Enc

Data Structures
struct	_enc_config
	Define user configuration structure for ENC module. More...
struct	_enc_self_test_config
	Define configuration structure for self test module. More...

Macros
#define	FSL_ENC_DRIVER_VERSION   (MAKE_VERSION(2, 1, 0))

Typedefs
typedef enum _enc_home_trigger_mode	enc_home_trigger_mode_t
	Define HOME signal's trigger mode.
typedef enum _enc_index_trigger_mode	enc_index_trigger_mode_t
	Define INDEX signal's trigger mode.
typedef enum _enc_decoder_work_mode	enc_decoder_work_mode_t
	Define type for decoder work mode.
typedef enum _enc_position_match_mode	enc_position_match_mode_t
	Define type for the condition of POSMATCH pulses.
typedef enum _enc_revolution_count_condition	enc_revolution_count_condition_t
	Define type for determining how the revolution counter (REV) is incremented/decremented.
typedef enum _enc_self_test_direction	enc_self_test_direction_t
	Define type for direction of self test generated signal.
typedef struct _enc_config	enc_config_t
	Define user configuration structure for ENC module.
typedef struct _enc_self_test_config	enc_self_test_config_t
	Define configuration structure for self test module.

Enumerations
enum	_enc_interrupt_enable {   kENC_HOMETransitionInterruptEnable = (1U << 0U) , kENC_INDEXPulseInterruptEnable = (1U << 1U) , kENC_WatchdogTimeoutInterruptEnable = (1U << 2U) , kENC_PositionCompareInerruptEnable = (1U << 3U) ,   kENC_SimultBothPhaseChangeInterruptEnable , kENC_PositionRollOverInterruptEnable = (1U << 5U) , kENC_PositionRollUnderInterruptEnable = (1U << 6U) }
	Interrupt enable/disable mask. More...
enum	_enc_status_flags {   kENC_HOMETransitionFlag = (1U << 0U) , kENC_INDEXPulseFlag = (1U << 1U) , kENC_WatchdogTimeoutFlag = (1U << 2U) , kENC_PositionCompareFlag = (1U << 3U) ,   kENC_SimultBothPhaseChangeFlag = (1U << 4U) , kENC_PositionRollOverFlag = (1U << 5U) , kENC_PositionRollUnderFlag = (1U << 6U) , kENC_LastCountDirectionFlag = (1U << 7U) }
	Status flag mask. More...
enum	_enc_signal_status_flags {   kENC_RawHOMEStatusFlag = ENC_IMR_HOME_MASK , kENC_RawINDEXStatusFlag = ENC_IMR_INDEX_MASK , kENC_RawPHBStatusFlag = ENC_IMR_PHB_MASK , kENC_RawPHAEXStatusFlag = ENC_IMR_PHA_MASK ,   kENC_FilteredHOMEStatusFlag = ENC_IMR_FHOM_MASK , kENC_FilteredINDEXStatusFlag = ENC_IMR_FIND_MASK , kENC_FilteredPHBStatusFlag = ENC_IMR_FPHB_MASK , kENC_FilteredPHAStatusFlag = ENC_IMR_FPHA_MASK }
	Signal status flag mask. More...
enum	_enc_home_trigger_mode { kENC_HOMETriggerDisabled = 0U , kENC_HOMETriggerOnRisingEdge , kENC_HOMETriggerOnFallingEdge }
	Define HOME signal's trigger mode. More...
enum	_enc_index_trigger_mode { kENC_INDEXTriggerDisabled = 0U , kENC_INDEXTriggerOnRisingEdge , kENC_INDEXTriggerOnFallingEdge }
	Define INDEX signal's trigger mode. More...
enum	_enc_decoder_work_mode { kENC_DecoderWorkAsNormalMode = 0U , kENC_DecoderWorkAsSignalPhaseCountMode }
	Define type for decoder work mode. More...
enum	_enc_position_match_mode { kENC_POSMATCHOnPositionCounterEqualToComapreValue = 0U , kENC_POSMATCHOnReadingAnyPositionCounter }
	Define type for the condition of POSMATCH pulses. More...
enum	_enc_revolution_count_condition { kENC_RevolutionCountOnINDEXPulse = 0U , kENC_RevolutionCountOnRollOverModulus }
	Define type for determining how the revolution counter (REV) is incremented/decremented. More...
enum	_enc_self_test_direction { kENC_SelfTestDirectionPositive = 0U , kENC_SelfTestDirectionNegative }
	Define type for direction of self test generated signal. More...

