Getting speed from QEP while running InstaSpin FOC for PMSM Sensorless F28069M

Lotfi BAGHLI

Other Parts Discussed in Thread: CONTROLSUITE

Hi All,

My code is for BLDC sensorless InstaSPIN FOC examle proj lab 05g

To verify the speed estimation I added an encoder and mixed with the example 12a (Sensored (quadrature encoder) feedback with SpinTAC)

but without using SpinTAC

So I added

// initialize the ENC module
encHandle = ENC_init(&enc, sizeof(enc));

// setup the ENC module
ENC_setup(encHandle, 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);

and

in the main ISR

// compute the electrical angle
ENC_calcElecAngle(encHandle, HAL_getQepPosnCounts(halHandle));

gives me the angle

but to compute the speed what do I have to do ? (I avoid derivating the given angle)

call

void ENC_run(ENC_Handle encHandle, uint32_t posnCounts, uint16_t indextFlag, uint16_t dirFlag, int16_t log_flag)

or ?

in the 12a example it is used with

  // get the speed from eQEP
  gMotorVars.SpeedQEP_krpm = _IQmpy(STPOSCONV_getVelocityFiltered(stObj->posConvHandle), _IQ(ST_SPEED_KRPM_PER_PU));

but I don't have InstaSPIN, MOTION and SpinTAC

So how to get it

Also, in the ENC_setup, I must specify the enc_zero_offset, this is when the rotor d axis is aligned with the phase a coil ?

can I changed online (encHandle ->enc_zero_offset) with GUI composer variable to see the impact

Thanks

Lotfi

over 11 years ago

0 Lotfi BAGHLI over 11 years ago

Intellectual 870 points

I added the following code

//-------------------------------------------------------------------------------------------------
// HAL QEP Index add on
inline uint32_t HAL_read_qep_posn_index_latch (HAL_Handle handle)
{
HAL_Obj *obj = (HAL_Obj *)handle;
#ifdef J5
QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[1];
#else
QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[0];
#endif

return qep->QPOSILAT; // Reads position counter value index pulse latch register
}

and in the mainISR

// compute the electrical angle
ENC_calcElecAngle(encHandle, HAL_getQepPosnCounts(halHandle));
// compute speed
ENC_run( encHandle, HAL_getQepPosnCounts(halHandle), HAL_read_qep_posn_index_latch(halHandle), 0, false);

t_SpeedQEP_krpm[t_k] = - ENC_getSpeedRPM( encHandle); // gMotorVars.SpeedQEP_krpm; //debug

the speed has a low resolution (Encoder of 500 dot per round) and there are many resets

I think this is because of the 3 last parameters of ENC_run

I have no documents of that function

Can anyone tell me how to use this function

Is there another solution

Thanks

0 ChrisClearman over 11 years ago in reply to Lotfi BAGHLI

TI__Guru** 119680 points

what do you mean you don't have InstSPIN-MOTION?

if you use proj_lab12b it is exactly doing what you need.. Speed from the QEP is calculated with

// get the speed from eQEP
gMotorVars.SpeedQEP_krpm = _IQmpy(STPOSCONV_getVelocityFiltered(stObj->posConvHandle), _IQ(ST_SPEED_KRPM_PER_PU));

0 Lotfi BAGHLI over 11 years ago in reply to ChrisClearman

Intellectual 870 points

I mean I don't want to use InstaSPIN MOTION, only FOC
(towards 28027F)
Can You gave me the parameters of

ENC_run( encHandle, HAL_getQepPosnCounts(halHandle), ??? , ???, false);

I got a lot of glitches
wheras the Angle computed by ENC_calcElecAngle(encHandle, HAL_getQepPosnCounts(halHandle));
is correct
Thanks

0 ChrisClearman over 11 years ago in reply to Lotfi BAGHLI

TI__Guru** 119680 points

28027F doesn't have an eQEP peripheral, so you won't be able to interface to a standard encoder.
I assume you are just using the encoder during development and testing, so you can use 28069M
Our only encoder examples use InstaSPIN-MOTION

0 Lotfi BAGHLI over 11 years ago in reply to ChrisClearman

Intellectual 870 points

:-(
Yes I am using during devlopment and in the future perhaps just one Index to get a top

So I will chnage my strategy:
How can I implement a simple ISR on Index of the QEP, then using a timer, I can get the speed (I run over 1000 rpm)
Is there an example somewhere
Thanks

0 ChrisClearman over 11 years ago in reply to Lotfi BAGHLI

TI__Guru** 119680 points

you can try the encoder examples in controlSUITE where the SPEED_FR macro is used from the DMC Library
C:\ti\controlSUITE\development_kits\HVMotorCtrl+PfcKit_v2.1\HVPM_Sensored

0 Lotfi BAGHLI over 11 years ago in reply to ChrisClearman

Intellectual 870 points

thanks, I tried to decode your example, it seems that it is written in midway using Direct Register Access and HAL

My big problem with the HAL API/Library is that I don't see how it interacts with low level (Direct Register Access)

the example :

