decoder.h

MC56F802BLDC 可以使用的算法 就是电机启动有点慢

/******************************************************************************
*
* Motorola Inc.
* (c) Copyright 2001 Motorola, Inc.
* ALL RIGHTS RESERVED.
*
*******************************************************************************
*
* FILE NAME: decoder.h
*
* DESCRIPTION: Header file for Quadrature Decoder driver
*
* MODULES INCLUDED: decodertarget.h
*                   
* NOTES:
*
*******************************************************************************/

#ifndef __DECODER_H
#define __DECODER_H


/******************************************************************************
*
*                      General Interface Description
*
* On the DSP56805/807, the Quad Timer modules A and B share pins with
* Quadrature Decoder modules #0 and #1. Note, the DSP56801 has no Quadrature Decoder
* module, the DSP56803 has one Quadrature Decoder module (#0) which shares pins with Quad
* Timer module A. If the shared pins are not configured as timer
* outputs, then the pins are available for use as inputs to the Quadrature Decoder modules.
* Each Quadrature Decoder module has four input signals: PHASEA, PHASEB, INDEX,
* and HOME.
* Each Quadrature Decoder module has circuitry called the switch matrix that provides a
* means to share the input pins with an associated timer module. The switch matrix has
* three modes. Mode 0 will provide the signals directly from the pins to the timer's inputs.
* Mode 1 will pass the pin signals through the Quadrature Decoder's digital filter, then
* place the filtered signals on the timer's inputs. Mode 2 will place the filtered version of
* PHASEA on the inputs of timer channels 0 and 1 and the filtered version of PHASEB on
* the inputs of timer channels 2 and 3. Mode 2 is most likely to be used with the Quadrature
* Decoder. This will allow the timer to time the period between the positive and negative
* transitions of PHASEA and PHASEB, to provide high precision velocity measurements at
* very low motor speeds.
* 
* The Quadrature Decoder features:
* - Includes logic to decode quadrature signals
* - Configurable digital filter for inputs
* - 32-bit position counter
* - 16-bit position difference register
* - Maximum count frequency equals the peripheral clock rate
* - Position counter can be initialized by SW or external events
* - Preloadable 16-bit revolution counter
* - Inputs can be connected to a general purpose timer to aid low speed velocity
*   measurements
* - Quadrature decoder filter can be bypassed
* - A watchdog timer to detect a non-rotating shaft condition
* 
* For more information, please refer to the User Manual for the particular chip that you
* are using, such as the DSP56F801/803/805/807 User's Manual,
* for a description of the Quadratute Decoder device.
*
* The Quadratute Decoder device driver interface uses "ioctl" call to control specific
* Quadratute Decoder functions during operation. For details see "ioctl" call.
*      
*
******************************************************************************/

/***************************************************************************
* Quadrature Decoder module identifiers; corresponds to module base address
****************************************************************************/

#define DEC_0   (&ArchIO.Decoder0)  /* not applicable for DSP56801 */
#define DEC_1   (&ArchIO.Decoder1)  /* not applicable for DSP56801/803 */


/****************************************************
* Configurable items, i.e. defines, for appconfig.h
*****************************************************

  void decxxISR( void );              prototype for user ISR 
  #define INTERRUPT_VECTOR_ADDR_yy    decxxISR
  #define ITCN_INT_PRIORITY_yy  value 0-7 (0 = interrupt disabled)

  #define  DEC_x_CONTROL_REG               0x0000 
  #define  DEC_x_WATCHDOG_TIMEOUT_REG      0x0000
  #define  DEC_x_FILTER_INTERVAL_REG       0x0000
  #define  DEC_x_UPPER_INIT_REG            0x0000
  #define  DEC_x_LOWER_INIT_REG            0x0000

  where:
         x  is Quadrature Decoder module (0 or 1)
         yy  is interrupt vector number
                29 - Quadrature Decoder 0 INDEX Pulse
                28 - Quadrature Decoder 0 Home switch or Watchdog
                27 - Quadrature Decoder 1 INDEX Pulse
                26 - Quadrature Decoder 1 Home switch or Watchdog
*/

/***********************************************************************
* ioctl() commands
*
*  Word16 ioctl( Decoder_module_identifier, Command_name, Parameter );
*
************************************************************************

 COMMAND NAME                                       PARAMETERS, COMMENTS
------------------------------------------------------------------------------- */
#define DEC_INIT                                     /* NULL */

#define DEC_HOME_INT_REQUEST_CLEAR                   /* NULL                                HIRQ         */
#define DEC_HOME_INT                                 /* DEC_ENABLE / DEC_DISABLE            HIE in DECCR */
#define DEC_HOME_TRIGGERED_INIT                      /* DEC_ENABLE / DEC_DISABLE            HIP in DECCR */
#define DEC_HOME_EDGE                                /* DEC_NEGATIVE / DEC_POSITIVE         HNE in DECCR */
#define DEC_SOFTWARE_TRIGGERED_INIT                  /* NULL                                SWIP         */
#define DEC_DIRECTION_COUNTING_ENABLE                /* DEC_REVERSE / DEC_NORMAL            REV in DECCR */
#define DEC_SINGLE_PHASE_COUNT                       /* DEC_ENABLE / DEC_DISABLE            PH1 in DECCR */
#define DEC_INDEX_PULSE_INT_REQUEST_CLEAR            /* NULL                                XIRQ         */
#define DEC_INDEX_PULSE_INT                          /* DEC_ENABLE / DEC_DISABLE            XIE in DECCR */
#define DEC_INDEX_TRIGGERED_INIT                     /* DEC_ENABLE / DEC_DISABLE            XIP in DECCR */
#define DEC_INDEX_EDGE                               /* DEC_NEGATIVE / DEC_POSITIVE         XNE in DECCR */
#define DEC_WATCHDOG_INT_REQUEST_CLEAR               /* NULL                                DIE in DECCR */
#define DEC_WATCHDOG_INT                             /* DEC_ENABLE / DEC_DISABLE            WDE in DECCR */
#define DEC_WATCHDOG                                 /* DEC_ENABLE / DEC_DISABLE            WDE in DECCR */
#define DEC_SWITCH_MATRIX                            /* DEC_MODE_x                          MODE[1:0] in DECCR */

