From e6cef3c547e8f73cbf2d3c7ba639cb7d9934c475 Mon Sep 17 00:00:00 2001
From: Daniel Friesel <daniel.friesel@uos.de>
Date: Mon, 18 Jul 2022 11:25:27 +0200
Subject: Add Hercules RM46L8 Launchpad support (Cortex R4F)

---
 include/arch/rm46l8lp/halcogen/eqep.h | 716 ++++++++++++++++++++++++++++++++++
 1 file changed, 716 insertions(+)
 create mode 100644 include/arch/rm46l8lp/halcogen/eqep.h

(limited to 'include/arch/rm46l8lp/halcogen/eqep.h')

diff --git a/include/arch/rm46l8lp/halcogen/eqep.h b/include/arch/rm46l8lp/halcogen/eqep.h
new file mode 100644
index 0000000..63d1637
--- /dev/null
+++ b/include/arch/rm46l8lp/halcogen/eqep.h
@@ -0,0 +1,716 @@
+/** @file eqep.h
+*   @brief EQEP Driver Header File
+*   @date 11-Dec-2018
+*   @version 04.07.01
+*   
+*/
+
+/* 
+* Copyright (C) 2009-2018 Texas Instruments Incorporated - www.ti.com  
+* 
+* 
+*  Redistribution and use in source and binary forms, with or without 
+*  modification, are permitted provided that the following conditions 
+*  are met:
+*
+*    Redistributions of source code must retain the above copyright 
+*    notice, this list of conditions and the following disclaimer.
+*
+*    Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in the 
+*    documentation and/or other materials provided with the   
+*    distribution.
+*
+*    Neither the name of Texas Instruments Incorporated nor the names of
+*    its contributors may be used to endorse or promote products derived
+*    from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+*  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+*  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+*  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+*  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+*  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+*  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+*  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+*/
+
+
+#ifndef __eQEP_H__
+#define __eQEP_H__
+
+/* USER CODE BEGIN (0) */
+/* USER CODE END */
+
+#include "reg_eqep.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* USER CODE BEGIN (1) */
+/* USER CODE END */
+
+/*QDECCTL Register */
+#define eQEP_QDECCTL_QSRC					 ((uint16)((uint16)3U  << 14U))		/*<position counter source selection   */
+#define eQEP_QDECCTL_SOEN					 ((uint16)((uint16)1U  << 13U))		/*<sync output enable                  */
+#define eQEP_QDECCTL_SPSEL					 ((uint16)((uint16)1U  << 12U))		/*<sync output pin selection           */
+#define eQEP_QDECCTL_XCR				 	 ((uint16)((uint16)1U  << 11U))		/*<external clock rate                 */
+#define eQEP_QDECCTL_SWAP					 ((uint16)((uint16)1U  << 10U))		/*<swap quadrature clock inputs        */
+#define eQEP_QDECCTL_IGATE					 ((uint16)((uint16)1U  <<  9U))		/*<index pulse gating option           */
+#define eQEP_QDECCTL_QAP				 	 ((uint16)((uint16)1U  <<  8U))		/*<QEPA input polarity                 */
+#define eQEP_QDECCTL_QBP					 ((uint16)((uint16)1U  <<  7U))		/*<QEPB input polarity                 */
+#define eQEP_QDECCTL_QIP					 ((uint16)((uint16)1U  <<  6U))		/*<QEPI input polarity                 */
+#define eQEP_QDECCTL_QSP					 ((uint16)((uint16)1U  <<  5U))		/*<QEPS input polarity                 */
+
+/*QEPCTL Register */
+#define eQEP_QEPCTL_FREESOFT				 ((uint16)((uint16)3U << 14U))		/*<emulation control bit                                          */
+#define eQEP_QEPCTL_PCRM					 ((uint16)((uint16)3U << 12U))		/*<emulation control bit                                          */
+#define eQEP_QEPCTL_SEI						 ((uint16)((uint16)3U << 10U))		/*<strobe event initialization of position counter                */
+#define eQEP_QEPCTL_IEI						 ((uint16)((uint16)3U <<  8U))		/*<index event initialization of position counter                 */
+#define eQEP_QEPCTL_SWI						 ((uint16)((uint16)1U <<  7U))		/*<software initialization of position counter                    */
+#define eQEP_QEPCTL_SEL						 ((uint16)((uint16)1U <<  6U))		/*<strobe event latch of position counter                         */
+#define eQEP_QEPCTL_IEL						 ((uint16)((uint16)3U <<  4U))		/*<index event latch of position counter ((uint16)((uint16)software index marker)  */
+#define eQEP_QEPCTL_QPEN					 ((uint16)((uint16)1U <<  3U))		/*<quad position counter enable/software reset                    */