Variables
bool	_enc_config::enableReverseDirection
enc_decoder_work_mode_t	_enc_config::decoderWorkMode
enc_home_trigger_mode_t	_enc_config::HOMETriggerMode
enc_index_trigger_mode_t	_enc_config::INDEXTriggerMode
bool	_enc_config::enableTRIGGERClearPositionCounter
bool	_enc_config::enableTRIGGERClearHoldPositionCounter
bool	_enc_config::enableWatchdog
uint16_t	_enc_config::watchdogTimeoutValue
uint16_t	_enc_config::filterCount
uint16_t	_enc_config::filterSamplePeriod
enc_position_match_mode_t	_enc_config::positionMatchMode
uint32_t	_enc_config::positionCompareValue
enc_revolution_count_condition_t	_enc_config::revolutionCountCondition
bool	_enc_config::enableModuloCountMode
uint32_t	_enc_config::positionModulusValue
uint32_t	_enc_config::positionInitialValue
enc_self_test_direction_t	_enc_self_test_config::signalDirection
uint16_t	_enc_self_test_config::signalCount
uint16_t	_enc_self_test_config::signalPeriod

Initialization and De-initialization
void	ENC_Init (ENC_Type *base, const enc_config_t *config)
	Initialization for the ENC module.
void	ENC_Deinit (ENC_Type *base)
	De-initialization for the ENC module.
void	ENC_GetDefaultConfig (enc_config_t *config)
	Get an available pre-defined settings for ENC's configuration.
void	ENC_DoSoftwareLoadInitialPositionValue (ENC_Type *base)
	Load the initial position value to position counter.
void	ENC_SetSelfTestConfig (ENC_Type *base, const enc_self_test_config_t *config)
	Enable and configure the self test function.
void	ENC_EnableWatchdog (ENC_Type *base, bool enable)
	Enable watchdog for ENC module.
void	ENC_SetInitialPositionValue (ENC_Type *base, uint32_t value)
	Set initial position value for ENC module.

Status
uint32_t	ENC_GetStatusFlags (ENC_Type *base)
	Get the status flags.
void	ENC_ClearStatusFlags (ENC_Type *base, uint32_t mask)
	Clear the status flags.

Interrupts
void	ENC_EnableInterrupts (ENC_Type *base, uint32_t mask)
	Enable the interrupts.
void	ENC_DisableInterrupts (ENC_Type *base, uint32_t mask)
	Disable the interrupts.
uint32_t	ENC_GetEnabledInterrupts (ENC_Type *base)
	Get the enabled interrupts' flags.

Value Operation
uint32_t	ENC_GetPositionValue (ENC_Type *base)
	Get the current position counter's value.
uint32_t	ENC_GetHoldPositionValue (ENC_Type *base)
	Get the hold position counter's value.

Detailed Description

Typedef Documentation

enc_decoder_work_mode_t

typedef enum _enc_decoder_work_mode enc_decoder_work_mode_t

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.

enc_home_trigger_mode_t

typedef enum _enc_home_trigger_mode enc_home_trigger_mode_t

Define HOME signal's trigger mode.

The ENC would count the trigger from HOME signal line.

enc_index_trigger_mode_t

typedef enum _enc_index_trigger_mode enc_index_trigger_mode_t

Define INDEX signal's trigger mode.

The ENC would count the trigger from INDEX signal line.

enc_self_test_config_t

typedef struct _enc_self_test_config enc_self_test_config_t

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.

Enumeration Type Documentation

_enc_decoder_work_mode

enum _enc_decoder_work_mode

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.

Enumerator
kENC_DecoderWorkAsNormalMode	Use standard quadrature decoder with PHASEA and PHASEB.
kENC_DecoderWorkAsSignalPhaseCountMode	PHASEA input generates a count signal while PHASEB input control the direction.

_enc_home_trigger_mode

enum _enc_home_trigger_mode

Define HOME signal's trigger mode.

The ENC would count the trigger from HOME signal line.

Enumerator
kENC_HOMETriggerDisabled	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_index_trigger_mode

enum _enc_index_trigger_mode

Define INDEX signal's trigger mode.

The ENC would count the trigger from INDEX signal line.

Enumerator
kENC_INDEXTriggerDisabled	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_interrupt_enable

enum _enc_interrupt_enable

Interrupt enable/disable mask.