\ti\controlSUITE\device_support\f2806x\v150\F2806x_examples_ccsv5\eqep_pos_speed\

is interesting also

but as I am stick with the HAL Hardaware abstraction layer routines like

#ifdef QEP
void HAL_setupQEP(HAL_Handle handle,HAL_QepSelect_e qep)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;


  // hold the counter in reset
  QEP_reset_counter(obj->qepHandle[qep]);

  // set the QPOSINIT register
  QEP_set_posn_init_count(obj->qepHandle[qep], 0);

  // disable all interrupts
  QEP_disable_all_interrupts(obj->qepHandle[qep]);

  // clear the interrupt flags
  QEP_clear_all_interrupt_flags(obj->qepHandle[qep]);

  // clear the position counter
  QEP_clear_posn_counter(obj->qepHandle[qep]);

  // setup the max position
  QEP_set_max_posn_count(obj->qepHandle[qep], (4*USER_MOTOR_ENCODER_LINES)-1);

  // setup the QDECCTL register
  QEP_set_QEP_source(obj->qepHandle[qep], QEP_Qsrc_Quad_Count_Mode);
  QEP_disable_sync_out(obj->qepHandle[qep]);
  QEP_set_swap_quad_inputs(obj->qepHandle[qep], QEP_Swap_Not_Swapped);
  QEP_disable_gate_index(obj->qepHandle[qep]);
  QEP_set_ext_clock_rate(obj->qepHandle[qep], QEP_Xcr_2x_Res);
  QEP_set_A_polarity(obj->qepHandle[qep], QEP_Qap_No_Effect);
  QEP_set_B_polarity(obj->qepHandle[qep], QEP_Qbp_No_Effect);
  QEP_set_index_polarity(obj->qepHandle[qep], QEP_Qip_No_Effect);

  // setup the QEPCTL register
  QEP_set_emu_control(obj->qepHandle[qep], QEPCTL_Freesoft_Unaffected_Halt);
  QEP_set_posn_count_reset_mode(obj->qepHandle[qep], QEPCTL_Pcrm_Max_Reset);
  QEP_set_strobe_event_init(obj->qepHandle[qep], QEPCTL_Sei_Nothing);
  QEP_set_index_event_init(obj->qepHandle[qep], QEPCTL_Iei_Nothing);
  QEP_set_index_event_latch(obj->qepHandle[qep], QEPCTL_Iel_Rising_Edge);
  QEP_set_soft_init(obj->qepHandle[qep], QEPCTL_Swi_Nothing);
  QEP_disable_unit_timer(obj->qepHandle[qep]);
  QEP_disable_watchdog(obj->qepHandle[qep]);

  // setup the QPOSCTL register
  QEP_disable_posn_compare(obj->qepHandle[qep]);

  // setup the QCAPCTL register
  QEP_disable_capture(obj->qepHandle[qep]);

  // renable the position counter
  QEP_enable_counter(obj->qepHandle[qep]);


  return;
}
#endif

and how I can mix it with Direct Register Access

to add an ISR for QEP Index, or so

in e:\ti\controlSUITE\development_kits\HVMotorCtrl+PfcKit_v2.1\HVPM_Sensored\

there is only ADC INT and no QEP INT

// ------------------------------------------------------------------------------
//    Detect calibration angle and call the QEP module
// ------------------------------------------------------------------------------
	if (lsw==0) {EQep1Regs.QPOSCNT=0; EQep1Regs.QCLR.bit.IEL = 1;} // Reset position cnt.

	if ((EQep1Regs.QFLG.bit.IEL==1) && Init_IFlag==0)			   // Check the index occurrence  
	   {qep1.CalibratedAngle= EQep1Regs.QPOSILAT; Init_IFlag++;}   // Keep the latched pos. at the first index

    if (lsw!=0) QEP_MACRO(1,qep1);

I am puzzled

0 Lotfi BAGHLI over 11 years ago in reply to Lotfi BAGHLI

Intellectual 870 points

Hi again

I need to put a QEP Index Interrupt

so here is what I add, but I never go in the ISR

  // setup faults
  HAL_setupFaults(halHandle);


  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);

  // init QEP Int ISR to QEP_Index_ISR
  HAL_Obj *obj = (HAL_Obj *)halHandle;
  PIE_Obj *pie = (PIE_Obj *)obj->pieHandle;
  ENABLE_PROTECTED_REGISTER_WRITE_MODE;
#ifdef J5
  pie->EQEP2_INT = &QEP_Index_ISR;
#else
  pie->EQEP1_INT = &QEP_Index_ISR;
#endif
  DISABLE_PROTECTED_REGISTER_WRITE_MODE;

#ifdef QEP
	// initialize the ENC module
	encHandle = ENC_init(&enc, sizeof(enc));

	// setup the ENC module
	ENC_setup(encHandle, 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);
	// configure QEP Index Interrupt
	obj = (HAL_Obj *)halHandle;
	#ifdef J5
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[1];
	#else
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[0];
	#endif

