etpu_qd.h

FREESCALE MCF52XX eTPU控制三相电机的程序

/*******************************************************************************
* FILE NAME: etpu_qd.h              COPYRIGHT (c) Freescale Semiconductor 2005
*                                              All Rights Reserved
* DESCRIPTION:
* This file contains the prototypes and definitions for the eTPU Quadrature
* Decoder (QD) API.
*===============================================================================
* REV      AUTHOR      DATE        DESCRIPTION OF CHANGE
* ---   -----------  ----------    ---------------------
* 0.1   A. Butok     23/Feb/04     Initial version.
* 0.2   M. Princ     16/Nov/04     Automatic switch between 3 modes:
*                                  slow-normal-fast. Commutations removed.
* 2.0   M. Brejl     22/Mar/05     New QD API state flow:
*       M. Princ                   init -> (disable -> align -> enable).
*******************************************************************************/
#ifndef _ETPU_QD_H_
#define _ETPU_QD_H_

#include "etpu_qd_auto.h"		/* Auto generated header file for eTPU QD. */

/*******************************************************************************
*                            Definitions
*******************************************************************************/
/* signals options */
#define FS_ETPU_QD_PRIM_SEC              (0)  /* Primary and secondary only. */
#define FS_ETPU_QD_PRIM_SEC_INDEX        (1)  /* Index, primary and secondary. */
#define FS_ETPU_QD_PRIM_SEC_HOME         (2)  /* Home, primary and secondary. */
#define FS_ETPU_QD_PRIM_SEC_INDEX_HOME   (3)  /* Index, Home, primary and secondary. */

/* configuration options */
#define FS_ETPU_QD_CONFIGURATION_0       (0) /* Both QD pins are 0 when the INDEX is reached. */
#define FS_ETPU_QD_CONFIGURATION_1       (1) /* Both QD pins are 1 when the INDEX is reached. */

/* direction options */
#define FS_ETPU_QD_DIRECTION_INC         (0) /* Positive Direction. */
#define FS_ETPU_QD_DIRECTION_DEC         (1) /* Negative Direction. */

/* home_transition options */
#define FS_ETPU_QD_HOME_TRANS_LOW_HIGH   FS_ETPU_QD_HOME_FM_DETECT_LOW_HIGH /* Detection of low-high transition. */
#define FS_ETPU_QD_HOME_TRANS_HIGH_LOW   FS_ETPU_QD_HOME_FM_DETECT_HIGH_LOW /* Detection of high-low transition. */
#define FS_ETPU_QD_HOME_TRANS_ANY        FS_ETPU_QD_HOME_FM_DETECT_ANY      /* Detection of any transition. */

/* index_pulse options */
#define FS_ETPU_QD_INDEX_PULSE_POSITIVE  FS_ETPU_QD_INDEX_FM_PULSE_POSITIVE /* Index pulse of positive polarity. */
#define FS_ETPU_QD_INDEX_PULSE_NEGATIVE  FS_ETPU_QD_INDEX_FM_PULSE_NEGATIVE /* Index pulse of negative polarity. */

/* index_pc_reset options */
#define FS_ETPU_QD_INDEX_PC_NO_RESET     FS_ETPU_QD_INDEX_FM_PC_NO_RESET /* Position Counter is NOT reset on Index transition. */
#define FS_ETPU_QD_INDEX_PC_RESET        FS_ETPU_QD_INDEX_FM_PC_RESET    /* Position Counter is reset on Index transition. */

/* etpu_tcr_freq options */
#define FS_ETPU_QD_ETPU_A_TCR1_FREQ      etpu_a_tcr1_freq   /* frequency of eTPU engine A - TCR1 */
#define FS_ETPU_QD_ETPU_A_TCR2_FREQ      etpu_a_tcr2_freq   /* frequency of eTPU engine A - TCR2 */
#define FS_ETPU_QD_ETPU_B_TCR1_FREQ      etpu_b_tcr1_freq   /* frequency of eTPU engine B - TCR1 */
#define FS_ETPU_QD_ETPU_B_TCR2_FREQ      etpu_b_tcr2_freq   /* frequency of eTPU engine B - TCR2 */

/* mode */
#define FS_ETPU_QD_MODE_SLOW             (1) /* Slow mode */
#define FS_ETPU_QD_MODE_NORMAL           (2) /* Normal mode */
#define FS_ETPU_QD_MODE_FAST             (4) /* Fast mode */

/*******************************************************************************
*                       Function Prototypes
*******************************************************************************/

/* QD Phase A, Phase B, Home and Index channel initialization. */
int32_t fs_etpu_qd_init( uint8_t   channel_primary,
                         uint8_t   channel_home,
                         uint8_t   channel_index,
                         uint8_t   signals,
                         uint8_t   priority,
                         uint8_t   configuration,
                         uint8_t   timer,
                         uint24_t  pc_max,
                         uint24_t  slow_normal_threshold,
                         uint24_t  normal_slow_threshold,
                         uint24_t  normal_fast_threshold,
                         uint24_t  fast_normal_threshold,
                         fract24_t window_ratio1,
                         fract24_t window_ratio2,
                         uint8_t   home_transition,
                         uint8_t   index_pulse,
                         uint8_t   index_pc_reset,
                         uint32_t  etpu_tcr_freq,
                         uint24_t  pc_per_rev);

