TMS320F28335 Library  1.0
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Data Structures | Typedefs | Functions
eqep.h File Reference

Header file for eQEP module. More...

Go to the source code of this file.

Data Structures

struct  _eQEPInterface
 eQEP Interface: Assign GPIOs to TMC_BASE_EQEP1 or TMC_BASE_EQEP2. More...
 

Typedefs

typedef struct _eQEPInterface eQEPInterface
 eQEP Interface: Assign GPIOs to TMC_BASE_EQEP1 or TMC_BASE_EQEP2. More...
 

Functions

int16 init_eQEP (eQEPInterface)
 Initialization of eQEPInterface. More...
 
int16 eQEP_getDirection (eQEPInterface)
 Get direction of rotary machine applied to eQEPInterface. More...
 
int16 eQEP_getRpm (eQEPInterface)
 Get rpm of rotary machine applied to eQEPInterface. More...
 

Detailed Description

Header file for eQEP module.

Definition in file eqep.h.

Typedef Documentation

◆ eQEPInterface

typedef struct _eQEPInterface eQEPInterface

eQEP Interface: Assign GPIOs to TMC_BASE_EQEP1 or TMC_BASE_EQEP2.


Function Documentation

◆ eQEP_getDirection()

int16 eQEP_getDirection ( eQEPInterface  eQEP)

Get direction of rotary machine applied to eQEPInterface.

Parameters
[in]1) eQEPInterface eQEP
Returns
int16
--> 1 = Clockwise rotation (or forward movement) of eQEP
--> 0 = Counter-clockwise rotation (or reverse movement) of eQEP
--> -1 = eQEP.QEPA invalid value

Definition at line 110 of file eqep.c.

110  {
111  TMPS_EQEP eQEP_module;
112  if(eQEP.QEPA == GPIO20){
113  eQEP_module = TMC_BASE_EQEP1; // Assign Register-address to variable for register access
114  }
115  else if(eQEP.QEPA == GPIO24){
116  eQEP_module = TMC_BASE_EQEP2; // Assign Register-address to variable for register access
117  }
118  else{
119  return -1;
120  }
121  return ((eQEP_module->QEPSTS >> 5)& 0x1); // Return direction value
122 }

◆ eQEP_getRpm()

int16 eQEP_getRpm ( eQEPInterface  eQEP)

Get rpm of rotary machine applied to eQEPInterface.

Parameters
[in]1) eQEPInterface eQEP
Returns
int16
--> 0 - x = revolution per minute of machine plugged to encoder
--> -1 = eQEP.QEPA invalid value

Definition at line 131 of file eqep.c.

131  {
132  if(eQEP.QEPA == GPIO20){
133  return g_rpm_eQEP_1; // Return rpm value
134  }
135  else if(eQEP.QEPA == GPIO24){
136  return g_rpm_eQEP_2; // Return rpm value
137  }
138  else{
139  return -1;
140  }
141 }

◆ init_eQEP()

int16 init_eQEP ( eQEPInterface  eQEP)

Initialization of eQEPInterface.

Parameters
[in]1) eQEPInterface eQEP
Returns
int16
--> 0 = operation successful
--> -1 = eQEP.QEPA invalid value
--> -2 = eQEP.QEPB invalid value

Definition at line 33 of file eqep.c.