+#define eQEP_QEPCTL_QCLM					 ((uint16)((uint16)1U <<  2U))		/*<QEP capture latch mode                                         */
+#define eQEP_QEPCTL_UTE						 ((uint16)((uint16)1U <<  1U))		/*<QEP unit timer enable                                          */
+#define eQEP_QEPCTL_WDE						 ((uint16)((uint16)1U <<  0U))		/*<watchdog timer enable                                          */
+                                                                                                                                  
+/*QPOSCTL Register */                                                                                                                
+#define eQEP_QPOSCTL_PCSHDW					 ((uint16)((uint16)1U << 15U))	/*<position compare shadow enable                                     */
+#define eQEP_QPOSCTL_PCLOAD					 ((uint16)((uint16)1U << 14U))	/*<position compare shadow load mode                                  */
+#define eQEP_QPOSCTL_PCPOL					 ((uint16)((uint16)1U << 13U))	/*<load when QPOSCNT = QPOSCMP                                        */
+#define eQEP_QPOSCTL_PCE					 ((uint16)((uint16)1U << 12U))	/*<position compare enable/disable                                    */
+#define eQEP_QPOSCTL_PCSPW					 ((uint16)((uint16)4095U <<  0U))	/*<selection position compare sync output pulse width                 */
+
+/*QCAPCTL Register */
+#define eQEP_QCAPCTL_CEN					 ((uint16)((uint16)1U << 15U))	/*<enable QEP capture                */
+#define eQEP_QCAPCTL_CCPS					 ((uint16)((uint16)7U <<  4U))	/*<qep capture timer clock prescaler */ 
+#define eQEP_QCAPCTL_UPPS					 ((uint16)((uint16)15U <<  0U))	/*<unit position event prescaler     */ 
+
+/*QEINT Register */
+#define eQEP_QEINT_UTO						 ((uint16)((uint16)1U << 11U))	/*<unit timeout interrupt enable                    */
+#define eQEP_QEINT_IEL						 ((uint16)((uint16)1U << 10U))	/*<index event latch interrupt enable               */
+#define eQEP_QEINT_SEL						 ((uint16)((uint16)1U <<  9U))	/*<strobe event latch	interrupt enable            */
+#define eQEP_QEINT_PCM						 ((uint16)((uint16)1U <<  8U))	/*<position compare match interrupt enable	        */
+#define eQEP_QEINT_PCR						 ((uint16)((uint16)1U <<  7U))	/*<position compare ready interrupt enable          */
+#define eQEP_QEINT_PCO						 ((uint16)((uint16)1U <<  6U))	/*<position counter overflow interrupt enable       */
+#define eQEP_QEINT_PCU						 ((uint16)((uint16)1U <<  5U))	/*<position counter underflow interrupt enable      */
+#define eQEP_QEINT_WTO						 ((uint16)((uint16)1U <<  4U))	/*<watchdog time out interrupt enable               */
+#define eQEP_QEINT_QDC						 ((uint16)((uint16)1U <<  3U))	/*<quadrature direction change interrupt enable     */
+#define eQEP_QEINT_QPE						 ((uint16)((uint16)1U <<  2U))	/*<quadrature phase error interrupt enable          */
+#define eQEP_QEINT_PCE						 ((uint16)((uint16)1U <<  1U))	/*<position counter error interrupt enable          */
+																
+/*QFLG Register */
+#define eQEP_QFLG_UTO						 ((uint16)((uint16)1U << 11U))	/*<unit timeout interrupt flag                       */
+#define eQEP_QFLG_IEL						 ((uint16)((uint16)1U << 10U))	/*<index event latch interrupt flag                  */
+#define eQEP_QFLG_SEL						 ((uint16)((uint16)1U <<  9U))	/*<strobe event latch	interrupt flag               */
+#define eQEP_QFLG_PCM						 ((uint16)((uint16)1U <<  8U))	/*<position compare match interrupt flag             */
+#define eQEP_QFLG_PCR						 ((uint16)((uint16)1U <<  7U))	/*<position compare ready interrupt flag             */
+#define eQEP_QFLG_PCO						 ((uint16)((uint16)1U <<  6U))	/*<position counter overflow interrupt flag          */
+#define eQEP_QFLG_PCU						 ((uint16)((uint16)1U <<  5U))	/*<position counter underflow interrupt flag         */
+#define eQEP_QFLG_WTO						 ((uint16)((uint16)1U <<  4U))	/*<watchdog time out interrupt flag                  */
+#define eQEP_QFLG_QDC						 ((uint16)((uint16)1U <<  3U))	/*<quadrature direction change interrupt flag        */
+#define eQEP_QFLG_QPE						 ((uint16)((uint16)1U <<  2U))	/*<quadrature phase error interrupt flag             */
+#define eQEP_QFLG_PCE						 ((uint16)((uint16)1U <<  1U))	/*<position counter error interrupt flag             */
