cputimer.c

F2812实现M/T法码盘检测

/************************************************************************************
	版权(c) 	2003-		北京合众达电子技术有限责任公司			                *
*  	设计者：	戴展波	
*************************************************************************************/
#include "DSP28_Device.h"
#include "ext_inf.h"


void   GetEncoder();
void   ConfigQEP();
void   InitialQEP(); 
void   StartQEP();
void   QEP_speed();
void   QEP_angle();
interrupt void eva_timer1_isr(void);

unsigned int  Delta,T1CNT0,T1CNT1,T1CNT2,T2CNT0,T2CNT1,T2CNT2;
float speed,Theta,f0,Pn,pi;

void main(void)
{    
	/*初始化系统*/
	InitSysCtrl();

	/*关中断*/
	DINT;
	IER = 0x0000;
	IFR = 0x0000;
	

	/*初始化PIE*/
	InitPieCtrl();

	/*初始化PIE中断矢量表*/
	InitPieVectTable();	
	
	/*初始化外设*/
    InitPeripherals();
    

	EALLOW;	
	PieVectTable.T1PINT = &T1PINT_ISR;
	PieVectTable.CAPINT1= &CAPINT1_ISR;
	EDIS;   
	PieCtrl.PIEIER2.all = M_INT4;
	PieCtrl.PIEIER3.all = M_INT5;    
	IER |= (M_INT2 | M_INT3);
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM
    
	GetEncoder();

} 	



  void   GetEncoder()////通过QEP 电路获得电机的转速和转动的角度
  {
  		InitialQEP(); //初始化，打开捕捉单元1，2，4
  		while(EvaRegs.CAPFIFO.all ==0);//等待捕捉到码盘的上升沿
  		ConfigQEP();//设置QEP模式，重设定时器
  		StartQEP(); //开始对码盘脉冲进行捕捉
  		while(EvaRegs.EVAIFRA.bit.T1PINT !=1) //等待定时器T1中断
  		 {
  		   if (EvbRegs.CAPFIFOB.all!=0)    //Z 脉冲是否到来，表明电机已经转过一圈
  		   {
  		    T1CNT0=EvaRegs.T1CNT;
   		    T2CNT0=EvaRegs.T2CNT;
  		   }   
 		 }
 		 T1CNT2=EvaRegs.T1CNT;
   		 T2CNT2=EvaRegs.T2CNT;
   		 QEP_speed();//通过捕获到的脉冲数，计算码盘速度
   		 QEP_angle();//计算码盘转过的角度
 	
  	    
  }
    
  void  QEP_speed()
  {
    if (T2CNT2>=T2CNT1)
    {
      Delta=T2CNT2-T2CNT1;
    }else
    {
      Delta=T2CNT2-T2CNT1+0xFFFF;
    }
    speed=60*Delta*f0/(Pn*T1CNT2-T1CNT1);
  }
  
  void   QEP_angle()
  {
     Theta=2*pi*(T2CNT2-T2CNT0)*f0/(Pn*T1CNT2-T1CNT0);
  }
   
   void ConfigQEP()
{
// Initialize EVA Timer 1: 定时器1用于产生采样周期 T0
    // Setup Timer 1 Registers (EV A)
    EvaRegs.GPTCONA.all = 0;
   
    // Set the Period for the GP timer 1 to 0x0200;
    EvaRegs.T1PR = 0x0200;       // Period 设定采样时间为8-10ms
    EvaRegs.T1CMPR = 0x0000;     // Compare Reg
   
    // Enable Period interrupt bits for GP timer 1
    // Count up, x128, internal clk, enable compare, use own period
    EvaRegs.EVAIMRA.bit.T1PINT = 0;//禁止中断标志位
    EvaRegs.EVAIFRA.bit.T1PINT = 1;//复位中断标志位

    // Clear the counter for GP timer 1
    EvaRegs.T1CNT = 0x0000;
    EvaRegs.T1CON.all = 0x1742;
    
    
 // Initialize EVA Timer 2://定时器2工作在QEP的计数模式下

    // Set the Period for the GP timer 2 to 0x0200;
    EvaRegs.T2PR = 0x0000;       // Period
    EvaRegs.T2CMPR = 0x0000;     // Compare Reg
   
    // Enable Period interrupt bits for GP timer 2
    // Count up, x128, internal clk, enable compare, use own period
    EvaRegs.EVAIMRB.bit.T2PINT = 1;
    EvaRegs.EVAIFRB.bit.T2PINT = 1;

