etpu_qd.c

FREESCALE MCF52XX eTPU控制三相电机的程序

int32_t fs_etpu_qd_disable( uint8_t channel_primary,
                            uint8_t channel_home,
                            uint8_t channel_index,
                            uint8_t signals)
{
   /****************************************
    * Parameters bounds check.
    ***************************************/
   #ifdef FS_ETPU_MC_PARAM_CHECK
   if(((channel_primary>31)&&(channel_primary<64))||(channel_primary>95)||
      ((signals==FS_ETPU_QD_PRIM_SEC_INDEX_HOME)||
       (signals==FS_ETPU_QD_PRIM_SEC_HOME))&&
      (((channel_home>31)&&(channel_home<64))||(channel_home>95))||
      ((signals==FS_ETPU_QD_PRIM_SEC_INDEX_HOME)||
       (signals==FS_ETPU_QD_PRIM_SEC_INDEX))&&
      (((channel_index>31)&&(channel_index<64))||(channel_index>95)))
   {
      return(FS_ETPU_ERROR_VALUE);
   }
   #endif

   /****************************************
    * Disable channel.
    ***************************************/
   fs_etpu_disable(channel_primary);
   fs_etpu_disable((uint8_t)(channel_primary+1));
   if((signals==FS_ETPU_QD_PRIM_SEC_INDEX_HOME)||
      (signals==FS_ETPU_QD_PRIM_SEC_HOME))
      fs_etpu_disable(channel_home);
   if((signals==FS_ETPU_QD_PRIM_SEC_INDEX_HOME)||
      (signals==FS_ETPU_QD_PRIM_SEC_INDEX))
      fs_etpu_disable(channel_index);

   return(0);
}

/*******************************************************************************
* FUNCTION     : fs_etpu_qd_enable
* PURPOSE      : To enable an eTPU Quadrature Decoder channels.
* INPUTS NOTES : This function has 5 parameters:
*  channel_primary - This is the Primary channel number (Phase A).
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*  channel_home    - If a Home signal is processed, this is the Home channel
*                    number.
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*  channel_index   - If an Index signal is processed, this is the Index channel
*                    number.
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*  signals         - This parameter determines which QD signals are used.
*                    This parameter should be assigned a value of:
*                    FS_ETPU_QD_PRIM_SEC
*                    FS_ETPU_QD_PRIM_SEC_INDEX
*                    FS_ETPU_QD_PRIM_SEC_HOME
*                    FS_ETPU_QD_PRIM_SEC_INDEX_HOME.
*  priority        - This is the priority to assign to the QD channels.
*                    This parameter should be assigned a value of:
*                    FS_ETPU_PRIORITY_HIGH, FS_ETPU_PRIORITY_MIDDLE or
*                    FS_ETPU_PRIORITY_LOW.
*
* RETURNS NOTES: Error code which can be returned is: FS_ETPU_ERROR_VALUE
*******************************************************************************/
int32_t fs_etpu_qd_enable( uint8_t channel_primary,
                           uint8_t channel_home,
                           uint8_t channel_index,
                           uint8_t signals,
                           uint8_t priority)
{
   /****************************************
    * Parameters bounds check.
    ***************************************/
   #ifdef FS_ETPU_MC_PARAM_CHECK
   if(((channel_primary>31)&&(channel_primary<64))||(channel_primary>95)||
      ((signals==FS_ETPU_QD_PRIM_SEC_INDEX_HOME)||
       (signals==FS_ETPU_QD_PRIM_SEC_HOME))&&
      (((channel_home>31)&&(channel_home<64))||(channel_home>95))||
      ((signals==FS_ETPU_QD_PRIM_SEC_INDEX_HOME)||
       (signals==FS_ETPU_QD_PRIM_SEC_INDEX))&&
      (((channel_index>31)&&(channel_index<64))||(channel_index>95))||
      (priority>FS_ETPU_PRIORITY_HIGH))
   {
      return(FS_ETPU_ERROR_VALUE);
   }
   #endif

