f280xqep.h

DSP280X芯片的编程简单例子

/* =================================================================================
File name:        F280XQEP.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 F280XQEP.C.
====================================================================================
History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20: Using DSP280x v. 1.10 or higher 
----------------------------------------------------------------------------------*/

#ifndef __F280X_QEP_H__
#define __F280X_QEP_H__

#include "f280xbmsk.h"

/*-----------------------------------------------------------------------------
    Initialization states for EQEP Decode Control Register
------------------------------------------------------------------------------*/
#define QDECCTL_INIT_STATE     ( XCR_X2 + QSRC_QUAD_MODE )

/*-----------------------------------------------------------------------------
    Initialization states for EQEP Control Register
------------------------------------------------------------------------------*/
#define QEPCTL_INIT_STATE      ( QEP_EMULATION_FREE + \
                                 PCRM_INDEX + \
                                 IEI_RISING + \
                                 IEL_RISING + \
                                 QPEN_ENABLE + \
                                 QCLM_TIME_OUT + \
                                 UTE_ENABLE )  

/*-----------------------------------------------------------------------------
    Initialization states for EQEP Position-Compare Control Register
------------------------------------------------------------------------------*/
#define QPOSCTL_INIT_STATE      PCE_DISABLE

/*-----------------------------------------------------------------------------
    Initialization states for EQEP Capture Control Register
------------------------------------------------------------------------------*/
#define QCAPCTL_INIT_STATE     ( UPPS_X32 + \
                                 CCPS_X128 + \
                                 CEN_ENABLE )

/*-----------------------------------------------------------------------------
Define the structure of the QEP (Quadrature Encoder) Driver Object 
-----------------------------------------------------------------------------*/
typedef struct {int32 ElecTheta;        // Output: Motor Electrical angle (Q24)
                int32 MechTheta;        // Output: Motor Mechanical Angle (Q24) 
                Uint16 DirectionQep;    // Output: Motor rotation direction (Q0)
                Uint16 QepPeriod;       // Output: Capture period of QEP signal in number of EQEP capture timer (QCTMR) period  (Q0)
                Uint32 QepCountIndex;   // Variable: Encoder counter index (Q0) 
                 int32 RawTheta;        // Variable: Raw angle from EQEP Postiion counter (Q0)
                Uint32 MechScaler;      // Parameter: 0.9999/total count (Q30) 
                Uint16 LineEncoder;     // Parameter: Number of line encoder (Q0) 
                Uint16 PolePairs;       // Parameter: Number of pole pairs (Q0) 
                 int32 CalibratedAngle; // Parameter: Raw angular offset between encoder index and phase a (Q0)
                Uint16 IndexSyncFlag;   // Output: Index sync status (Q0) 
                void (*init)();         // Pointer to the init function 
                void (*calc)();         // Pointer to the calc 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, CalibratedAngle = -1250
// MechScaler = 1/8000 = 0x00020C4A (Q30) 

// PacSci 1-hp PMSM motor: 320-v, 4-pole, 1000 line encoder, CalibratedAngle = -2365
// MechScaler = 1/4000 = 0x00041893 (Q30)

#define QEP_DEFAULTS { 0x0,0x0,0x0,0x0,0x0,0x0,0x00020C4A,0x0,4,-1250,0x0,  \
                (void (*)(Uint32))F280X_QEP_Init,            \
                (void (*)(Uint32))F280X_QEP_Calc }

/*-----------------------------------------------------------------------------
Prototypes for the functions in F280XQEP.C                                 
-----------------------------------------------------------------------------*/
void F280X_QEP_Init(QEP_handle);                                              
void F280X_QEP_Calc(QEP_handle);

#endif // __F280X_QEP_H__