    // Clear the counter for GP timer 2
    EvaRegs.T2CNT = 0x0000;
    EvaRegs.T2CON.all =0x1830;  
    
    // Initialize EVB Timer 4://设置定时器3工作在捕获模式下
    // Setup Timer 3 Registers (EV B)
    EvbRegs.GPTCONB.all = 0;
   
    // Set the Period for the GP timer 3 to 0x0200;
    EvbRegs.T3PR = 0x1000;       // Period
    EvbRegs.T3CMPR = 0x0000;     // Compare Reg
   
    // Enable Period interrupt bits for GP timer 3
    // Count up, x128, internal clk, enable compare, use own period
    EvbRegs.EVBIMRA.bit.T3PINT = 1;
    EvbRegs.EVBIFRA.bit.T3PINT = 1;

    // Clear the counter for GP timer 3
    EvbRegs.T3CNT = 0x0000;
    EvbRegs.T3CON.all = 0x1742;
    
    EvbRegs.CAPCONB.all=0x2240; //设定捕捉单元控制寄存器
    EvbRegs.CAPFIFOB.all=0;//清除FIFO
    EvbRegs.EVBIMRC.all=0x0001;//使能CAP4的中断
  }
    
  void  InitialQEP() //初始化，打开捕捉单元1，2，4
  {
    
    ///设置定时器一
    // Setup Timer 1 Registers (EV A)
    EvaRegs.GPTCONA.all = 0;
   
    // Set the Period for the GP timer 1 to 0x0200;
    EvaRegs.T1PR = 0x2000;       // Period 
    EvaRegs.T1CMPR = 0x0000;     // Compare Reg
   
    // Enable Period interrupt bits for GP timer 1
    // Count up, x128, internal clk, enable compare, use own period
    EvaRegs.EVAIMRA.bit.T1PINT = 1;//复位中断标志位
    EvaRegs.EVAIFRA.bit.T1PINT = 1;

    // Clear the counter for GP timer 1
    EvaRegs.T1CNT =0x0000;
    EvaRegs.T1CON.all =0x1742;
    
    ///设置捕捉单元CAP1,CAP2  使用定时器一
    EvaRegs.CAPCON.all=0xA2F0; //设定捕捉单元控制寄存器
    EvaRegs.CAPFIFO.all=0x0000;//清除CAP1,CAP2 FIFO
    EvaRegs.EVAIMRC.all=0x0003;//CAP1,CAP2的中断，采用查询FIFO的形式
    while(1);
  
  ///设置捕捉单元四，使用定时器三
    EvbRegs.CAPCONB.all=0x2240; //设定捕捉单元控制寄存器
    EvbRegs.CAPFIFOB.all=0;//清除FIFO
    EvbRegs.EVBIMRC.all=0x0001;//使能CAP4的中断
    //设置定时器三
    EvbRegs.GPTCONB.all = 0;
   
    // Set the Period for the GP timer 3 to 0x0200;
    EvbRegs.T3PR = 0x1000;       // Period
    EvbRegs.T3CMPR = 0x0000;     // Compare Reg
   
    // Enable Period interrupt bits for GP timer 3
    // Count up, x128, internal clk, enable compare, use own period
    EvbRegs.EVBIMRA.bit.T3PINT = 1;
    EvbRegs.EVBIFRA.bit.T3PINT = 1;

    // Clear the counter for GP timer 3
    EvbRegs.T3CNT = 0x0000;
    EvbRegs.T3CON.all = 0x1742;
    
    
  }
  
  void  StartQEP()//启动QEP
  {
   T1CNT1=EvaRegs.T1CNT;
   T2CNT1=EvaRegs.T2CNT;
  }
  
interrupt void eva_timer1_isr(void)
{
	

    // Enable more interrupts from this timer
	EvaRegs.EVAIMRA.bit.T1PINT = 1;
	
	// Note: To be safe, use a mask value to write to the entire
	// EVAIFRA register.  Writing to one bit will cause a read-modify-write
	// operation that may have the result of writing 1's to clear 
	// bits other then those intended. 
    EvaRegs.EVAIFRA.all = BIT7;
	
	// Acknowledge interrupt to recieve more interrupts from PIE group 2
	PieCtrl.PIEACK.all = PIEACK_GROUP2;
}

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// No more.
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