Enumerator
kENC_HOMETransitionInterruptEnable	HOME interrupt enable.
kENC_INDEXPulseInterruptEnable	INDEX pulse interrupt enable.
kENC_WatchdogTimeoutInterruptEnable	Watchdog timeout interrupt enable.
kENC_PositionCompareInerruptEnable	Position compare interrupt enable.
kENC_SimultBothPhaseChangeInterruptEnable	Simultaneous PHASEA and PHASEB change interrupt enable.
kENC_PositionRollOverInterruptEnable	Roll-over interrupt enable.
kENC_PositionRollUnderInterruptEnable	Roll-under interrupt enable.

_enc_position_match_mode

enum _enc_position_match_mode

Define type for the condition of POSMATCH pulses.

Enumerator
kENC_POSMATCHOnPositionCounterEqualToComapreValue	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_revolution_count_condition

enum _enc_revolution_count_condition

Define type for determining how the revolution counter (REV) is incremented/decremented.

Enumerator
kENC_RevolutionCountOnINDEXPulse	Use INDEX pulse to increment/decrement revolution counter.
kENC_RevolutionCountOnRollOverModulus	Use modulus counting roll-over/under to increment/decrement revolution counter.

_enc_self_test_direction

enum _enc_self_test_direction

Define type for direction of self test generated signal.

Enumerator
kENC_SelfTestDirectionPositive	Self test generates the signal in positive direction.
kENC_SelfTestDirectionNegative	Self test generates the signal in negative direction.

_enc_signal_status_flags

enum _enc_signal_status_flags

Signal status flag mask.

These flags indicate the counter's signal.

Enumerator
kENC_RawHOMEStatusFlag	Raw HOME input.
kENC_RawINDEXStatusFlag	Raw INDEX input.
kENC_RawPHBStatusFlag	Raw PHASEB input.
kENC_RawPHAEXStatusFlag	Raw PHASEA input.
kENC_FilteredHOMEStatusFlag	The filtered version of HOME input.
kENC_FilteredINDEXStatusFlag	The filtered version of INDEX input.
kENC_FilteredPHBStatusFlag	The filtered version of PHASEB input.
kENC_FilteredPHAStatusFlag	The filtered version of PHASEA input.

_enc_status_flags

enum _enc_status_flags

Status flag mask.

These flags indicate the counter's events.

Enumerator
kENC_HOMETransitionFlag	HOME signal transition interrupt request.
kENC_INDEXPulseFlag	INDEX Pulse Interrupt Request.
kENC_WatchdogTimeoutFlag	Watchdog timeout interrupt request.
kENC_PositionCompareFlag	Position compare interrupt request.
kENC_SimultBothPhaseChangeFlag	Simultaneous PHASEA and PHASEB change interrupt request.
kENC_PositionRollOverFlag	Roll-over interrupt request.
kENC_PositionRollUnderFlag	Roll-under interrupt request.
kENC_LastCountDirectionFlag	Last count was in the up direction, or the down direction.

Function Documentation

ENC_ClearStatusFlags()

void ENC_ClearStatusFlags	(	ENC_Type *	base,
		uint32_t	mask
	)

Clear the status flags.

Parameters

base	ENC peripheral base address.
mask	Mask value of status flags to be cleared. For available mask, see to "_enc_status_flags".

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".

ENC_Deinit()

void ENC_Deinit

(

ENC_Type *

base

)

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.

Parameters

base	ENC peripheral base address.

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.

ENC_DisableInterrupts()

void ENC_DisableInterrupts	(	ENC_Type *	base,
		uint32_t	mask
	)

Disable the interrupts.

Parameters

base	ENC peripheral base address.
mask	Mask value of interrupts to be disabled. For available mask, see to "_enc_interrupt_enable".

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".

ENC_DoSoftwareLoadInitialPositionValue()

void ENC_DoSoftwareLoadInitialPositionValue

(

ENC_Type *

base

)

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.

Parameters

base	ENC peripheral base address.

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.

ENC_EnableInterrupts()

void ENC_EnableInterrupts	(	ENC_Type *	base,
		uint32_t	mask
	)

Enable the interrupts.

Parameters

base	ENC peripheral base address.
mask	Mask value of interrupts to be enabled. For available mask, see to "_enc_interrupt_enable".

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".

ENC_EnableWatchdog()

void ENC_EnableWatchdog	(	ENC_Type *	base,
		bool	enable
	)

Enable watchdog for ENC module.

Parameters

base	ENC peripheral base address
enable	Enables or disables the watchdog

brief Enable watchdog for ENC module.

param base ENC peripheral base address param enable Enables or disables the watchdog

ENC_GetDefaultConfig()

void ENC_GetDefaultConfig

(

enc_config_t *

config

)

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:

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;

Parameters

config

Pointer to a variable of configuration structure. See to "enc_config_t".