+
+/*QCLR Register */
+#define eQEP_QCLR_UTO						 ((uint16)((uint16)1U << 11U))	/*<clear unit timeout interrupt flag                  */
+#define eQEP_QCLR_IEL						 ((uint16)((uint16)1U << 10U))	/*<clear index event latch interrupt flag             */
+#define eQEP_QCLR_SEL						 ((uint16)((uint16)1U <<  9U))	/*<clear strobe event latch interrupt flag            */
+#define eQEP_QCLR_PCM						 ((uint16)((uint16)1U <<  8U))	/*<clear position compare match interrupt flag        */
+#define eQEP_QCLR_PCR						 ((uint16)((uint16)1U <<  7U))	/*<clear position compare ready interrupt flag        */
+#define eQEP_QCLR_PCO						 ((uint16)((uint16)1U <<  6U))	/*<clear position counter overflow interrupt flag     */
+#define eQEP_QCLR_PCU						 ((uint16)((uint16)1U <<  5U))	/*<clear position counter underflow interrupt flag    */
+#define eQEP_QCLR_WTO						 ((uint16)((uint16)1U <<  4U))	/*<clear watchdog time out interrupt flag             */
+#define eQEP_QCLR_QDC						 ((uint16)((uint16)1U <<  3U))	/*<clear quadrature direction change interrupt flag   */
+#define eQEP_QCLR_QPE						 ((uint16)((uint16)1U <<  2U))	/*<clear quadrature phase error interrupt flag        */
+#define eQEP_QCLR_PCE						 ((uint16)((uint16)1U <<  1U))	/*<clear position counter error interrupt flag        */
+
+/*QFRC Register */
+#define eQEP_QFRC_UTO						 ((uint16)((uint16)1U << 11U))	/*<force unit timeout interrupt                       */
+#define eQEP_QFRC_IEL						 ((uint16)((uint16)1U << 10U))	/*<force index event latch interrupt                  */
+#define eQEP_QFRC_SEL						 ((uint16)((uint16)1U <<  9U))	/*<force strobe event latch interrupt                 */
+#define eQEP_QFRC_PCM						 ((uint16)((uint16)1U <<  8U))	/*<force position compare match interrupt             */
+#define eQEP_QFRC_PCR						 ((uint16)((uint16)1U <<  7U))	/*<force position compare ready interrupt             */
+#define eQEP_QFRC_PCO						 ((uint16)((uint16)1U <<  6U))	/*<force position counter overflow interrupt          */
+#define eQEP_QFRC_PCU						 ((uint16)((uint16)1U <<  5U))	/*<force position counter underflow interrupt         */
+#define eQEP_QFRC_WTO						 ((uint16)((uint16)1U <<  4U))	/*<force watchdog time out interrupt                  */
+#define eQEP_QFRC_QDC						 ((uint16)((uint16)1U <<  3U))	/*<force quadrature direction change interrupt        */
+#define eQEP_QFRC_QPE						 ((uint16)((uint16)1U <<  2U))	/*<force quadrature phase error interrupt             */
+#define eQEP_QFRC_PCE						 ((uint16)((uint16)1U <<  1U))	/*<force position counter error interrupt             */
+
+/*QEPSTS Register */
+#define eQEP_QEPSTS_UPEVNT					((uint16)((uint16)1U << 7U))		/*<unit position event flag                       */
+#define eQEP_QEPSTS_FDF						((uint16)((uint16)1U << 6U))		/*<direction on the first index marker            */
+#define eQEP_QEPSTS_QDF						((uint16)((uint16)1U << 5U))		/*<quadrature direction flag                      */
+#define eQEP_QEPSTS_QDLF						((uint16)((uint16)1U << 4U))		/*<direction latch flag                           */
+#define eQEP_QEPSTS_COEF						((uint16)((uint16)1U << 3U))		/*<capture overflow error flag                    */
+#define eQEP_QEPSTS_CDEF						((uint16)((uint16)1U << 2U))		/*<capture direction error flag                   */
+#define eQEP_QEPSTS_FIMF						((uint16)((uint16)1U << 1U))		/*<first index marker flag                        */
+#define eQEP_QEPSTS_PCEF						((uint16)((uint16)1U << 0U))		/*<position counter error flag                    */
+                                                                                                                  
+/*PC mode  */                                                                                                        
+#define eQEP_QUADRATURE_COUNT                 0x00U                                                                
+#define eQEP_DIRECTION_COUNT                  0x01U
+#define eQEP_UP_COUNT                         0x02U
+#define eQEP_DOWN_COUNT                       0x03U
+
+/*External Clock Rate */ 
+#define eQEP_RESOLUTION_2x                    0x00U
+#define eQEP_RESOLUTION_1x                    0x01U
+
+/*Direction */
+#define eQEP_CLOCKWISE                        0x01U
