142 lines
4.5 KiB
C
142 lines
4.5 KiB
C
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//###########################################################################
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//
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// FILE: Example_posspeed.h
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//
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// TITLE: Pos/speed measurement using EQEP peripheral
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//
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// DESCRIPTION: Header file containing data type and object definitions and
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// initializers.
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//
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//###########################################################################
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// $TI Release: $
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// $Release Date: $
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// $Copyright:
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// Copyright (C) 2009-2023 Texas Instruments Incorporated - http://www.ti.com/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// $
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//###########################################################################
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#ifndef __POSSPEED__
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#define __POSSPEED__
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//
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// Included Files
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//
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#include "IQmathLib.h" // Include header for IQmath library
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//
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// Typedef for the structure of the POSSPEED Object
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//
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typedef struct
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{
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int theta_elec; // Output: Motor Electrical angle (Q15)
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int theta_mech; // Output: Motor Mechanical Angle (Q15)
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int DirectionQep; // Output: Motor rotation direction (Q0)
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int QEP_cnt_idx; // Variable: Encoder counter index (Q0)
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int theta_raw; // Variable: Raw angle from Timer 2 (Q0)
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//
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// Parameter: 0.9999/total count, total count = 4000 (Q26)
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//
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int mech_scaler;
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int pole_pairs; // Parameter: Number of pole pairs (Q0)
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//
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// Parameter: Raw angular offset between encoder and phase a (Q0)
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//
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int cal_angle;
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int index_sync_flag; // Output: Index sync status (Q0)
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//
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// Parameter : Scaler converting 1/N cycles to a GLOBAL_Q speed (Q0)
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// independently with global Q
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//
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Uint32 SpeedScaler;
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_iq Speed_pr; // Output : speed in per-unit
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//
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// Parameter : Scaler converting GLOBAL_Q speed to rpm (Q0) speed
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// independently with global Q
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//
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Uint32 BaseRpm;
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//
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// Output : speed in r.p.m. (Q0) - independently with global Q
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//
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int32 SpeedRpm_pr;
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_iq oldpos; // Input: Electrical angle (pu)
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_iq Speed_fr; // Output : speed in per-unit
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//
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// Output : Speed in rpm (Q0) - independently with global Q
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//
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int32 SpeedRpm_fr;
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void (*init)(); // Pointer to the init function
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void (*calc)(); // Pointer to the calc function
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} POSSPEED;
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//
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// Typedef for the POSSPEED_handle
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//
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typedef POSSPEED *POSSPEED_handle;
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//
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// Defines for the default initializer for the POSSPEED Object.
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//
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#if (CPU_FRQ_150MHZ)
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#define POSSPEED_DEFAULTS {0x0, 0x0,0x0,0x0,0x0,16776,2,0,0x0,\
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94,0,6000,0,\
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0,0,0,\
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(void (*)(long))POSSPEED_Init,\
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(void (*)(long))POSSPEED_Calc }
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#endif
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#if (CPU_FRQ_100MHZ)
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#define POSSPEED_DEFAULTS {0x0, 0x0,0x0,0x0,0x0,16776,2,0,0x0,\
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63,0,6000,0,\
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0,0,0,\
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(void (*)(long))POSSPEED_Init,\
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(void (*)(long))POSSPEED_Calc }
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#endif
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//
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// Function Prototypes
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//
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void POSSPEED_Init(void);
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void POSSPEED_Calc(POSSPEED_handle);
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#endif /* __POSSPEED__ */
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//
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// End of File
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//
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