encoder.h

基于DsPic30F4011的高精度位置伺服控制系统

#ifndef Encoder_H
#define	Encoder_H

//------------------  C API for Encoder routines ---------------------
#define	Nang_S		8			// Nang must satisfy 64 <= 2^Nang < CntsPerRev
#define	Nang_W		9									


#define	Nvel		8			// Nvel must be in range -8 <= 15-Nvel <= +7

typedef struct{
	short 	qSteerMechAng;						// 方向盘转子机械转角 in 1.15 format 
	short	qKang_S;							// 方向盘比例常量: Count to Angle scaling
	short	iSteerCntsPerWheel90Degree;			// 常量: 轮子旋转90度，方向盘编码器每转的计数值

	short 	qWheelMechAng;						// 转向轮机械转角 in 1.15 format 
	short	qKang_W;							// 转向轮比例常量: Count to Angle scaling
	short	iMotorCntsPerRev;					// 常量: 电机编码器每转的计数值

	short	qMotorVelMech;						// 转子机械旋转速度 in 1.15
	short	qKvel;								//常量: Count to velocity scaling
	short 	iIrpPerCalc;						//常量: Timer interrupts per speed calc

	//private
	short	iVelCntDwn;     	// Countdown to next speed calc
	short   iPrevCnt;       	// Last encoder value
	short   iAccumCnt;      	// Accumulating cnts
	short   iDeltaCnt;      	//  
	short   iSteerCnt;      	// 
	short	iIndexCnt;			//电机轴圈数计数
	
	short	qKang_Pos;			//对POSCNT进行角度换算的比例系数（1.15）
	short	qKang_Indx;			//对Indx进行角度换算的比例系数（1.15）
	}tEncoderParm;
EXTERN	tEncoderParm EncoderParm;


void InitCalcVel(void);
bool InitEncoderScaling(void);

void InitCalcAng(void);
void CalcAngIrp(void);
void CalcAng(void);

#endif