+#define eQEP_COUNTERCLOCKWISE                 0x01U
+
+/*Edge */
+#define eQEP_RISING_EDGE                      0x00U
+#define eQEP_FALLING_EDGE                     0x01U
+#define eQEP_DIRECTON_DEPENDENT               0x01U
+
+/*Index event latch of position counter */ 
+#define eQEP_LATCH_RISING_EDGE                0x01U
+#define eQEP_LATCH_FALLING_EDGE               0x02U
+#define eQEP_LATCH_SW_INDEX_MARKER            0x03U
+
+/*Position counter reset mode */
+#define eQEP_INDEX_EVENT                      0x00U
+#define eQEP_MAX_POSITION                     0x01U
+#define eQEP_FIRST_INDEX_EVENT                0x02U
+#define eQEP_UNITTIME_EVENT                   0x03U
+
+/*eQEP capture timer clock prescaler and Unit position event prescaler */
+#define eQEP_PS_1                             0x00U
+#define eQEP_PS_2                             0x01U
+#define eQEP_PS_4                             0x02U
+#define eQEP_PS_8                             0x03U
+#define eQEP_PS_16                            0x04U
+#define eQEP_PS_32                            0x05U
+#define eQEP_PS_64                            0x06U
+#define eQEP_PS_128                           0x07U
+#define eQEP_PS_256                           0x08U
+#define eQEP_PS_512                           0x09U
+#define eQEP_PS_1024                          0x0AU
+#define eQEP_PS_2048                          0x0BU
+
+/*eQEP capture latch mode */
+#define eQEP_ON_POSITION_COUNTER_READ         0x00U
+#define eQEP_ON_UNIT_TIMOUT_EVENT             0x01U
+
+/*Sync output pin selection */
+#define eQEP_INDEX_PIN                        0x00U
+#define eQEP_STROBE_PIN                       0x01U
+
+/*Position-compare shadow load mode */
+#define eQEP_QPOSCNT_EQ_0                     0x00U
+#define eQEP_QPOSCNT_EQ_QPSCMP                0x01U
+
+/*Polarity of sync output */
+#define eQEP_ACTIVE_HIGH                      0x00U
+#define eQEP_ACTIVE_LOW                       0x01U
+
+/***************************************************************************
+* the typedefs
+*/
+/** @brief QEP counting mode
+*/
+typedef enum
+{
+	eQEP_Qsrc_Quad_Count_Mode=((uint16)0U << 14U),					/*<quadrature count mode                                          */
+	eQEP_Qsrc_Dir_Count_Mode=((uint16)1U << 14U),					/*<direction count mode                                           */
+	eQEP_Qsrc_Up_Count_Mode=((uint16)2U << 14U),						/*<up count mode for frequency measurement (QCLK=XCLK, QDIR=1U)   */
+	eQEP_Qsrc_Down_Count_Mode=((uint16)3U << 14U)					/*<down count mode for frequency measurement (QCLK=XCLK, QDIR=0U) */
+} eQEP_Qsrc_t;
+
+/** @brief Sync output pin selection
+*/
+typedef enum
+{	
+	eQEP_Spsel_Index_Pin_Sync_Output=((uint16)0U << 12U),			/*<index pin for sync output  */
+	eQEP_Spsel_Strobe_Pin_Sync_Output=((uint16)1U << 12U)			/*<strobe pin for sync output */ 
+} eQEP_Spsel_t;
+
+/** @brief External clock rate
+*/
+typedef enum
+{
+	eQEP_Xcr_2x_Res=((uint16)0U << 11U),								/*<2x resolution: count the rising/falling edge  */
+	eQEP_Xcr_1x_Res=((uint16)1U << 11U)								/*<1x resolution: count the rising edge only     */
+} eQEP_Xcr_t;
+
+/** @brief Swap A/B channels
+*/
+typedef enum
+{
+	eQEP_Swap_Not_Swapped=((uint16)0U << 10U),						/*<quad inputs not swapped  */
+	eQEP_Swap_Swapped=((uint16)1U << 10U)							/*<quad inputs swapped      */
+} eQEP_Swap_t;
+
+/** @brief Index gating
+*/
+typedef enum
+{
+	eQEP_Igate_Disable=((uint16)0U << 9U),							/*<disable gating of index pulse  */
+	eQEP_Igate_Enable=((uint16)1U << 9U)								/*<enable gating of index pulse   */
+} eQEP_Igate_t;
+
+/** @brief Channel A polarity
+*/
+typedef enum
+{
+	eQEP_Qap_No_Effect=((uint16)0U << 8U),							/*<no effect           */
+	eQEP_Qap_Inverted=((uint16)1U << 8U)								/*<negates QEPA input  */
+} eQEP_Qap_t;
+
+/** @brief Channel B polarity
+*/
+typedef enum
+{
+	eQEP_Qbp_No_Effect=((uint16)0U << 7U),							/*<no effect           */
+	eQEP_Qbp_Inverted=((uint16)1U << 7U)								/*<negates QEPB input  */
+} eQEP_Qbp_t;
+
+/** @brief Index polarity
+*/
+typedef enum
+{
+	eQEP_Qip_No_Effect=((uint16)0U << 6U),							/*<no effect          */
+	eQEP_Qip_Inverted=((uint16)1U << 6U)								/*<negates QEPI input */
+} eQEP_Qip_t;
+
+/** @brief Channel S polarity
