/* ==================================================================================
File name:        F2407QEP.H                     
                    
Originator:	Digital Control Systems Group
			Texas Instruments
Description:  
This file defines handy constants for register initializations  
contains prototypes for the functions in F2407QEP1.C,            
and has definitions of structs etc.                             
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 09-15-2000	Release	Rev 1.0 
 04-04-2001 Release	Rev 1.1                                                 
---------------------------------------------------------------------------------- */

#ifndef __F2407QEP_H__
#define __F2407QEP_H__

#include "..\include\F2407BMSK.H"

/*------------------------------------------------------------------------------
Initialization states for T2CON and CAPCON 
------------------------------------------------------------------------------*/
#define CAP_INIT_STATE    0xF004
#define TIMER_INIT_STATE (FREE_RUN_FLAG +          \
                          TIMER_DIR_UPDN +         \
                          TIMER_CLK_PRESCALE_X_1 + \
                          TIMER_ENABLE_BY_OWN +    \
                          TIMER_ENABLE +           \
                          TIMER_CLOCK_SRC_QEP +    \
                          TIMER_COMPARE_LD_ON_ZERO)

/*-----------------------------------------------------------------------------
Define the structure of the QEP (Quadrature Encoder) Driver Object 
-----------------------------------------------------------------------------*/
typedef struct {int dir_QEP;        /* Output: Motor rotation direction (Q0)  */
                int cal_angle;      /* Parameter: Encoder offset calibration (Q0) */
                int theta_raw;      /* Variable: Raw angle of timer value (Q0)  */
                int mech_scale;     /* Parameter: Scaling factor for raw angle Q0->Q15 */
                int theta_mech;     /* Output: Motor Mechanical Angle (Q15)  */
                int polepairs;      /* Parameter: No. of poles/2 of the motor (Q0) */
                int theta_elec;     /* Output: Motor Electrical Angle (Q15)  */
                int QEP_cnt_idx;    /* Variable: Pulses count on encoder at index (Q0) */
                int index_sync_flg; /* Output: Index sync status (Q0) */
                int (*calc)();      /* Pointer to the calc funtion           */
                int (*init)();      /* Pointer to the init funcion           */
                int (*indexevent)(); /* Pointer to index event handler       */
                }  QEP ;

/*-----------------------------------------------------------------------------
Prototypes for the functions in F2407QEP1.C and F2407QEP2.ASM                                 
-----------------------------------------------------------------------------*/

int F2407_EV1_QEP_Init(QEP *);                                              
int F2407_EV1_qep_theta_calc(QEP *);
int F2407_EV1_QEP_Index_Handle(QEP *);

/*-----------------------------------------------------------------------------
Default initializer for the QEP Object.
-----------------------------------------------------------------------------*/
                        /* -489 */
#define QEP_DEFAULTS { 0x0,-2365,0x0,16776,0x0,2,0x0,0x0,0x0,  \
                (int (*)(int))F2407_EV1_qep_theta_calc,     \
                (int (*)(int))F2407_EV1_QEP_Init,           \
                (int (*)(int))F2407_EV1_QEP_Index_Handle }

/*-----------------------------------------------------------------------------
Default initializer for the QEP Object for a 4000 line encoder.
-----------------------------------------------------------------------------*/
#define QEP_4000 { 0x0, 0x0,0x0,16384,0x0,2,0x0,0x0,        \
                (int (*)(int))F2407_EV1_qep_theta_calc,          \
                (int (*)(int))F2407_EV1_QEP_Init,               \
                (int (*)(int))F2407_EV1_QEP_Index_Handle }
                

#endif /* __F2407QEP_H__ */