Add configuration to use second encoder (EQEP2) (#46)

* Add setting to use second encoder. * Got EQEP2 working. Rolled version number.
clough42 · Jan 13, 2020 · 0837df2 · 0837df2
1 parent adf633e
commit 0837df2
Show file tree

Hide file tree

Showing 5 changed files with 62 additions and 26 deletions.
diff --git a/els-f280049c/Configuration.h b/els-f280049c/Configuration.h
@@ -89,8 +89,14 @@
 // four times the number of pulses.  For example, if you have a 1024 P/R
 // encoder, you need to enter 4096 here.
 //================================================================================
+
+// Encoder resolution (counts per revolution)
 #define ENCODER_RESOLUTION 4096
 
+// Which encoder input to use
+#define ENCODER_USE_EQEP1
+//#define ENCODER_USE_EQEP2
+
 
 
 

diff --git a/els-f280049c/Encoder.cpp b/els-f280049c/Encoder.cpp
@@ -38,45 +38,63 @@ void Encoder :: initHardware(void)
 {
     EALLOW;
 
-    GpioCtrlRegs.GPBPUD.bit.GPIO35 = 0;     // Enable pull-up on GPIO20 (EQEP1A)
-    GpioCtrlRegs.GPBPUD.bit.GPIO37 = 0;     // Enable pull-up on GPIO21 (EQEP1B)
-    GpioCtrlRegs.GPBPUD.bit.GPIO59 = 0;     // Enable pull-up on GPIO23 (EQEP1I)
+#ifdef ENCODER_USE_EQEP1
+    GpioCtrlRegs.GPBPUD.bit.GPIO35 = 0;     // Enable pull-up on GPIO35 (EQEP1A)
+    GpioCtrlRegs.GPBPUD.bit.GPIO37 = 0;     // Enable pull-up on GPIO371 (EQEP1B)
+    GpioCtrlRegs.GPBPUD.bit.GPIO59 = 0;     // Enable pull-up on GPIO59 (EQEP1I)
 
-    GpioCtrlRegs.GPBQSEL1.bit.GPIO35 = 0;   // Sync to SYSCLKOUT GPIO20 (EQEP1A)
-    GpioCtrlRegs.GPBQSEL1.bit.GPIO37 = 0;   // Sync to SYSCLKOUT GPIO21 (EQEP1B)
-    GpioCtrlRegs.GPBQSEL2.bit.GPIO59 = 0;   // Sync to SYSCLKOUT GPIO23 (EQEP1I)
+    GpioCtrlRegs.GPBQSEL1.bit.GPIO35 = 0;   // Sync to SYSCLKOUT GPIO35 (EQEP1A)
+    GpioCtrlRegs.GPBQSEL1.bit.GPIO37 = 0;   // Sync to SYSCLKOUT GPIO37 (EQEP1B)
+    GpioCtrlRegs.GPBQSEL2.bit.GPIO59 = 0;   // Sync to SYSCLKOUT GPIO59 (EQEP1I)
 
-    GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 1;    // Configure GPIO20 as EQEP1A
+    GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 1;    // Configure GPIO35 as EQEP1A
     GpioCtrlRegs.GPBGMUX1.bit.GPIO35 = 2;
-    GpioCtrlRegs.GPBMUX1.bit.GPIO37 = 1;    // Configure GPIO20 as EQEP1A
+    GpioCtrlRegs.GPBMUX1.bit.GPIO37 = 1;    // Configure GPIO37 as EQEP1B
     GpioCtrlRegs.GPBGMUX1.bit.GPIO37 = 2;
-    GpioCtrlRegs.GPBMUX2.bit.GPIO59 = 3;    // Configure GPIO20 as EQEP1A
+    GpioCtrlRegs.GPBMUX2.bit.GPIO59 = 3;    // Configure GPIO59 as EQEP1I
     GpioCtrlRegs.GPBGMUX2.bit.GPIO59 = 2;
+#endif
+#ifdef ENCODER_USE_EQEP2
+    GpioCtrlRegs.GPAPUD.bit.GPIO14 = 0;     // Enable pull-up on GPIO14 (EQEP2A)
+    GpioCtrlRegs.GPAPUD.bit.GPIO15 = 0;     // Enable pull-up on GPIO15 (EQEP2B)
+    GpioCtrlRegs.GPAPUD.bit.GPIO26 = 0;     // Enable pull-up on GPIO26 (EQEP2I)
+
+    GpioCtrlRegs.GPAQSEL1.bit.GPIO14 = 0;   // Sync to SYSCLKOUT GPIO14 (EQEP2A)
+    GpioCtrlRegs.GPAQSEL1.bit.GPIO15 = 0;   // Sync to SYSCLKOUT GPIO15 (EQEP2B)
+    GpioCtrlRegs.GPAQSEL2.bit.GPIO26 = 0;   // Sync to SYSCLKOUT GPIO26 (EQEP2I)
+
+    GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 2;    // Configure GPIO14 as EQEP2A
+    GpioCtrlRegs.GPAGMUX1.bit.GPIO14 = 2;
+    GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 2;    // Configure GPIO15 as EQEP2B
+    GpioCtrlRegs.GPAGMUX1.bit.GPIO15 = 2;
+    GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 2;    // Configure GPIO26 as EQEP2I
+    GpioCtrlRegs.GPAGMUX2.bit.GPIO26 = 0;
+#endif
 
     EDIS;
 