+*/
+typedef enum
+{
+	eQEP_Qsp_No_Effect=((uint16)0U << 5U),								/*<no effect*/
+	eQEP_Qsp_Inverted=((uint16)1U << 5U)								/*<negates QEPS input */
+} eQEP_Qsp_t;
+
+/** @brief Emulation control bits
+*/
+typedef enum
+{
+	QEPCTL_Freesoft_Immediate_Halt=((uint16)0U << 14U),				/*<position, watchdog, unit timer, capture timer stops immediately                                       */
+	QEPCTL_Freesoft_Rollover_Halt=((uint16)1U << 14U),				/*<position, watchdog, unit timer continues until rollover, capture counts until next unit period event  */
+	QEPCTL_Freesoft_Unaffected_Halt=((uint16)2U << 14U)				/*<position, watchdog, unit timer, capture timer unaffected by emu suspend                               */
+} QEPCTL_Freesoft_t;
+
+/** @brief Position counter reset mode
+*/
+typedef enum
+{
+	QEPCTL_Pcrm_Index_Reset=((uint16)0U << 12U),					/*<position counter reset on index event      */
+	QEPCTL_Pcrm_Max_Reset=((uint16)1U << 12U),						/*<position counter reset on max position     */
+	QEPCTL_Pcrm_First_Index_Reset=((uint16)2U << 12U),				/*<position counter reset on first index event*/
+	QEPCTL_Pcrm_Unit_Time_Reset=((uint16)3U << 12U)					/*<position counter reset on unit time event  */
+} QEPCTL_Pcrm_t;
+
+/** @brief Strobe event initialization of position counter
+*/
+typedef enum
+{ 
+	QEPCTL_Sei_Nothing=((uint16)0U << 10U),							/*<does nothing                                       */
+	QEPCTL_Sei_Rising_Edge_Init=((uint16)2U << 10U),				/*<initializes on rising edge of QEPS signal          */
+	QEPCTL_Sei_Rising_Falling_Edge_Init=((uint16)3U << 10U)			/*<initializes on rising/falling edge of QEPS signal  */
+} QEPCTL_Sei_t;
+
+/** @brief Index event initialization of position counter
+*/
+typedef enum
+{
+	QEPCTL_Iei_Nothing=((uint16)0U << 8U),							/*<does nothing                               */
+	QEPCTL_Iei_Rising_Edge_Init=((uint16)2U << 8U),					/*<initializes on rising edge of QEPI signal  */
+	QEPCTL_Iei_Rising_Falling_Edge_Init=((uint16)3U << 8U)			/*<initializes on falling edge of QEPI signal */
+} QEPCTL_Iei_t;
+
+/** @brief Software initialization of position counter
+*/
+typedef enum
+{
+	QEPCTL_Swi_Nothing=((uint16)0U << 7U),							/*<does nothing                             */
+	QEPCTL_Swi_Auto_Init_Counter=((uint16)1U << 7U)					/*<init position counter (QPOSCNT=QPOSINIT) */
+} QEPCTL_Swi_t;
+
+/** @brief Strobe event latch of position counter
+*/
+typedef enum
+{
+	QEPCTL_Sel_Rising_Edge=((uint16)0U << 6U),						/*<Position counter latched on rising edge of QEPS strobe (QPOSSLAT = POSCCNT)                    */
+	QEPCTL_Sel_Rising_Falling_Edge=((uint16)1U << 6U)				/*<Clockwise: position counter latched on rising edge, counter clockwise: latched on falling edge */
+} QEPCTL_Sel_t;
+	
+/** @brief Index event latch of position counter (software index marker)
+*/
+typedef enum
+{
+	QEPCTL_Iel_Rising_Edge=((uint16)1U << 4U),						/*<latches position counter on rising edge of index signal  */
+	QEPCTL_Iel_Falling_Edge=((uint16)2U << 4U),						/*<ditto on falling edge of index signal                    */
+	QEPCTL_Iel_Software_Index_Marker=((uint16)3U << 4U)				/*<software index marker.  See data sheet.                  */
+} QEPCTL_Iel_t;
+
+/** @brief QEP capture latch mode
+*/
+typedef enum
+{
+	QEPCTL_Qclm_Latch_on_CPU_Read=((uint16)0U << 2U),					/*<latch on position counter read by cpu  */
+	QEPCTL_Qclm_Latch_on_Unit_Timeout=((uint16)1U << 2U)				/*<latch on unit time out                 */
+} QEPCTL_Qclm_t;
+
+/** @brief Position compare shadow enable
+*/
+typedef enum
+{
+	QPOSCTL_Pcshdw_Load_Immediate=((uint16)0U << 15U),				/*<shadow disabled, load immediate */
+	QPOSCTL_Pcshdw_Shadow_Enabled=((uint16)1U << 15U)				/*<shadow enabled                  */
+} QPOSCTL_Pcshdw_t;
+
+/** @brief Position compare shadow load mode
+*/
+typedef enum
+{
+	QPOSCTL_Pcload_Load_Posn_Count_Zero=((uint16)0U << 14U),			/*<load on qposcnt = 0          */
+	QPOSCTL_Pcload_Load_Posn_Count_Equal_Compare=((uint16)1U << 14U)	/*<load when qposcnt = qposcmp  */
+} QPOSCTL_Pcload_t;
+
+/** @brief Polarity of sync output
+*/
+typedef enum
+{
+	QPOSCTL_Pcpol_Active_High=((uint16)0U << 13U),					/*<active high pulse output  */
+	QPOSCTL_Pcpol_Active_Low=((uint16)1U << 13U)					/*<active low pulse output   */