#define DEC_WRITE_FILTER                             /* value */
#define DEC_WRITE_WATCHDOG_TIMEOUT                   /* value */
#define DEC_READ_POSITION_DIFFERENCE                 /* NULL */
#define DEC_READ_REVOLUTION                          /* NULL */
#define DEC_WRITE_REVOLUTION                         /* value */
#define DEC_READ_POSITION                            /* decoder_uReg32bit value; (32bit ) */
#define DEC_WRITE_POSITION                           /* value  (32bit) */
#define DEC_WRITE_INIT_STATE                         /* value  (32bit) */
#define DEC_READ_MONITOR_REG                         /* NULL */
#define DEC_GET_RAW_ENCSIGNALS                       /* NULL */
#define DEC_GET_FILTERED_ENCSIGNALS                  /* NULL */

#define DEC_READ_HOLD_DATA_REGS                      /* *decoder_sState */
#define DEC_READ_CONTROL_REG                         /* NULL */

#define DEC_CALCULATE_SCALE_COEF                     /* *decoder_sEncScale */
#define DEC_GET_SCALED_POSITION                      /* *decoder_sEncScale */
#define DEC_GET_SCALED_POSITION_DIFFERENCE           /* *decoder_sEncScale */



/*******************************************************************************
* Quadratute Decoder constants and type declarations used in the ioctl functions
********************************************************************************/

#define DEC_ENABLE                          true
#define DEC_DISABLE                         false

#define DEC_NEGATIVE                        true
#define DEC_POSITIVE                        false

#define DEC_REVERSE                         true
#define DEC_NORMAL                          false

#define DEC_MODE_0                          0
#define DEC_MODE_1                          1
#define DEC_MODE_2                          2


/******************************************************************************/

typedef union
{
	struct
	{
		UWord16 LSBpart;
		Word16 MSBpart;
	}RegParts;
	
	Word32 Reg32bit;
	
} decoder_uReg32bit;

typedef struct
{
	Word16 PositionDifferenceHoldReg;
	Word16 RevolutionHoldReg;
	decoder_uReg32bit PositionHoldReg; 
}decoder_sState;

typedef struct
{
	UWord16 EncPulses;
	UWord16 RevolutionScale;
	
	Int16               scaleDiffPosCoef;
	UInt16              scalePosCoef;
	Int16               normDiffPosCoef;
	Int16               normPosCoef;
}decoder_sEncScale;

typedef struct
{
	UWord16 Index    :1;
	UWord16 PhaseB   :1;
	UWord16 PhaseA   :1;
	UWord16 Reserved :13;
}decoder_sEncSignals;

typedef union{
	decoder_sEncSignals EncSignals;
	UWord16             Value;
} decoder_uEncSignals;


/*******************************************************************************
* Quadrature Decoder constants and type declarations used in the ioctl functions
********************************************************************************/

#define DEC_MAX_INT      0xffff

/* Decoder Control Register DECCR */
#define DEC_HIRQ    0x8000  /* HOME Signal Transition Interrupt Request */
#define DEC_HIE     0x4000  /* HOME Interrupt Enable */
#define DEC_HIP     0x2000  /* Enable HOME to Initialize UPOS and LPOS */
#define DEC_HNE     0x1000  /* Use Negative Edge of HOME Input */
#define DEC_SWIP    0x0800  /* Software Triggered Initialization of UPOS and LPOS */
#define DEC_REV     0x0400  /* Enable Reverse Direction Counting */
#define DEC_PH1     0x0200  /* Enable Signal Phase Count Mode */
#define DEC_XIRQ    0x0100  /* Index Pulse Interrupt Request */
#define DEC_XIE     0x0080  /* Index Pulse Interrupt Enable */
#define DEC_XIP     0x0040  /* Index Triggered Initialization of UPOS and LPOS */
#define DEC_XNE     0x0020  /* Use Negative Edge of Index Pulse */
#define DEC_DIRQ    0x0010  /* Watchdog Time-Out Interrupt Request */
#define DEC_DIE     0x0008  /* Watchdog Time-Out Interrupt Enable */
#define DEC_WDE     0x0004  /* Watch Dog Enable */
#define DEC_MODE    0x0003  /* Switch Matrix Mode bits [1:0] */

/* Test Register TSTREG */
#define DEC_TEN     0x8000  /* Test Mode Enable */
#define DEC_TCE     0x4000  /* Test Counter Enable */
#define DEC_QDN     0x2000  /* Quadrature Decoder Negative Signal */



/***********************************************************************
*