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".

ENC_GetEnabledInterrupts()

uint32_t ENC_GetEnabledInterrupts

(

ENC_Type *

base

)

Get the enabled interrupts' flags.

Parameters

base	ENC peripheral base address.

Returns

Mask value of enabled interrupts.

brief Get the enabled interrupts' flags.

param base ENC peripheral base address.

return Mask value of enabled interrupts.

ENC_GetHoldPositionValue()

uint32_t ENC_GetHoldPositionValue

(

ENC_Type *

base

)

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.

Parameters

base	ENC peripheral base address.

Returns

Hold position counter's value.

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.

ENC_GetPositionValue()

uint32_t ENC_GetPositionValue

(

ENC_Type *

base

)

Get the current position counter's value.

Parameters

base	ENC peripheral base address.

Returns

Current position counter's value.

brief Get the current position counter's value.

param base ENC peripheral base address.

return Current position counter's value.

ENC_GetStatusFlags()

uint32_t ENC_GetStatusFlags

(

ENC_Type *

base

)

Get the status flags.

Parameters

base	ENC peripheral base address.

Returns

Mask value of status flags. For available mask, see to "_enc_status_flags".

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".

ENC_Init()

void ENC_Init	(	ENC_Type *	base,
		const enc_config_t *	config
	)

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.

Parameters

base	ENC peripheral base address.
config	Pointer to configuration structure. See to "enc_config_t".

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".

ENC_SetInitialPositionValue()

void ENC_SetInitialPositionValue	(	ENC_Type *	base,
		uint32_t	value
	)

Set initial position value for ENC module.

Parameters

base	ENC peripheral base address
value	Positive initial value

brief Set initial position value for ENC module.

param base ENC peripheral base address param value Positive initial value

ENC_SetSelfTestConfig()

void ENC_SetSelfTestConfig	(	ENC_Type *	base,
		const enc_self_test_config_t *	config
	)

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.

Parameters

base	ENC peripheral base address.
config	Pointer to configuration structure. See to "enc_self_test_config_t". Pass "NULL" to disable.

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.

Variable Documentation

decoderWorkMode

enc_decoder_work_mode_t _enc_config::decoderWorkMode

Enable signal phase count mode.

enableModuloCountMode

bool _enc_config::enableModuloCountMode

Enable Modulo Counting.

enableReverseDirection

bool _enc_config::enableReverseDirection

Enable reverse direction counting.

enableTRIGGERClearHoldPositionCounter

bool _enc_config::enableTRIGGERClearHoldPositionCounter

Enable update of hold registers on rising edge of TRIGGER, or not.

enableTRIGGERClearPositionCounter

bool _enc_config::enableTRIGGERClearPositionCounter

Clear POSD, REV, UPOS and LPOS on rising edge of TRIGGER, or not.

enableWatchdog

bool _enc_config::enableWatchdog

Enable the watchdog to detect if the target is moving or not.

filterCount

uint16_t _enc_config::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.

filterSamplePeriod

uint16_t _enc_config::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.

HOMETriggerMode

enc_home_trigger_mode_t _enc_config::HOMETriggerMode

Enable HOME to initialize position counters.

INDEXTriggerMode

enc_index_trigger_mode_t _enc_config::INDEXTriggerMode

Enable INDEX to initialize position counters.

positionCompareValue

uint32_t _enc_config::positionCompareValue

Position compare value. The available value is a 32-bit number.

positionInitialValue

uint32_t _enc_config::positionInitialValue

Position initial value. The available value is a 32-bit number.

positionMatchMode

enc_position_match_mode_t _enc_config::positionMatchMode

The condition of POSMATCH pulses.

positionModulusValue

uint32_t _enc_config::positionModulusValue

Position modulus value. This value would be available only when "enableModuloCountMode" = true. The available value is a 32-bit number.

revolutionCountCondition

enc_revolution_count_condition_t _enc_config::revolutionCountCondition

Revolution Counter Modulus Enable.

signalCount

uint16_t _enc_self_test_config::signalCount

Hold the number of quadrature advances to generate. The available range is 0 - 255.

signalDirection

enc_self_test_direction_t _enc_self_test_config::signalDirection

Direction of self test generated signal.

signalPeriod

uint16_t _enc_self_test_config::signalPeriod

Hold the period of quadrature phase in IPBus clock cycles. The available range is 0 - 31.

watchdogTimeoutValue

uint16_t _enc_config::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.