+} QPOSCTL_Pcpol_t;
+
+/** @brief QEP capture timer clock prescaler
+*/
+typedef enum
+{
+	QCAPCTL_Ccps_Capture_Div_1=((uint16)0U << 4U),					/*<capclk = sysclkout/1   */
+	QCAPCTL_Ccps_Capture_Div_2=((uint16)1U << 4U),					/*<capclk = sysclkout/2   */
+	QCAPCTL_Ccps_Capture_Div_4=((uint16)2U << 4U),					/*<capclk = sysclkout/4   */
+	QCAPCTL_Ccps_Capture_Div_8=((uint16)3U << 4U),					/*<capclk = sysclkout/8   */
+	QCAPCTL_Ccps_Capture_Div_16=((uint16)4U << 4U),					/*<capclk = sysclkout/16  */
+	QCAPCTL_Ccps_Capture_Div_32=((uint16)5U << 4U),					/*<capclk = sysclkout/32  */
+	QCAPCTL_Ccps_Capture_Div_64=((uint16)6U << 4U),					/*<capclk = sysclkout/64  */
+	QCAPCTL_Ccps_Capture_Div_128=((uint16)7U << 4U)					/*<capclk = sysclkout/128 */
+} QCAPCTL_Ccps_t;
+
+/** @brief Unit position event prescaler
+*/
+typedef enum
+{
+	QCAPCTL_Upps_Div_1_Prescale=((uint16)0U << 0U),					/*<upevnt = qclk/1    */
+	QCAPCTL_Upps_Div_2_Prescale=((uint16)1U << 0U),					/*<upevnt = qclk/2    */
+	QCAPCTL_Upps_Div_4_Prescale=((uint16)2U << 0U),					/*<upevnt = qclk/4    */
+	QCAPCTL_Upps_Div_8_Prescale=((uint16)3U << 0U),					/*<upevnt = qclk/8    */
+	QCAPCTL_Upps_Div_16_Prescale=((uint16)4U << 0U),				/*<upevnt = qclk/16   */
+	QCAPCTL_Upps_Div_32_Prescale=((uint16)5U << 0U),				/*<upevnt = qclk/32   */
+	QCAPCTL_Upps_Div_64_Prescale=((uint16)6U << 0U),				/*<upevnt = qclk/64   */
+	QCAPCTL_Upps_Div_128_Prescale=((uint16)7U << 0U),				/*<upevnt = qclk/128  */
+	QCAPCTL_Upps_Div_256_Prescale=((uint16)8U << 0U),				/*<upevnt = qclk/256  */
+	QCAPCTL_Upps_Div_512_Prescale=((uint16)9U << 0U),				/*<upevnt = qclk/512  */
+	QCAPCTL_Upps_Div_1024_Prescale=((uint16)10U << 0U),				/*<upevnt = qclk/1024 */
+	QCAPCTL_Upps_Div_2048_Prescale=((uint16)11U << 0U)				/*<upevnt = qclk/2048 */
+} QCAPCTL_Upps_t;
+
+/** @brief QEP interrupt enable flags
+*/
+typedef enum
+{
+	QEINT_Uto=((uint16)1U << 11U),									    /*<unit time out interrupt enable                      */
+	QEINT_Iel=((uint16)1U << 10U),								     	/*<index event latch interrupt enable                  */
+	QEINT_Sel=((uint16)1U << 9U),										/*<strobe event latch interrupt enable                 */
+	QEINT_Pcm=((uint16)1U << 8U),										/*<position compare match interrupt enable             */
+	QEINT_Pcr=((uint16)1U << 7U),										/*<position compare ready interrupt enable             */
+	QEINT_Pco=((uint16)1U << 6U),										/*<position compare overflow interrupt enable          */
+	QEINT_Pcu=((uint16)1U << 5U),										/*<position compare underflow interrupt enable         */
+	QEINT_Wto=((uint16)1U << 4U),										/*<position compare watchdog time out interrupt enable */
+	QEINT_Qdc=((uint16)1U << 3U),										/*<quadrature direction change interrupt enable        */
+	QEINT_Qpe=((uint16)1U << 2U),										/*<quadrature phase error interrupt enable             */
+	QEINT_Pce=((uint16)1U << 1U)										/*<position counter interrupt enable                   */
+} QEINT_t;                                                                                                             
+            
+/* Configuration registers */
+typedef struct eqep_config_reg
+{
+    uint32 CONFIG_QPOSINIT;
+    uint32 CONFIG_QPOSMAX;
+    uint32 CONFIG_QPOSCMP;
+    uint32 CONFIG_QUPRD;
+    uint16 CONFIG_QWDPRD;
+    uint16 CONFIG_QDECCTL;
+    uint16 CONFIG_QEPCTL;
+    uint16 CONFIG_QCAPCTL;
+    uint16 CONFIG_QPOSCTL;	
+	uint16 CONFIG_QEINT;
+} eqep_config_reg_t;		
+
+#define EQEP1_QPOSINIT_CONFIGVALUE ((uint32)0x00000000U)
+#define EQEP1_QPOSMAX_CONFIGVALUE ((uint32)0x00000000U)
+#define EQEP1_QPOSCMP_CONFIGVALUE ((uint32)0x00000000U)
+#define EQEP1_QUPRD_CONFIGVALUE ((uint32)0x00000000U)
+#define EQEP1_QWDPRD_CONFIGVALUE ((uint16) 0x0000U)
+#define EQEP1_QDECCTL_CONFIGVALUE ((uint16)((uint16)((uint16)eQEP_DIRECTION_COUNT << 14U)\
+								   | (uint16)((uint16)0U << 13U)\
+								   | (uint16)((uint16)eQEP_INDEX_PIN << 12U)\
+								   | (uint16)((uint16)eQEP_RESOLUTION_1x << 11U)\
+								   | (uint16)((uint16)0U << 10U)\
+								   | (uint16)((uint16)0U << 9U)\
+								   | (uint16)((uint16)0U << 8U)\
+								   | (uint16)((uint16)0U << 7U)\
+								   | (uint16)((uint16)0U << 6U)\
+								   | (uint16)((uint16)0U << 5U)\
