f281xqep_no_index.h

TI公司28XDSP控制永磁同步电机(PMSM)

/* ==================================================================================
File name:        F281XQEP_NO_INDEX.H                     
                    
Originator:	Digital Control Systems Group
			Texas Instruments
Description:  
Header file containing data type and object definitions and 
initializers. Also contains prototypes for the functions in F281XQEP_NO_INDEX.C.

Target: TMS320F281x family

=====================================================================================
History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20: Using DSP281x v. 1.00 or higher 
----------------------------------------------------------------------------------*/

#ifndef __F281X_QEP_NO_INDEX_H__
#define __F281X_QEP_NO_INDEX_H__

#include "f281xbmsk.h"

/*------------------------------------------------------------------------------
Initialization states for T2CON and CAPCON 
------------------------------------------------------------------------------*/
#define QEP_CAP_INIT_STATE    0x9004
#define QEP_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 {int16 MechTheta;         // Output: Motor Mechanical Angle (Q15)  
                int16 OutputTheta;       // Output: Output Mechanical Angle (Q15)  
                Uint16 DirectionQep;     // Output: Motor rotation direction (Q0) 
                Uint16 QepCountIndex;    // Variable: Encoder counter index = 4*pulse_per_rev (Q0)  
                Uint16 RawTheta;         // Variable: Raw angle from Timer 2 (Q0)  
                Uint32 OutputRawTheta;   // Variable: Raw angle for output position (Q0)  
                Uint32 MechScaler;       // Parameter: 0.9999/total count for motor (Q30) 
                Uint32 OutputMechScaler; // Parameter: 0.9999/total count for output (Q30) 
                Uint16 LineEncoder;      // Parameter: Number of line encoder (Q0) 
                Uint16 PreScaler;        // Parameter: A ratio of motor revolution to output revolution (Q0)
                Uint16 Counter;          // Variable: Counter for revolution of motor (Q0) 
                void (*init)();          // Pointer to the init function 
                void (*calc)();          // Pointer to the calc function
                void (*isr)();           // Pointer to the isr function
                }  QEP;

/*-----------------------------------------------------------------------------
Define a QEP_handle
-----------------------------------------------------------------------------*/
typedef QEP *QEP_handle;

/*-----------------------------------------------------------------------------
Default initializer for the QEP Object.
-----------------------------------------------------------------------------*/
// Applied-motion PMSM motor: 24-v, 8-pole, 2000 line encoder
// MechScaler = 1/8000 = 0x00020C4A (Q30)

// Sensormatic PM DC-motor: 12-v, 512 line encoder
// MechScaler = 1/(4*512) = 1/2048 = 0x00080000 (Q30)

// Edges for output : 2048*256 = 524288, Note: 2^8 = 256 
// OutputMechScaler = 1/(4*512*256) = 1/524288 = 0x00000800 (Q30)

#define QEP_DEFAULTS { 0x0,0x0,0x0,2048,0x0,0x0,0x00080000,0x00000800,512,256,0x0,  \
                (void (*)(Uint32))F281X_EV1_QEP_NO_INDEX_Init,            \
                (void (*)(Uint32))F281X_EV1_QEP_NO_INDEX_Calc,           \
                (void (*)(Uint32))F281X_EV1_QEP_NO_INDEX_Isr }

/*-----------------------------------------------------------------------------
Prototypes for the functions in F281XQEP_NO_INDEX.C                                 
-----------------------------------------------------------------------------*/
void F281X_EV1_QEP_NO_INDEX_Init(QEP_handle);                                              
void F281X_EV1_QEP_NO_INDEX_Calc(QEP_handle);
void F281X_EV1_QEP_NO_INDEX_Isr(QEP_handle);

#endif // __F281X_QEP_NO_INDEX_H__