Part Number: TMDXIDDK379D
Tool/software: Code Composer Studio
I don't understand the calculation of the raw theta due to the nature of "(*eQEP[m]).QPOSMAX". This is the code in the example project.
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/* Check the position counter for EQEP1 */ \
v.RawTheta = (*eQEP[m]).QPOSCNT + v.CalibratedAngle; \
if (v.RawTheta < 0) \
v.RawTheta = v.RawTheta + (*eQEP[m]).QPOSMAX; \
else if (v.RawTheta > (*eQEP[m]).QPOSMAX) \
v.RawTheta = v.RawTheta - (*eQEP[m]).QPOSMAX;
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The problem is that (*eQEP[m]).QPOSMAX = 4*v.LineEncoder
I assume that v.LineEncoder is equal to the number of positions that the encoder has for one revolution of the motor. So why should RawTheta count up for 4 rotations of the motor before being reset? Shouldn't it go from 0 to v.LineEncoder and reset back to 0?
Also, how is QPOSCNT updated, i was unable to find code that updated this variable.
Thank you
