enc.h File Reference

Contains the public interface to the encoder module routines. More...

#include "sw/modules/types/src/types.h"
#include "sw/modules/iqmath/src/32b/IQmathLib.h"

Go to the source code of this file.

Data Structures
struct	_ENC_Obj_
	Defines the encoder object. More...

Macros
#define	ENC_SPEED_SCALING_FACTOR   16777216.0
#define	ENC_ZERO_OFFSET   3813071.0
#define	ENC_SPEED_CUTOFF_FREQ   100.0
#define	ENC_SPEED_COEFF_Q   6
#define	ENC_SPEED_COEFF_SCALING   (1<<ENC_SPEED_COEFF_Q)
#define	ENC_2PI   (2.0*3.14159)
#define	ENC_LOG_LEN   256
#define	ENC_RPM_Q1   8
#define	ENC_RPM_Q2   16
#define	ENC_LOG_DELTA_TRIGGER_THRES   400

Typedefs
typedef struct _ENC_Obj_	ENC_Obj
	Defines the encoder object. More...
typedef struct _ENC_Obj_ *	ENC_Handle
	Defines the encoder handle. More...

Enumerations
enum	ENC_LOG_State_e { ENC_LOG_STATE_IDLE =0, ENC_LOG_STATE_FREERUN, ENC_LOG_STATE_ACQUIRE }
	Enumeration for the encoder log states. More...

Functions
void	ENC_calcElecAngle (ENC_Handle encHandle, uint32_t posnCounts)
	Reads encoder and returns the electrical degrees in Q24 format. More...
_iq	ENC_getElecAngle (ENC_Handle encHandle)
	Returns the electrical angle. More...
_iq	ENC_getMagneticAngle (ENC_Handle encHandle)
	Returns the magnetic angle. More...
_iq	ENC_getFilteredSpeed (ENC_Handle encHandle)
	Returns the low-pass filtered speed output. More...
int16_t	ENC_getSpeedRPM (ENC_Handle encHandle)
	Returns the filtered speed in RPM. More...
ENC_Handle	ENC_init (void *pMemory, const size_t numBytes)
	Initializes the encoder object. More...
void	ENC_run (ENC_Handle encHandle, uint32_t posnCounts, uint16_t indextFlag, uint16_t dirFlag, int16_t log_flag)
	Based on the encoder reading, computes the electrical angle and the electrical "speed". More...
void	ENC_setIncrementalSlip (ENC_Handle encHandle, _iq incrementalSlip)
	Set the amount of incremental slip. More...
void	ENC_setRunFlag (ENC_Handle encHandle)
	Start logging encoder data. More...
void	ENC_setZeroOffset (ENC_Handle encHandle, uint32_t zeroOffset)
	Sets the value for the encoder object zero offset. More...
void	ENC_setup (ENC_Handle encHandle, const int16_t sample_period, const uint16_t num_pole_pairs, const uint16_t num_enc_slots, const uint32_t enc_zero_offset, const float_t full_scale_freq, const float_t speed_update_freq, const float_t speed_cutoff)
	Initializes encoder object parameters. More...

Detailed Description

Contains the public interface to the encoder module routines.

(C) Copyright 2011, Texas Instruments, Inc.

Definition in file enc.h.