Part Number: C2000WARE
Hello,
I'm trying to teach Instaspin sensored FOC. I'm using an Encoder with 2048 Pulses/revolution connected to the EQEP Module 2 of the F280049.
As the motor rotates at 600 RPM (==10 RPS) i get an index pulse every 100ms which seems fine, the Pulses on the A and B inputs seem to be good as well.
The Encoder GPIO config is:
// GPIO14 Encoder2 Input A
GPIO_setMasterCore(14, GPIO_CORE_CPU1);
GPIO_setPinConfig(GPIO_14_EQEP2_A);
GPIO_setDirectionMode(14, GPIO_DIR_MODE_IN);
GPIO_setPadConfig(14, GPIO_PIN_TYPE_STD);
// GPIO15 Encoder2 Input B
GPIO_setMasterCore(15, GPIO_CORE_CPU1);
GPIO_setPinConfig(GPIO_15_EQEP2_B);
GPIO_setDirectionMode(15, GPIO_DIR_MODE_IN);
GPIO_setPadConfig(15, GPIO_PIN_TYPE_STD);
// GPIO29 EncoderB Index
GPIO_setMasterCore(29, GPIO_CORE_CPU1);
GPIO_setPinConfig(GPIO_29_EQEP2_INDEX);
GPIO_setDirectionMode(29, GPIO_DIR_MODE_IN);
GPIO_setPadConfig(29, GPIO_PIN_TYPE_STD);
The EQEP Clock is also enabled
--------------------------------------------------------
The EQEP module is configured as
//
// Configure the decoder for quadrature count mode
//
EQEP_setDecoderConfig(obj->qepHandle[qep], (EQEP_CONFIG_2X_RESOLUTION |
EQEP_CONFIG_QUADRATURE |
EQEP_CONFIG_SWAP));
EQEP_setEmulationMode(obj->qepHandle[qep], EQEP_EMULATIONMODE_RUNFREE);
//
// Configure the position counter to reset on an index event
//
EQEP_setPositionCounterConfig(obj->qepHandle[qep], EQEP_POSITION_RESET_IDX,
0xFFFFFFFF);//0x00001FFF
//Index interrupt
Interrupt_register(INT_EQEP2,eqep_ind_latch);
EQEP_enableInterrupt(EQEP2_BASE, EQEP_INT_INDEX_EVNT_LATCH);
EQEP_clearInterruptStatus(EQEP2_BASE, EQEP_INT_INDEX_EVNT_LATCH);
Interrupt_enable(INT_EQEP2);The ISR is used to toggle an led which happens every 100 ms due to the 600 RPM.
Now I would like to use the enc.h and enc.c files provided with the tutorials. Therefore I configured the Encoder as:
encHandle = ENC_init(&enc,sizeof(enc)); ENC_setup(encHandle,1,USER_MOTOR_NUM_POLE_PAIRS,USER_MOTOR_ENCODER_LINES,0,USER_IQ_FULL_SCALE_FREQ_Hz,(USER_ISR_FREQ_Hz),USER_MOTOR_MAX_SPEED);//(USER_ISR_FREQ_Hz/USER_NUM_ISR_TICKS_PER_SPEED_TICK) EQEP_setPosition(EQEP2_BASE,0);
ENC_setup(encHandle,1,USER_MOTOR_NUM_POLE_PAIRS,USER_MOTOR_ENCODER_LINES,0,USER_IQ_FULL_SCALE_FREQ_Hz,(USER_ISR_FREQ_Hz),USER_MOTOR_MAX_SPEED);
(USER_MOTOR_NUM_POLE_PAIRS=3,USER_MOTOR_ENCODER_LINES=2048,USER_IQ_FULL_SCALE_FREQ_Hz=1000,USER_ISR_FREQ_Hz=24e3,20e3)
--
According to the user guide the remaining thing to do is to call ENC_run in the main ISR as:
ENC_run(encHandle,
EQEP_getPosition(EQEP2_BASE),
HAL_getQepIndex(halHandle),
HAL_getQepDirection(halHandle),
1);
ENC_calcElecAngle(encHandle,EQEP_getPosition(halHandle->qepHandle[1]));
motor_speed_enc = ENC_getSpeedRPM(encHandle);I tried that but the motor_speed_enc just returns -1, does anybody has an clue what I'm doing wrong?
Is the scaling factor for speed calculation
ENC_SPEED_SCALING_FACTOR in enc.h right for an encoder with 2048 lines?
Thank you in advance.