+								   | (uint16)0x0000U))
+					 
+#define EQEP1_QEPCTL_CONFIGVALUE ((uint16)((uint16)((uint16)eQEP_MAX_POSITION << 12U)\
+								   | (uint16)((uint16)0U << 11U)\
+								   | (uint16)((uint16)eQEP_DIRECTON_DEPENDENT << 10U)\
+								   | (uint16)((uint16)0U << 9U)\
+								   | (uint16)((uint16)eQEP_RISING_EDGE << 8U)\
+								   | (uint16)((uint16)0U << 7U)\
+								   | (uint16)((uint16)eQEP_RISING_EDGE << 6U)\
+								   | (uint16)((uint16)eQEP_LATCH_RISING_EDGE << 4U)\
+								   | (uint16)((uint16)eQEP_ON_POSITION_COUNTER_READ << 2U)\
+								   | (uint16)0x0000U))
+					 
+#define EQEP1_QCAPCTL_CONFIGVALUE ((uint16)((uint16)((uint16)eQEP_PS_8 << 4U)\
+								   | (uint16)((uint16)eQEP_PS_512)\
+								   | (uint16)0x0000U))
+								   
+#define EQEP1_QPOSCTL_CONFIGVALUE ((uint16)((uint16)((uint16)0U << 15U)\
+								   | (uint16)((uint16)eQEP_QPOSCNT_EQ_QPSCMP << 14U)\
+								   | (uint16)((uint16)eQEP_ACTIVE_HIGH << 13U)\
+								   | (uint16)((uint16)0x000U)\
+								   | (uint16)0x0000U))
+					   
+#define EQEP1_QEINT_CONFIGVALUE ((uint16)((uint16)((uint16)0U << 11U)\
+								   | (uint16)((uint16)0U << 10U)\
+								   | (uint16)((uint16)0U << 9U)\
+								   | (uint16)((uint16)0U << 8U)\
+								   | (uint16)((uint16)0U << 7U)\
+								   | (uint16)((uint16)0U << 6U)\
+								   | (uint16)((uint16)0U << 5U)\
+								   | (uint16)((uint16)0U << 4U)\
+								   | (uint16)((uint16)0U << 3U)\
+								   | (uint16)((uint16)0U << 2U)\
+								   | (uint16)((uint16)0U << 1U)))   
+#define EQEP2_QPOSINIT_CONFIGVALUE ((uint32)0x00000000U)
+#define EQEP2_QPOSMAX_CONFIGVALUE ((uint32)0x00000000U)
+#define EQEP2_QPOSCMP_CONFIGVALUE ((uint32)0U)
+#define EQEP2_QUPRD_CONFIGVALUE ((uint32) 0U)
+#define EQEP2_QWDPRD_CONFIGVALUE ((uint16) 0U)
+#define EQEP2_QDECCTL_CONFIGVALUE ((uint16)((uint16)((uint16)eQEP_DIRECTION_COUNT << 14U)\
+								   | (uint16)((uint16)0U << 13U)\
+								   | (uint16)((uint16)eQEP_INDEX_PIN << 12U)\
+								   | (uint16)((uint16)eQEP_RESOLUTION_1x << 11U)\
+								   | (uint16)((uint16)0U << 10U)\
+								   | (uint16)((uint16)0U << 9U)\
+								   | (uint16)((uint16)0U << 8U)\
+								   | (uint16)((uint16)0U << 7U)\
+								   | (uint16)((uint16)0U << 6U)\
+								   | (uint16)((uint16)0U << 5U)\
+								   | (uint16)0x0000U))
+					 
+#define EQEP2_QEPCTL_CONFIGVALUE ((uint16)((uint16)((uint16)eQEP_MAX_POSITION << 12U)\
+								   | (uint16)((uint16)0U << 11U)\
+								   | (uint16)((uint16)eQEP_DIRECTON_DEPENDENT << 10U)\
+								   | (uint16)((uint16)0U << 9U)\
+								   | (uint16)((uint16)eQEP_RISING_EDGE << 8U)\
+								   | (uint16)((uint16)0U << 7U)\
+								   | (uint16)((uint16)eQEP_RISING_EDGE << 6U)\
+								   | (uint16)((uint16)eQEP_LATCH_RISING_EDGE << 4U)\
+								   | (uint16)((uint16)eQEP_ON_POSITION_COUNTER_READ << 2U)\
+								   | (uint16)0x0000U))
+					 
+#define EQEP2_QCAPCTL_CONFIGVALUE ((uint16)((uint16)((uint16)eQEP_PS_8 << 4U)\
+								   | ((uint16)eQEP_PS_512)\
+								   | (uint16)0x0000U))
+								   
+#define EQEP2_QPOSCTL_CONFIGVALUE ((uint16)((uint16)((uint16)0U << 15U)\
+								   | (uint16)((uint16)eQEP_QPOSCNT_EQ_QPSCMP << 14U)\
+								   | (uint16)((uint16)eQEP_ACTIVE_HIGH << 13U)\
+								   | (uint16)((uint16)0U)\
+								   | (uint16)0x0000U))
+					   
+#define EQEP2_QEINT_CONFIGVALUE ((uint16)((uint16)((uint16)0U << 11U)\
+								   | (uint16)((uint16)0U << 10U)\
+								   | (uint16)((uint16)0U << 9U)\
+								   | (uint16)((uint16)0U << 8U)\
+								   | (uint16)((uint16)0U << 7U)\
+								   | (uint16)((uint16)0U << 6U)\
+								   | (uint16)((uint16)0U << 5U)\
+								   | (uint16)((uint16)0U << 4U)\
+								   | (uint16)((uint16)0U << 3U)\
+								   | (uint16)((uint16)0U << 2U)\
+								   | (uint16)((uint16)0U << 1U)))	
+								   
+/**
+ *  @defgroup eQEP eQEP
+ *  @brief Enhanced QEP Module.
+ *  
+ *  The enhanced quadrature encoder pulse (eQEP) module is used for direct interface with a linear or rotary
+ *  incremental encoder to get position, direction, and speed information from a rotating machine for use in a
+ *  high-performance motion and position-control system. This microcontroller implements 2 instances of the
+ *  eQEP module.