   /****************************************
    * Enable channel.
    ***************************************/
   fs_etpu_enable(channel_primary, priority);
   fs_etpu_enable((uint8_t)(channel_primary+1), priority);
   if((signals==FS_ETPU_QD_PRIM_SEC_INDEX_HOME)||
      (signals==FS_ETPU_QD_PRIM_SEC_HOME))
      fs_etpu_enable(channel_home, priority);
   if((signals==FS_ETPU_QD_PRIM_SEC_INDEX_HOME)||
      (signals==FS_ETPU_QD_PRIM_SEC_INDEX))
      fs_etpu_enable(channel_index, priority);

   return(0);
}

/*******************************************************************************
*FUNCTION     : fs_etpu_qd_align
*PURPOSE      : This function changes the Position Counter value to ensure
*               its divisibility by 4 when leading edge occurs. This depends
*               on QD Configuration, and of the QD Primary and
*               Secondary pin states.
*               Position Counter dedicated for SC is reset to 0.
*INPUTS NOTES : This function has 2 parameters:
*  channel_primary - This is the Primary channel number (Phase A).
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*  pc              - This is the Position Counter value to be set.
*                    The actual value set is in range from pc-1 to pc+2,
*                    to ensure PC divisibility by 4 on the leading edge.
*
*RETURNS NOTES: Error code that can be returned is: FS_ETPU_ERROR_VALUE.
*******************************************************************************/
int32_t fs_etpu_qd_align(uint8_t channel_primary,
                         int24_t pc)
{
   uint8_t pins;

   /* Parameters bounds check */
   #ifdef FS_ETPU_MC_PARAM_CHECK
   if(((channel_primary>31)&&(channel_primary<64))||(channel_primary>95))
   {
      return(FS_ETPU_ERROR_VALUE);
   }
   #endif

   eTPU->CHAN[channel_primary].HSRR.R = FS_ETPU_QD_INIT;
   eTPU->CHAN[channel_primary+1].HSRR.R = FS_ETPU_QD_INIT;

   /* Wait till initialization is finished */
   while (eTPU->CHAN[channel_primary+1].HSRR.R != 0) {}

   /* Read actual pins state */
   pins = (uint8_t)(fs_etpu_get_chan_local_8(channel_primary,
                    FS_ETPU_QD_PINS_OFFSET) & 0x07);

   /* Adjust pc so that the leading edge counts a multiple of 4 */
   if ((pins == 0x01) || (pins == 0x06))
       pc += 1;
   else if ((pins == 0x02) || (pins == 0x05))
       pc -= 1;
   else if ((pins == 0x03) || (pins == 0x04))
       pc += 2;

   /* Write pc and reset pc_sc */
   fs_etpu_set_chan_local_24(channel_primary,FS_ETPU_QD_PC_OFFSET,(uint24_t)pc);
   fs_etpu_set_chan_local_24(channel_primary,FS_ETPU_QD_PC_SC_OFFSET, 0);

   return(0);
}

/*******************************************************************************
*FUNCTION     : fs_etpu_qd_set_pc_interrupts
*PURPOSE      : This function changes the pc_interrupt values.
*INPUTS NOTES : This function has 3 parameters:
*  channel_primary - This is the Primary channel number (Phase A).
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*  pc_interrupt1   - This is the pc_interrupt1 value to be set.
*  pc_interrupt2   - This is the pc_interrupt2 value to be set.
*
*RETURNS NOTES: Error code that can be returned is: FS_ETPU_ERROR_VALUE.
*******************************************************************************/
int32_t fs_etpu_qd_set_pc_interrupts(uint8_t channel_primary,
                                     int24_t pc_interrupt1,
                                     int24_t pc_interrupt2)
{
   /* Parameters bounds check */
   #ifdef FS_ETPU_MC_PARAM_CHECK
   if(((channel_primary>31)&&(channel_primary<64))||(channel_primary>95))
   {
      return(FS_ETPU_ERROR_VALUE);
   }
   #endif

   fs_etpu_set_chan_local_24(channel_primary, FS_ETPU_QD_PCINTERRUPT1_OFFSET,
                             (uint24_t)pc_interrupt1);
   fs_etpu_set_chan_local_24(channel_primary, FS_ETPU_QD_PCINTERRUPT2_OFFSET,
                             (uint24_t)pc_interrupt2);

   return(0);
}

/*******************************************************************************
*FUNCTION     : fs_etpu_qd_enable_pc_interrupts
*PURPOSE      : This function enables the pc_interrupt processing.
*INPUTS NOTES : This function has 1 parameter:
*  channel_primary - This is the Primary channel number (Phase A).
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*
*RETURNS NOTES: Error code that can be returned is: FS_ETPU_ERROR_VALUE.
*******************************************************************************/
int32_t fs_etpu_qd_enable_pc_interrupts(uint8_t channel_primary)
{
   uint8_t options;

