encoder.inc

基于DsPic30F4011的高精度位置伺服控制系统

;;------------------  ASM30 API for Encoder routines ---------------------
; EncoderParm stucture:
		
		.equ	Encod_qSteerMechAng,0				;Mechanical rotational angle in 1.15 format
		.equ	Encod_qKang_S,2						;Constant: Count to Angle scaling    
		.equ	Encod_iSteerCntsPerWheel90Degree,4	;Constant: Encoder counts per revolution of motor

		.equ	Encod_qWheelMechAng,6		
		.equ	Encod_qKang_W,8						;Mechanical rotational velocity in 1.15   
		.equ	Encod_iMotorCntsPerRev,10			;

		.equ	Encod_qMotorVelMech,12					;
		.equ	Encod_qKvel,14						;Constant: Count to velocity scaling    
		.equ	Encod_iIrpPerCalc,16				;Constant: Number of timer ticks per speed calc  

	;;private
		.equ	Encod_iVelCntDwn,18					;Countdown to next speed calc
		.equ	Encod_iPrevCnt,20					;Last encoder value
		.equ	Encod_iAccumCnt,22					;Accumulating cnts
		.equ	Encod_iDeltaCnt,24
		.equ	Encod_iSteerCnt,26					;Accumulated cnts waiting for Velocity calc
		.equ	Encod_iIndexCnt,28					;Accumulated cnts waiting for Velocity calc
		
		.equ	Encod_qKang_Pos,30
		.equ	Encod_qKang_Indx,32
		
		.extern _EncoderParm

		.equ	Nang_S,8					
		.equ	Nang_W,9
		
		
	
		.equ	Nvel,8