+ *
+ *	Related Files
+ *   - reg_eqep.h
+ *   - eqep.h
+ *   - eqep.c
+ *  @addtogroup eQEP
+ *  @{
+ */
+
+/***************************************************************************
+*the function prototypes
+*/
+
+void QEPInit(void);
+
+
+void eqepClearAllInterruptFlags (eqepBASE_t *eqep);
+
+
+void eqepClearInterruptFlag (eqepBASE_t *eqep, QEINT_t QEINT_type);
+
+
+void eqepClearPosnCounter (eqepBASE_t *eqep);
+
+
+void eqepDisableAllInterrupts (eqepBASE_t *eqep);
+
+void eqepDisableCapture (eqepBASE_t *eqep);
+
+
+void eqepDisableGateIndex (eqepBASE_t *eqep);
+
+void eqepDisableInterrupt (eqepBASE_t *eqep, QEINT_t QEINT_type);
+
+void eqepDisablePosnCompare (eqepBASE_t *eqep);
+
+void eqepDisablePosnCompareShadow (eqepBASE_t *eqep);
+
+
+void eqepDisableSyncOut (eqepBASE_t *eqep);
+
+void eqepDisableUnitTimer (eqepBASE_t *eqep);
+
+void eqepDisableWatchdog (eqepBASE_t *eqep);
+
+void eqepEnableCapture (eqepBASE_t *eqep);
+
+void eqepEnableCounter (eqepBASE_t *eqep);
+
+void eqepEnableGateIndex (eqepBASE_t *eqep);
+
+void eqepEnableInterrupt (eqepBASE_t *eqep, QEINT_t QEINT_type);
+
+void eqepEnablePosnCompare (eqepBASE_t *eqep);
+
+void eqepEnablePosnCompareShadow (eqepBASE_t *eqep);
+
+void eqepEnableSyncOut (eqepBASE_t *eqep);
+
+void eqepEnableUnitTimer (eqepBASE_t *eqep);
+
+void eqepEnableWatchdog (eqepBASE_t *eqep);
+
+void eqepForceInterrupt (eqepBASE_t *eqep, QEINT_t QEINT_type);
+
+uint16 eqepReadCapturePeriodLatch (eqepBASE_t *eqep);
+
+uint16 eqepReadCaptureTimerLatch (eqepBASE_t *eqep);
+
+uint16 eqepReadInterruptFlag (eqepBASE_t *eqep, QEINT_t QEINT_type);
+
+uint32 eqepReadPosnCompare (eqepBASE_t *eqep);
+
+uint32 eqepReadPosnCount (eqepBASE_t *eqep);
+
+uint32 eqepReadPosnIndexLatch (eqepBASE_t *eqep);
+
+uint32 eqepReadPosnLatch (eqepBASE_t *eqep);
+
+uint32 eqepReadPosnStrobeLatch (eqepBASE_t *eqep);
+
+uint16 eqepReadStatus (eqepBASE_t *eqep);
+
+void eqepResetCounter (eqepBASE_t *eqep);
+
+void eqepSetCaptureLatchMode (eqepBASE_t *eqep, QEPCTL_Qclm_t QEPCTL_Qclm);
+
+void eqepSetCapturePeriod (eqepBASE_t *eqep, uint16 period);
+
+void eqepSetCapturePrescale (eqepBASE_t *eqep, QCAPCTL_Ccps_t QCAPCTL_Ccps);
+
+void eqepSetEmuControl (eqepBASE_t *eqep, QEPCTL_Freesoft_t QEPCTL_Freesoft);
+
+void eqepSetExtClockRate (eqepBASE_t *eqep, eQEP_Xcr_t eQEP_Xcr);
+
+void eqepSetIndexEventInit (eqepBASE_t *eqep, QEPCTL_Iei_t QEPCTL_Iei);
+
+void eqepSetIndexEventLatch (eqepBASE_t *eqep, QEPCTL_Iel_t QEPCTL_Iel);
+
+void eqepSetIndexPolarity (eqepBASE_t *eqep, eQEP_Qip_t eQEP_Qip);
+
+void eqepSetMaxPosnCount (eqepBASE_t *eqep, uint32 max_count);
+
+void eqepSetPosnComparePulseWidth (eqepBASE_t *eqep, uint16 pulse_width);
+
+void eqepSetPosnCompareShadowLoad (eqepBASE_t *eqep, QPOSCTL_Pcload_t QPOSCTL_Pcload);
+
+void eqepSetPosnCountResetMode (eqepBASE_t *eqep, QEPCTL_Pcrm_t QEPCTL_Pcrm);
+
+void eqepSetPosnInitCount (eqepBASE_t *eqep, uint32 init_count);
+
+void eqepSetSelectSyncPin (eqepBASE_t *eqep, eQEP_Spsel_t eQEP_SPsel);
+
+void eqepSetSoftInit (eqepBASE_t *eqep, QEPCTL_Swi_t QEPCTL_Swi);
+
+void eqepSetStrobeEventInit (eqepBASE_t *eqep, QEPCTL_Sei_t QEPCTL_Sei);
+
+void eqepSetStrobeEventLatch (eqepBASE_t *eqep, QEPCTL_Sel_t QEPCTL_Sel);
+
+void eqepSetStrobePolarity (eqepBASE_t *eqep, eQEP_Qsp_t eQEP_Qsp);
+
+void eqepSetSwapQuadInputs (eqepBASE_t *eqep, eQEP_Swap_t eQEP_Swap);
+
+void eqepSetSynchOutputComparePolarity (eqepBASE_t *eqep, QPOSCTL_Pcpol_t QPOSCTL_Pcpol);
+
+void eqepSetUnitPeriod (eqepBASE_t *eqep, uint32 unit_period);
+
+void eqepSetUnitPosnPrescale (eqepBASE_t *eqep, QCAPCTL_Upps_t QCAPCTL_Upps);
+
+void eqepSetWatchdogPeriod (eqepBASE_t *eqep, uint16 watchdog_period);
+
+void eqepSetupStrobeEventLatch (eqepBASE_t *eqep, QEPCTL_Sel_t QEPCTL_Sel);
+
+void eqepSetAPolarity (eqepBASE_t *eqep, eQEP_Qap_t eQEP_Qap);
+
+void eqepSetBPolarity (eqepBASE_t *eqep, eQEP_Qbp_t eQEP_Qbp);
+
+void eqepSetQEPSource (eqepBASE_t *eqep, eQEP_Qsrc_t eQEP_Qsrc);
+
+void eqepWritePosnCompare (eqepBASE_t *eqep, uint32 posn);
+
+/** @brief Interrupt callback
+*   @param[in] eqep		Handle to QEP object
+*   @param[in] flags			Copy of  interrupt flags
+*/
+void 	eqepNotification(eqepBASE_t *eqep,uint16 flags);
+
+void eqep1GetConfigValue(eqep_config_reg_t *config_reg, config_value_type_t type);
+void eqep2GetConfigValue(eqep_config_reg_t *config_reg, config_value_type_t type);
+/* USER CODE BEGIN (2) */
+/* USER CODE END */
+
+/**@}*/
+#ifdef __cplusplus
+}
+#endif /*extern "C" */
+
+#endif /*end of _eQEP_H_ definition */
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