   /* Parameters bounds check */
   #ifdef FS_ETPU_MC_PARAM_CHECK
   if(((channel_primary>31)&&(channel_primary<64))||(channel_primary>95))
   {
      return(FS_ETPU_ERROR_VALUE);
   }
   #endif

   options = fs_etpu_get_chan_local_8(channel_primary,
                                      FS_ETPU_QD_OPTIONS_OFFSET);
   options |= FS_ETPU_QD_PC_INTERRUPT_ENABLED;
   fs_etpu_set_chan_local_8(channel_primary,FS_ETPU_QD_OPTIONS_OFFSET, options);

   return(0);
}

/*******************************************************************************
*FUNCTION     : fs_etpu_qd_disable_pc_interrupts
*PURPOSE      : This function disables the pc_interrupt processing.
*INPUTS NOTES : This function has 1 parameter:
*  channel_primary - This is the Primary channel number (Phase A).
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*
*RETURNS NOTES: Error code that can be returned is: FS_ETPU_ERROR_VALUE.
*******************************************************************************/
int32_t fs_etpu_qd_disable_pc_interrupts(uint8_t channel_primary)
{
   uint8_t options;

   /* Parameters bounds check */
   #ifdef FS_ETPU_MC_PARAM_CHECK
   if(((channel_primary>31)&&(channel_primary<64))||(channel_primary>95))
   {
      return(FS_ETPU_ERROR_VALUE);
   }
   #endif

   options = fs_etpu_get_chan_local_8(channel_primary, 
                                      FS_ETPU_QD_OPTIONS_OFFSET);
   options &= (uint8_t)(~FS_ETPU_QD_PC_INTERRUPT_ENABLED);
   fs_etpu_set_chan_local_8(channel_primary,FS_ETPU_QD_OPTIONS_OFFSET, options);

   return(0);
}

/*******************************************************************************
*FUNCTION     : fs_etpu_qd_set_pc
*PURPOSE      : This function changes the Position Counter value.
*INPUTS NOTES : This function has 2 parameters:
*  channel_primary - This is the Primary channel number (Phase A).
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*  pc              - This is the Position Counter value to be set.
*
*RETURNS NOTES: Error code that can be returned is: FS_ETPU_ERROR_VALUE.
*******************************************************************************/
int32_t fs_etpu_qd_set_pc(uint8_t channel_primary,
                          int24_t pc)
{
   /* Parameters bounds check */
   #ifdef FS_ETPU_MC_PARAM_CHECK
   if(((channel_primary>31)&&(channel_primary<64))||(channel_primary>95))
   {
      return(FS_ETPU_ERROR_VALUE);
   }
   #endif

   fs_etpu_set_chan_local_24(channel_primary,FS_ETPU_QD_PC_OFFSET,(uint24_t)pc);

   return(0);
}

/*******************************************************************************
*FUNCTION     : fs_etpu_qd_set_rc
*PURPOSE      : This function changes the Revolution Counter value.
*INPUTS NOTES : This function has 2 parameters:
*  channel_primary - This is the Primary channel number (Phase A).
*                    0-31 for ETPU_A and 64-95 for ETPU_B.
*  rc              - This is the Revolution Counter value to be set.
*
*RETURNS NOTES: Error code that can be returned is: FS_ETPU_ERROR_VALUE.
*******************************************************************************/
int32_t fs_etpu_qd_set_rc(uint8_t channel_primary,
                          int24_t rc)
{
   /* Parameters bounds check */
   #ifdef FS_ETPU_MC_PARAM_CHECK
   if(((channel_primary>31)&&(channel_primary<64))||(channel_primary>95))
   {
      return(FS_ETPU_ERROR_VALUE);
   }
   #endif

   fs_etpu_set_chan_local_24(channel_primary,FS_ETPU_QD_RC_OFFSET,(uint24_t)rc);

   return(0);
}

/*******************************************************************************
*FUNCTION     : fs_etpu_qd_set_slow_mode