Other Parts Discussed in Thread: CONTROLSUITE
hello I'm have to make a control speed with a PMSM... so I need to calculate the speed from the eQEP.
I have configured the eQEP registers but not work the calculated of speed... I think that i haven't configurated all registers... this is my code:
//###########################################################################
// Programa de Lectura de Encoder-Siemens
//###########################################################################
#include "DSP2833x_Device.h"
#include "math.h"
// Prototype statements for functions found within this file.
void Gpio_select(void);
void InitSystem(void);
void encoder(void);
void delay_loop(long);
//###########################################################################
// programa
//###########################################################################
//Declaración de variables
unsigned int k,i,sentido;
float x_actual,x_anterior,delta,T, vel,pos,rpm;
void main(void)
{
InitSystem(); // inicializacion del DSP
DINT; // desabilita interrupciones
Gpio_select(); // selecciona las entradas para encoder
encoder(); // configura el modulo del encoder
x_actual =0;
x_anterior=0;
while(1){
if(EQep2Regs.QFLG.bit.UTO==1)
{
x_actual= (float)EQep2Regs.QPOSCNT;
sentido= (float)EQep2Regs.QEPSTS.bit.QDF;
T= (float)EQep2Regs.QUPRD;
if (sentido==0) // POSCNT is counting down
{
delta= (float)x_actual-x_anterior; // x2-x1 should be negative
}
else if (sentido==1) // POSCNT is counting up
{
delta= (float)x_anterior-x_actual;
}
pos=(float)delta;///10000;
vel= (float)pos / T; // Cálculo de la velocidad
rpm= (float)vel*60;
x_anterior = x_actual; // (k)=(k-1)
EQep2Regs.QCLR.bit.UTO=1;
}
EALLOW;
SysCtrlRegs.WDKEY = 0x55;
SysCtrlRegs.WDKEY = 0xAA;
EDIS;
}
}
//_____________________________________Rutinas____________________________________________
void InitSystem(void)
{
EALLOW;
SysCtrlRegs.WDCR = 0x0028;
SysCtrlRegs.SCSR = 0x0;
SysCtrlRegs.PLLSTS.bit.DIVSEL = 0x2;
SysCtrlRegs.PLLCR.bit.DIV = 0xA;
SysCtrlRegs.HISPCP.all = 0x1;
SysCtrlRegs.LOSPCP.all = 0x2;
SysCtrlRegs.PCLKCR0.all = 0x0;
SysCtrlRegs.PCLKCR1.all = 0x0;
SysCtrlRegs.PCLKCR3.all = 0x0;
SysCtrlRegs.PCLKCR1.bit.EQEP2ENCLK = 1; //Habilita Clock pama modulo de encoder
EDIS;
}
void Gpio_select(void)
{
EALLOW;
GpioCtrlRegs.GPAMUX1.all = 0x0; // GPIO15 ... GPIO0 = General Puropse I/O
GpioCtrlRegs.GPAMUX2.all = 0x0; // GPIO31 ... GPIO16 = General Purpose I/O
GpioCtrlRegs.GPBMUX1.all = 0x0; // GPIO47 ... GPIO32 = General Purpose I/O
GpioCtrlRegs.GPBMUX2.all = 0x0; // GPIO63 ... GPIO48 = General Purpose I/O
GpioCtrlRegs.GPCMUX1.all = 0x0; // GPIO79 ... GPIO64 = General Purpose I/O
GpioCtrlRegs.GPCMUX2.all = 0x0; // GPIO87 ... GPIO80 = General Purpose I/O
GpioCtrlRegs.GPADIR.all = 0;
GpioCtrlRegs.GPBDIR.all = 0;
GpioCtrlRegs.GPCDIR.all = 0;
GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 2; // GPIO24 se configura como EQEP2A (CAP1=1)
GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 2; // GPIO25 se configura como EQEP2B (CAP2=1)
GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 2; // GPIO26 se configura como EQEP2I (CAP3=1)
EDIS;
}
void encoder(void)
{
EQep2Regs.QDECCTL.bit.QSRC=00; // El modulo cuenta en cuadratura
EQep2Regs.QEPCTL.bit.FREE_SOFT=2; //unaffected by emulation suspend
EQep2Regs.QEPCTL.bit.PCRM=00; // QPOSCNT se reseta con cada cero (Un0)
EQep2Regs.QEPCTL.bit.UTE=1; // Habilita la unidad de Timeout
EQep2Regs.QEPCTL.bit.QCLM=1; // Latch on unit time out
EQep2Regs.QEPCTL.bit.IEL = 1; // IEL_RISING
EQep2Regs.QEPCTL.bit.IEI = 2; // IEL_RISING
EQep2Regs.QPOSMAX=4*2500 - 1; // valor maximo del encoder
EQep2Regs.QEPCTL.bit.QPEN=1; // Habilita QEP
EQep2Regs.QUPRD=1500000; // unidad de tiempo en 100Hz si SYSCLKOTT=150MHz
}
//====================================================================