-    EQep1Regs.QDECCTL.bit.QSRC = 0;         // QEP quadrature count mode
-    EQep1Regs.QDECCTL.bit.IGATE = 1;        // gate the index pin
-    EQep1Regs.QDECCTL.bit.QAP = 1;          // invert A input
-    EQep1Regs.QDECCTL.bit.QBP = 1;          // invert B input
-    EQep1Regs.QDECCTL.bit.QIP = 1;          // invert index input
-    EQep1Regs.QEPCTL.bit.FREE_SOFT = 2;     // unaffected by emulation suspend
-    EQep1Regs.QEPCTL.bit.PCRM = 1;          // position count reset on maximum position
-    EQep1Regs.QPOSMAX = _ENCODER_MAX_COUNT;  // Max position count
+    ENCODER_REGS.QDECCTL.bit.QSRC = 0;         // QEP quadrature count mode
+    ENCODER_REGS.QDECCTL.bit.IGATE = 1;        // gate the index pin
+    ENCODER_REGS.QDECCTL.bit.QAP = 1;          // invert A input
+    ENCODER_REGS.QDECCTL.bit.QBP = 1;          // invert B input
+    ENCODER_REGS.QDECCTL.bit.QIP = 1;          // invert index input
+    ENCODER_REGS.QEPCTL.bit.FREE_SOFT = 2;     // unaffected by emulation suspend
+    ENCODER_REGS.QEPCTL.bit.PCRM = 1;          // position count reset on maximum position
+    ENCODER_REGS.QPOSMAX = _ENCODER_MAX_COUNT;  // Max position count
 
-    EQep1Regs.QUPRD = CPU_CLOCK_HZ / RPM_CALC_RATE_HZ; // Unit Timer latch at RPM_CALC_RATE_HZ Hz
-    EQep1Regs.QEPCTL.bit.UTE=1;             // Unit Timeout Enable
-    EQep1Regs.QEPCTL.bit.QCLM=1;            // Latch on unit time out
+    ENCODER_REGS.QUPRD = CPU_CLOCK_HZ / RPM_CALC_RATE_HZ; // Unit Timer latch at RPM_CALC_RATE_HZ Hz
+    ENCODER_REGS.QEPCTL.bit.UTE=1;             // Unit Timeout Enable
+    ENCODER_REGS.QEPCTL.bit.QCLM=1;            // Latch on unit time out
 
-    EQep1Regs.QEPCTL.bit.QPEN=1;            // QEP enable
+    ENCODER_REGS.QEPCTL.bit.QPEN=1;            // QEP enable
 
 }
 
 Uint16 Encoder :: getRPM(void)
 {
-    if(EQep1Regs.QFLG.bit.UTO==1)       // If unit timeout (one 10Hz period)
+    if(ENCODER_REGS.QFLG.bit.UTO==1)       // If unit timeout (one 10Hz period)
     {
-        Uint32 current = EQep1Regs.QPOSLAT;
+        Uint32 current = ENCODER_REGS.QPOSLAT;
         Uint32 count = (current > previous) ? current - previous : previous - current;
 
         // deal with over/underflow
@@ -87,7 +105,7 @@ Uint16 Encoder :: getRPM(void)
         rpm = count * 60 * RPM_CALC_RATE_HZ / ENCODER_RESOLUTION;
 
         previous = current;
-        EQep1Regs.QCLR.bit.UTO=1;       // Clear interrupt flag
+        ENCODER_REGS.QCLR.bit.UTO=1;       // Clear interrupt flag
     }
 
     return rpm;

diff --git a/els-f280049c/Encoder.h b/els-f280049c/Encoder.h
@@ -28,6 +28,14 @@
 #define __ENCODER_H
 
 #include "F28x_Project.h"
+#include "Configuration.h"
+
+#ifdef ENCODER_USE_EQEP1
+#define ENCODER_REGS EQep1Regs
+#endif
+#ifdef ENCODER_USE_EQEP2
+#define ENCODER_REGS EQep2Regs
+#endif
 
 #define _ENCODER_MAX_COUNT 0x00ffffff
 
@@ -50,7 +58,7 @@ class Encoder
 
 inline Uint32 Encoder :: getPosition(void)
 {
-    return EQep1Regs.QPOSCNT;
+    return ENCODER_REGS.QPOSCNT;
 }
 
 inline Uint32 Encoder :: getMaxCount(void)

diff --git a/els-f280049c/SanityCheck.h b/els-f280049c/SanityCheck.h
@@ -72,6 +72,10 @@
 #endif
 #endif
 
+#if defined(ENCODER_USE_EQEP1) && defined (ENCODER_USE_EQEP2)
+#error Define only one of ENCODER_USE_EQEP1 or ENCODER_USE_EQEP2
+#endif
+
 
 
 #endif // __SANITYCHECK_H
diff --git a/els-f280049c/UserInterface.cpp b/els-f280049c/UserInterface.cpp
@@ -28,7 +28,7 @@
 
 const MESSAGE STARTUP_MESSAGE_2 =
 {
-  .message = { LETTER_E, LETTER_L, LETTER_S, DASH, ONE | POINT, ONE | POINT, ZERO, ONE },
+  .message = { LETTER_E, LETTER_L, LETTER_S, DASH, ONE | POINT, ONE | POINT, ZERO, TWO },
   .displayTime = UI_REFRESH_RATE_HZ * 1.5
 };