/* Disable QD channels. */
int32_t fs_etpu_qd_disable( uint8_t channel_primary,
                            uint8_t channel_home,
                            uint8_t channel_index,
                            uint8_t signals);

/* Enable QD channels. */
int32_t fs_etpu_qd_enable( uint8_t channel_primary,
                           uint8_t channel_home,
                           uint8_t channel_index,
                           uint8_t signals,
                           uint8_t priority);

/* Align QD. */
int32_t fs_etpu_qd_align(uint8_t channel_primary,
                         int24_t pc);

/* Set QD pc_interrupt values. */
int32_t fs_etpu_qd_set_pc_interrupts(uint8_t channel_primary,
                                     int24_t pc_interrupt1,
                                     int24_t pc_interrupt2);

/* Enable QD pc_interrupt processing. */
int32_t fs_etpu_qd_enable_pc_interrupts(uint8_t channel_primary);

/* Disable QD pc_interrupt processing. */
int32_t fs_etpu_qd_disable_pc_interrupts(uint8_t channel_primary);

/* Change QD Position Counter. */
int32_t fs_etpu_qd_set_pc(uint8_t channel_primary,
                          int24_t pc);

/* Change QD Revolution Counter. */
int32_t fs_etpu_qd_set_rc(uint8_t channel_primary,
                          int24_t rc);

/* Set QD mode to slow. */
int32_t fs_etpu_qd_set_slow_mode(uint8_t channel_primary);

/* Get Position Counter value on last transition. */
int24_t fs_etpu_qd_get_pc(uint8_t channel_primary);

/* Get Position Counter for SC value on last transition. */
int24_t fs_etpu_qd_get_pc_sc(uint8_t channel_primary);

/* Get Revolution Counter value. */
int24_t fs_etpu_qd_get_rc(uint8_t channel_primary);

/* Get direction. */
int8_t fs_etpu_qd_get_direction(uint8_t channel_primary);

/* Get current mode of the QD function. */
uint8_t fs_etpu_qd_get_mode(uint8_t channel_primary);

/* Get TCR time of last transition. */
uint24_t fs_etpu_qd_get_tcr(uint8_t channel_primary);

/* Get period. */
uint24_t fs_etpu_qd_get_period(uint8_t channel_primary);

/* Get the state of Phase A input channel on last transition. */
uint8_t fs_etpu_qd_get_pinA(uint8_t channel_primary);

/* Get the state of Phase B input channel on last transition. */
uint8_t fs_etpu_qd_get_pinB(uint8_t channel_primary);


/*******************************************************************************
*======================== for TPU3 API Compatibility ===========================
*******************************************************************************/

/* FQD Phase A, Phase B channel initialization. */
void tpu_fqd_init(struct TPU3_tag *tpu,
                  UINT8 channel,
                  UINT8 priority,
                  INT16 init_position);

/* Get current operating mode of the FQD function. */
UINT8 tpu_fqd_current_mode(struct TPU3_tag *tpu,
                           UINT8 channel);

/* Get current position count for the quadrature input signal. */
INT16 tpu_fqd_position(struct TPU3_tag *tpu,
                       UINT8 channel);

/* Get data parameters associated with the FQD channel. */
void tpu_fqd_data(struct TPU3_tag *tpu,
                  UINT8 channel,
                  INT16 *tcr1,
                  INT16 *edge,
                  INT16 *primary_pin,
                  INT16 *secondary_pin);


/*******************************************************************************
*        Information for eTPU Graphical Configuration Tool
*******************************************************************************/
/* full function name: QD - Quadrature Decoder */ 
/* channel assignment when (signals=FS_ETPU_QD_PRIM_SEC); load: qd
   Primary = channel_primary
   Secondary = channel_primary + 1
*/
/* channel assignment when (signals=FS_ETPU_QD_PRIM_SEC_INDEX); load: qd
   Primary = channel_primary
   Secondary = channel_primary + 1
   Index = channel_index
*/
/* channel assignment when (signals=FS_ETPU_QD_PRIM_SEC_HOME); load: qd
   Primary = channel_primary
   Secondary = channel_primary + 1
   Home = channel_home
*/
/* channel assignment when (signals=FS_ETPU_QD_PRIM_SEC_INDEX_HOME); load: qd
   Primary = channel_primary
   Secondary = channel_primary + 1
   Home = channel_home
   Index = channel_index
*/
/* load expression qd

var motor_speed { 0..20000 } [ rpm ]
var mode { slow(1), normal(2), fast(4) }

rev_base = 100*motor_speed/(60*etpu_clock_freq)
pulse_base = pc_per_rev*rev_base/4 
Primary = if(mode==1, 311*pulse_base, \
          if(mode==2, 330*pulse_base, \
                      123*pulse_base))
Secondary = Primary
Index = if(mode==1, 96*rev_base, \
        if(mode==2, 60*rev_base, \
                    64*rev_base))
Home = 0
*/

#endif

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