	// clear the QEP interrupt flag
	QEP_clear_interrupt_flag( qep, QEINT_Iel);
	//QEP_QFLG_IEL  QEINT
	QEP_enable_interrupt( qep, QEINT_Iel);
#endif

	// enable the ADC interrupts
  HAL_enableAdcInts(halHandle);

  // enable global interrupts
  HAL_enableGlobalInts(halHandle);

  // enable debug interrupts
  HAL_enableDebugInt(halHandle);

and

the ISR

//-------------------------------------------------------------------------------------------------
interrupt void QEP_Index_ISR(void)
{
	  // acknowledge the QEP interrupt
	HAL_Obj *obj = (HAL_Obj *)halHandle;
#ifdef J5
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[1];
#else
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[0];
#endif
	  // clear the QEP interrupt flag
	  QEP_clear_interrupt_flag( qep, QEINT_Iel);
	  // Acknowledge interrupt from PIE group 5
	  PIE_clearInt(obj->pieHandle,PIE_GroupNumber_5);

	    HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);

return;
}

what is wrong ?

0 Lotfi BAGHLI over 11 years ago in reply to Lotfi BAGHLI

Intellectual 870 points

modifed to add cpu int and enable them but still no QEP ISR fired...

#ifdef QEP
	// initialize the ENC module
	encHandle = ENC_init(&enc, sizeof(enc));

	// setup the ENC module
	ENC_setup(encHandle, 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);
	// configure QEP Index Interrupt
	obj = (HAL_Obj *)halHandle;
	#ifdef J5
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[1];
	#else
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[0];
	#endif

	// clear the QEP interrupt flag
	QEP_clear_interrupt_flag( qep, QEINT_Iel);
	QEP_enable_interrupt( qep, QEINT_Iel);

	// Enable PIE group 5 interrupt 1 for EQEP1_INT
	 PIE_enableInt( obj->pieHandle, PIE_GroupNumber_5, PIE_InterruptSource_EQEP1 );

	// enable the cpu interrupt for QEP interrupts
	CPU_enableInt(obj->cpuHandle,CPU_IntNumber_5);

#endif

0 Lotfi BAGHLI over 11 years ago in reply to Lotfi BAGHLI

Intellectual 870 points

Modified, now I enter once the ISR but never again, and also it enters on QEP A or B changes and not on Index as I want

//-------------------------------------------------------------------------------------------------
__interrupt void QEP_Index_ISR(void)
{
	//GpioDataRegs.GPBDAT.bit.GPIO34 = 1- GpioDataRegs.GPBDAT.bit.GPIO34;
	//GpioDataRegs.GPBDAT.bit.GPIO39 = 1 - GpioDataRegs.GPBDAT.bit.GPIO34;
	HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);

    // acknowledge the QEP interrupt
	HAL_Obj *obj = (HAL_Obj *)halHandle;
#ifdef J5
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[1];
#else
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[0];
#endif
	  // clear the QEP interrupt flag
//	  QEP_clear_interrupt_flag( qep, QEINT_Iel);
	  // Acknowledge interrupt from PIE group 5
	  PIE_clearInt(obj->pieHandle,PIE_GroupNumber_5);
	  //PieCtrlRegs.PIEACK.all = PIEACK_GROUP5;
}

and the config

  // setup faults
  HAL_setupFaults(halHandle);


  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);

  // init QEP Int ISR to QEP_Index_ISR
  HAL_Obj *obj = (HAL_Obj *)halHandle;
  PIE_Obj *pie = (PIE_Obj *)obj->pieHandle;
  EALLOW;
#ifdef J5
  pie->EQEP2_INT = &QEP_Index_ISR;
#else
  pie->EQEP1_INT = &QEP_Index_ISR;
#endif
  EDIS;

#ifdef QEP
	// initialize the ENC module
	encHandle = ENC_init(&enc, sizeof(enc));

	// setup the ENC module
	ENC_setup(encHandle, 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);
	// configure QEP Index Interrupt
	obj = (HAL_Obj *)halHandle;
	#ifdef J5
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[1];
	#else
	QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[0];
	#endif

	// clear the QEP interrupt flag
	QEP_clear_interrupt_flag( qep, QEINT_Iel);
	//QEP_QFLG_IEL  QEINT
	QEP_enable_interrupt( qep, QEINT_Iel);

	// Enable PIE group 5 interrupt 1 for EQEP1_INT
	PIE_enableInt( obj->pieHandle, PIE_GroupNumber_5, PIE_InterruptSource_EQEP1 );
	// PieCtrlRegs.PIEIER5.bit.INTx1 = 1;
	// PieCtrlRegs.PIEIER5.all = M_INT1;

	// enable the cpu interrupt for QEP interrupts
	CPU_enableInt(obj->cpuHandle,CPU_IntNumber_5);

    HAL_enableGlobalInts(halHandle);
	// enable debug interrupts
	HAL_enableDebugInt(halHandle);

while(1);

0 Lotfi BAGHLI over 11 years ago in reply to Lotfi BAGHLI

Intellectual 870 points

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Getting speed from QEP while running InstaSpin FOC for PMSM Sensorless F28069M