本帖最后由 张锋 于 2016-7-12 11:19 编辑
我照着例程写了一段程序测电机转速,但就是测的不对,大神帮我看一下@maychang @dontium
- /*-----------------------------------------------------------------------------
- Default initializer for the POSSPEED Object.!! mech_scaler = 16384 (Q26格式) 1024线程
- -----------------------------------------------------------------------------*/
- #define POSSPEED_DEFAULTS {0x0, 0x0,0x0,0x0,0x0,16384,2,0,0x0,
- 220,0,3000,0,
- 0,0,0,
- (void (*)(long))POSSPEED_Init,
- (void (*)(long))POSSPEED_Calc }
- void POSSPEED_Init(void)
- {
- EQep1Regs.QUPRD=1800000; // Unit Timer for 50Hz at 90 MHz SYSCLKOUT
- EQep1Regs.QDECCTL.bit.QSRC=00; // QEP quadrature count mode
- EQep1Regs.QEPCTL.bit.FREE_SOFT=2;
- EQep1Regs.QEPCTL.bit.PCRM=00; // PCRM=00 mode - QPOSCNT reset on index event
- EQep1Regs.QEPCTL.bit.UTE=1; // Unit Timeout Enable
- EQep1Regs.QEPCTL.bit.QCLM=1; // Latch on unit time out
- EQep1Regs.QPOSMAX=0xffffffff;
- EQep1Regs.QEPCTL.bit.QPEN=1; // QEP enable
- EQep1Regs.QCAPCTL.bit.UPPS=5; // 1/32 for unit position
- EQep1Regs.QCAPCTL.bit.CCPS=6; // 1/64 for CAP clock
- EQep1Regs.QCAPCTL.bit.CEN=1; // QEP Capture Enable
- }
复制代码- void POSSPEED_Calc(POSSPEED *p)
- {
- long tmp;
- unsigned int pos16bval,temp1;
- _iq Tmp1,newp,oldp;
- //**** Position calculation - mechanical and electrical motor angle ****//
- p->DirectionQep = EQep1Regs.QEPSTS.bit.QDF; // Motor direction: 0=CCW/reverse, 1=CW/forward
- pos16bval=(unsigned int)EQep1Regs.QPOSCNT; // capture position once per QA/QB period
- p->theta_raw = pos16bval+ p->cal_angle; // raw theta = current pos. + ang. offset from QA
- // The following lines calculate p->theta_mech ~= QPOSCNT/mech_scaler [current cnt/(total cnt in 1 rev.)]
- // where mech_scaler = 4000 cnts/revolution
- tmp = (long)((long)p->theta_raw*(long)p->mech_scaler); // Q0*Q26 = Q26
- tmp &= 0x03FFF000;
- p->theta_mech = (int)(tmp>>11); // Q26 -> Q15
- p->theta_mech &= 0x7FFF;
- // The following lines calculate p->elec_mech
- p->theta_elec = p->pole_pairs*p->theta_mech; // Q0*Q15 = Q15
- p->theta_elec &= 0x7FFF;
- // Check an index occurrence
- if (EQep1Regs.QFLG.bit.IEL == 1)
- {
- p->index_sync_flag = 0x00F0;
- EQep1Regs.QCLR.bit.IEL=1; // Clear interrupt flag
- }
- //**** High Speed Calcultation using QEP Position counter ****//
- // Check unit Time out-event for speed calculation:
- // Unit Timer is configured for 100Hz in INIT function
- if(EQep1Regs.QFLG.bit.UTO==1) // If unit timeout (one 100Hz period)
- {
- /** Differentiator **/
- // The following lines calculate position = (x2-x1)/4000 (position in 1 revolution)
- pos16bval=(unsigned int)EQep1Regs.QPOSLAT; // Latched POSCNT value
- tmp = (long)((long)pos16bval*(long)p->mech_scaler); // Q0*Q26 = Q26
- tmp &= 0x03FFF000;
- tmp = (int)(tmp>>11); // Q26 -> Q15
- tmp &= 0x7FFF;
- newp=_IQ15toIQ(tmp);
- oldp=p->oldpos;
- if (p->DirectionQep==0) // POSCNT is counting down
- {
- if (newp>oldp)
- Tmp1 = - (_IQ(1) - newp + oldp); // x2-x1 should be negative
- else
- Tmp1 = newp -oldp;
- }
- else if (p->DirectionQep==1) // POSCNT is counting up
- {
- if (newp<oldp)
- Tmp1 = _IQ(1) + newp - oldp;
- else
- Tmp1 = newp - oldp; // x2-x1 should be positive
- }
- if (Tmp1>_IQ(1))
- p->Speed_fr = _IQ(1);
- else if (Tmp1<_IQ(-1))
- p->Speed_fr = _IQ(-1);
- else
- p->Speed_fr = Tmp1;
- // Update the electrical angle
- p->oldpos = newp;
- // Change motor speed from pu value to rpm value (Q15 -> Q0)
- // Q0 = Q0*GLOBAL_Q => _IQXmpy(), X = GLOBAL_Q
- p->SpeedRpm_fr = _IQmpy(p->BaseRpm,p->Speed_fr);
- //=======================================
- EQep1Regs.QCLR.bit.UTO=1; // Clear interrupt flag
- }
- //**** Low-speed computation using QEP capture counter ****//
- if(EQep1Regs.QEPSTS.bit.UPEVNT==1) // Unit position event
- {
- if(EQep1Regs.QEPSTS.bit.COEF==0) // No Capture overflow
- temp1=(unsigned long)EQep1Regs.QCPRDLAT; // temp1 = t2-t1
- else // Capture overflow, saturate the result
- temp1=0xFFFF;
- p->Speed_pr = _IQdiv(p->SpeedScaler,temp1); // p->Speed_pr = p->SpeedScaler/temp1
- Tmp1=p->Speed_pr;
- if (Tmp1>_IQ(1))
- p->Speed_pr = _IQ(1);
- else
- p->Speed_pr = Tmp1;
- // Convert p->Speed_pr to RPM
- if (p->DirectionQep==0) // Reverse direction = negative
- p->SpeedRpm_pr = -_IQmpy(p->BaseRpm,p->Speed_pr); // Q0 = Q0*GLOBAL_Q => _IQXmpy(), X = GLOBAL_Q
- else // Forward direction = positive
- p->SpeedRpm_pr = _IQmpy(p->BaseRpm,p->Speed_pr); // Q0 = Q0*GLOBAL_Q => _IQXmpy(), X = GLOBAL_Q
- EQep1Regs.QEPSTS.all=0x88; // Clear Unit position event flag
- // Clear overflow error flag
- }
- }
复制代码
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小平头技术问答
发帖时把问题讲清楚。因为只有你手里有这个板子,电器连接也只有你知道。“ 但就是测的不对 ” 如果能具体一些就好了;程序具体哪出了问题?有没有跟踪一下?
你这样帖上来,就是要看者逐一分析每一句是否正常。帖的时候又把注释也夹在其中,说明帖出来时没有经过考虑。
人们解决问题时,也就是把硬件上的状态(参数)量一量,软件跑一跑看看寄存器及变量等。
我做过的QEP,基本上按照TI的设置方法设置,
恩,我按照您说的只贴出来配置部分,您看一下,这样对不,
如果我只想测速,那么是不是只需要AB两根线就好了,那程序上还要修改吗?@dontium
再问你个问题
a = _IQmpy(4500,(Duty+_IQ(0.5)));
这个式子算出来直接就是IQ0格式,这是为什么?
我没有感觉到TI的IQ库的优势,所以就没有研究它。
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