f28xqep.h

在ccs编程环境下

/* ==================================================================================
File name:        F28XQEP.H                     
                    
Originator:	Digital Control Systems Group
			Texas Instruments
Description:  
Header file containing data type and object definitions and 
initializers. Also contains prototypes for the functions in F28XQEP.C.
=====================================================================================
History:
-------------------------------------------------------------------------------------
 05-15-2002	Release	Rev 1.0                                      
----------------------------------------------------------------------------------*/

#ifndef __F28X_QEP_H__
#define __F28X_QEP_H__
//#include "IQmathLib.h"
#include "DSP28_Device.h"
#include "f28xbmsk.h"

/*------------------------------------------------------------------------------
Initialization states for T4CON and CAPCON 
------------------------------------------------------------------------------*/
#define QEP_CAP_INIT_STATE    0x9004
#define QEP_TIMER_INIT_STATE (FREE_RUN_FLAG +          \
                          TIMER_DIR_UPDN +         \
                          TIMER_CLK_PRESCALE_X_128 + \
                          TIMER_ENABLE_BY_OWN +    \
                          TIMER_ENABLE +           \
                          TIMER_CLOCK_SRC_QEP +    \
                          TIMER_COMPARE_LD_ON_ZERO)

/*-----------------------------------------------------------------------------
Define the structure of the QEP (Quadrature Encoder) Driver Object 
-----------------------------------------------------------------------------*/
typedef struct { int dir_QEP;        /* Output: Motor rotation direction (Q0) */
                int QEP_cnt_idx; 	/* Variable: Encoder counter index (Q0)  */
                int index_sync_flag; /* Output: Index sync status (Q0)       */
                int QEP_cnt;
                int QEP_cnt_old;
                int dir_speed;
                _iq delta_cnt;
                _iq speed;
                _iq wc;/*the time constant of the rotor*/
                _iq Tc;/* Sampling Period,for the filter*/
                void (*init)();     /* Pointer to the init funcion           */
                void (*calc)();     /* Pointer to the calc funtion           */
                void (*isr1)();      /* Pointer to the isr funtion           */
                void (*isr2)();      /* Pointer to the isr funtion           */
                }  QEP;

/*-----------------------------------------------------------------------------
Define a QEP_handle
-----------------------------------------------------------------------------*/
typedef QEP *QEP_handle;

/*-----------------------------------------------------------------------------
Default initializer for the QEP Object.
-----------------------------------------------------------------------------*/
#define QEP_DEFAULTS {  0,0,0,0,0,0,0,0,0,0,\
                (void (*)(long))F28X_EV2_QEP_Init,                \
                (void (*)(long))F28X_EV2_QEP_Calc, 				 \
                (void (*)(long))F28X_EV2_QEP_Isr1,               \
                (void (*)(long))F28X_EV2_QEP_Isr2 }

/*-----------------------------------------------------------------------------
Prototypes for the functions in F28XQEP.C                                 
-----------------------------------------------------------------------------*/
void F28X_EV2_QEP_Init(QEP_handle);                                              
void F28X_EV2_QEP_Calc(QEP_handle);
void F28X_EV2_QEP_Isr1(QEP_handle);
void F28X_EV2_QEP_Isr2(QEP_handle);                
#endif /*  __F28X_QEP_H__ */