33  {
34  TMPS_EQEP eQEP_module; // Create variable for register-access
35  switch(eQEP.QEPA){
36  case 20: switch(eQEP.QEPB){
37  case 21: EALLOW; // Allow Register writes
38  TMC_BASE_PIO->CTL[0].PUD &= ~((Uint32)0x1 << 20); // Enable pull-up on GPIO20 (EQEP1A)
39  TMC_BASE_PIO->CTL[0].QSEL2 &= ~((Uint32)0x3 << 8); // Sync to SYSCLKOUT GPIO20 (EQEP1A)
40  TMC_BASE_PIO->CTL[0].MUX2 |= ((Uint32)0x1 << 8); // Configure GPIO20 as EQEP1A
41  TMC_BASE_PIO->CTL[0].PUD &= ~((Uint32)0x1 << 21); // Enable pull-up on GPIO21 (EQEP1B)
42  TMC_BASE_PIO->CTL[0].QSEL2 &= ~((Uint32)0x3 << 10); // Sync to SYSCLKOUT GPIO21 (EQEP1B)
43  TMC_BASE_PIO->CTL[0].MUX2 |= ((Uint32)0x1 << 10); // Configure GPIO21 as EQEP1B
44  g_lines_of_encoder_eQEP1 = eQEP.lines_of_encoder; // Prepare variable for calculations
45  break;
46  default: return -2; // Invalid input parameter
47  }
48  DINT; // Disable Interrupts
49  EALLOW;
50  TMC_BASE_INT_REGS->EQEP1_INT = (Uint32)eQEPisr1; // Assign Interrupt Service Routine
51  EDIS; // Protect register
52  TMC_BASE_PIE->CTRL |= 0x01; // Enable PIE block
53  TMC_BASE_PIE->GROUP[4].IER |= 0x1; // Enable in the PIE: Group 5 interrupt 1
54  IER |= 0x0010; // Enable Interrupt group
55  EINT; // Enable Interrupts
56  eQEP_module = TMC_BASE_EQEP1; // Assign Register-address to variable for register access
57  break;
58  case 24: switch(eQEP.QEPB){
59  case 25: EALLOW; // Allow Register writes
60  TMC_BASE_PIO->CTL[0].PUD &= ~((Uint32)0x1 << 24); // Enable pull-up on GPIO24 (EQEP2A)
61  TMC_BASE_PIO->CTL[0].QSEL2 &= ~((Uint32)0x3 << 16); // Sync to SYSCLKOUT GPIO24 (EQEP2A)
62  TMC_BASE_PIO->CTL[0].MUX2 |= ((Uint32)0x2 << 16); // Configure GPIO24 as EQEP2A
63  TMC_BASE_PIO->CTL[0].PUD &= ~((Uint32)0x1 <<25); // Enable pull-up on GPIO25 (EQEP2B)
64  TMC_BASE_PIO->CTL[0].QSEL2 &= ~((Uint32)0x3 << 18); // Sync to SYSCLKOUT GPIO25 (EQEP2B)
65  TMC_BASE_PIO->CTL[0].MUX2 |= ((Uint32)0x2 << 18); // Configure GPIO25 as EQEP2B
66  g_lines_of_encoder_eQEP2 = eQEP.lines_of_encoder; // Prepare variable for calculations
67  break;
68  default: return -2; // Invalid input parameter
69  }
70  DINT; // Disable Interrupts
71  EALLOW;
72  TMC_BASE_INT_REGS->EQEP2_INT = (Uint32)eQEPisr2; // Assign Interrupt Service Routine
73  EDIS; // Protect register
74  TMC_BASE_PIE->CTRL |= 0x01; // Enable PIE block
75  TMC_BASE_PIE->GROUP[4].IER |= 0x2; // Enable in the PIE: Group 5 interrupt 2
76  IER |= 0x0010; // Enable Interrupt group
77  EINT; // Enable Interrupts
78  eQEP_module = TMC_BASE_EQEP2; // Assign Register-address to variable for register access
79  break;
80  default: return -1; // Invalid input parameter
81  }
82  EDIS;
83 
84  //QEP quadrature count mode
85  eQEP_module->QUPRD = 0xE4E1C0; // Unit Timer for 10 Hz at 150 MHz SYSCLKOUT
86  eQEP_module->QDECCTL &= ~((Uint32)0x3 << 14); // QEP quadrature count mode
87  eQEP_module->QEPCTL &= ~((Uint32)0x3 << 14); // Stop at breakpoint
88 
89  eQEP_module->QPOSMAX = 0xFFFFFFFF; // Maximum Position Count
90  eQEP_module->QEPCTL |= (0x1 << 12); // Position counter reset on maximum position
91  eQEP_module->QEPCTL |= (0x1 << 3); // QEP enable
92  eQEP_module->QEPCTL |= (0x1 << 2); // Latch on unit time out: Position counter, capture timer and capture period values are latched into QPOSLAT, QCTMRLAT and QCPRDLAT registers
93  eQEP_module->QEPCTL |= (0x1 << 1); // Enable Unit Timer
94 
95  eQEP_module->QEINT &= ~(0xFFE); // Disable all interrupts:
96  eQEP_module->QEINT |= ((Uint32) 0x1 << 11); // Enable UNit time out interrupt
97  eQEP_module->QCLR |= 0xFFF; // Clear Interrupt flags
98 
99  return 0;
100 }
_eQEPInterface::QEPB
Uint16 QEPB
QEPB GPIO (21/25)
Definition: eqep.h:15
g_lines_of_encoder_eQEP2
Uint16 g_lines_of_encoder_eQEP2
Definition: eqep.c:20
eQEPisr2
__interrupt void eQEPisr2(void)
Interrupt Service Routine of eQEPInterface2.
Definition: eqep.c:187
g_rpm_eQEP_1
Uint16 g_rpm_eQEP_1
Definition: eqep.c:17
IER
cregister volatile unsigned int IER
Generate reference to Interrupt Enable Register.
_eQEPInterface::lines_of_encoder
Uint16 lines_of_encoder
Lines of applied encoder. See Data sheet of applied motor / encoder. 4 edges are sent on QEPA and QEP...
Definition: eqep.h:16
_TMS_EQEP::QEINT
TM_REG16 QEINT
Interrupt Enable Register.
Definition: TMC_BASE_EQEP.h:31
_TMS_EQEP::QDECCTL
TM_REG16 QDECCTL
Decoder Control Register.
Definition: TMC_BASE_EQEP.h:27
eQEPisr1
__interrupt void eQEPisr1(void)
Interrupt Service Routine of eQEPInterface1.
Definition: eqep.c:149
_TMS_EQEP::QEPCTL
TM_REG16 QEPCTL
Control Register.
Definition: TMC_BASE_EQEP.h:28
_TMS_EQEP
eQEP Register (TMC_BASE_EQEP1 / TMC_BASE_EQEP2).
Definition: TMC_BASE_EQEP.h:15
_TMS_EQEP::QUPRD
TM_REG32 QUPRD
Unit Period Register.
Definition: TMC_BASE_EQEP.h:24
_eQEPInterface::QEPA
Uint16 QEPA
QEPA GPIO (20/24)
Definition: eqep.h:14
g_lines_of_encoder_eQEP1
Uint16 g_lines_of_encoder_eQEP1
Definition: eqep.c:19
_TMS_EQEP::QPOSMAX
TM_REG32 QPOSMAX
Maximum Position Count.
Definition: TMC_BASE_EQEP.h:18
_TMS_EQEP::QEPSTS
TM_REG16 QEPSTS
Status Register.
Definition: TMC_BASE_EQEP.h:35
_TMS_EQEP::QCLR
TM_REG16 QCLR
Interrupt Clear Register.
Definition: TMC_BASE_EQEP.h:33
Uint32
unsigned long Uint32
32 Bit Variable: 0 .. 4.294.967.295
Definition: global_defines.h:22
g_rpm_eQEP_2
Uint16 g_rpm_eQEP_2
Definition: eqep.c:18