f280xqep_no_index.c

DSP280X芯片的编程简单例子

/* ==================================================================================
File name:       F280XQEP_NO_INDEX.C
                    
Originator:	Digital Control Systems Group
			Texas Instruments

Description:   This file contains source for the QEP drivers without index signal for the F280X
              
Target: TMS320F280x family
              
=====================================================================================
History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20: Using DSP280x v. 1.10 or higher 
------------------------------------------------------------------------------------*/

#include "DSP280x_Device.h"
#include "f280xqep_no_index.h"


void  F280X_QEP_NO_INDEX_Init(QEP *p)
{

        EQep1Regs.QDECCTL.all = QDECCTL_INIT_STATE;
        EQep1Regs.QEPCTL.all = QEPCTL_INIT_STATE;
        EQep1Regs.QPOSCTL.all = QPOSCTL_INIT_STATE;
		EQep1Regs.QUPRD = 1000000;		        	// Unit Timer for 100Hz
        EQep1Regs.QCAPCTL.all = QCAPCTL_INIT_STATE;
        p->QepCountIndex = 4*p->LineEncoder;
        EQep1Regs.QPOSMAX = 4*(Uint32)p->LineEncoder*(Uint32)p->PreScaler;
      
        EALLOW;                       // Enable EALLOW
        // Set up the EQEP1A/B pins to primary functions
        GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 1;  // GPIO20 is EQEP1A
        GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 1;  // GPIO21 is EQEP1B
        EDIS;                         // Disable EALLOW

}


void F280X_QEP_NO_INDEX_Calc(QEP *p)
{

     Uint32 MechScalerTmp, RawThetaTmp;

// Check the rotational direction 
     p->DirectionQep = EQep1Regs.QEPSTS.bit.QDF;

// Check the output position counter for EQEP1 
     if (EQep1Regs.QPOSCNT >= EQep1Regs.QPOSMAX)
         EQep1Regs.QPOSCNT = 0;
     p->OutputRawTheta = EQep1Regs.QPOSCNT; 

// Compute the mechanical output angle in Q24
     MechScalerTmp = p->OutputMechScaler<<15;                    // OutputMechScaler in Q30
     RawThetaTmp = p->OutputRawTheta<<10;                        // OutputRawTheta in Q0
     p->OutputTheta = __qmpy32(MechScalerTmp,RawThetaTmp,31);    // Q24 = Q30*Q0 
     p->OutputTheta &= 0x00FFFFFF;                               // Wrap around 0x00FFFFFF

// Compute the mechanical motor angle in Q0
     p->Counter = p->OutputRawTheta/p->QepCountIndex;                                   // Division quotient
     p->RawTheta = p->OutputRawTheta - (Uint32)p->Counter*(Uint32)p->QepCountIndex;     // Division reminder

// Compute the mechanical angle in Q24
     MechScalerTmp = p->MechScaler<<10;                      // MechScaler in Q30
     RawThetaTmp = p->RawTheta<<15;                          // RawTheta in Q0
     p->MechTheta = __qmpy32(MechScalerTmp,RawThetaTmp,31);  // Q24 = Q30*Q0 
     p->MechTheta &= 0x00FFFFFF;                             // Wrap around 0x00FFFFFF

// Check unit Time out-event for speed calculation:
// Unit Timer is configured for 100Hz in INIT function
	if(EQep1Regs.QFLG.bit.UTO == 1)
    {
     		//**** Low Speed Calculation   ****//
   		if((EQep1Regs.QEPSTS.bit.COEF || EQep1Regs.QEPSTS.bit.CDEF))
  		{	// Capture Counter overflowed, hence do no compute speed
  			EQep1Regs.QEPSTS.all = 0x000C;
   		}
   		else
   			// Compute lowspeed using capture counter value
   			p->QepPeriod = EQep1Regs.QCPRDLAT;
    }

}