
// Set the clocking to run directly from the crystal.
//
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_8MHZ);
//
// Set up low level I/O for printf()
//
llio_init(115200);
//
// Set up GPIO for LED
//
LED_INIT();
//
// Set up QEI peripheral
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_4 | GPIO_PIN_6);
QEIConfigure(QEI0_BASE, (QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_NO_RESET |
QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP), 0xffffffff);
QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, SysCtlClockGet() / 10);
QEIEnable(QEI0_BASE);
QEIVelocityEnable(QEI0_BASE);
//
// Set up GPIO for encoder push switch
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
GPIOPinTypeGPIOInput(GPIO_PORTC_BASE, GPIO_PIN_5);
GPIOPadConfigSet(GPIO_PORTC_BASE, GPIO_PIN_5, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
GPIOIntTypeSet(GPIO_PORTC_BASE, GPIO_PIN_5, GPIO_FALLING_EDGE);
GPIOPortIntRegister(GPIO_PORTC_BASE, SW_IntHandler);
GPIOPinIntEnable(GPIO_PORTC_BASE, GPIO_PIN_5);
//
// Set up the period for the SysTick timer.
//
SysTickPeriodSet(SysCtlClockGet() / 10); // 10Hz SysTick timer
//
// Enable the SysTick Interrupt.
//
SysTickIntEnable();
SysTickIntRegister(SysTickIntHandler);
//
// Enable SysTick.
//
SysTickEnable();
printf("\r\nEncoder example\r\n");
//
// Loop forever.
//
while(1)
{
SysCtlSleep(); // sleep here till interrupt
LED_TOGGLE();
dir = QEIDirectionGet(QEI0_BASE);
vel = QEIVelocityGet(QEI0_BASE);
pos = QEIPositionGet(QEI0_BASE);
printf("%d,%d,%d\r\n", dir, vel, pos);
}
}
