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急，急，急

2013-04-11 分类：C2000™ 32位实时 MCU 阅读(295)

各位帮我看下这个程序，就这段看不懂了！！

#define QEP_MACRO(m,v) \
\
/* Check the rotational direction */ \
            v.DirectionQep = (*eQEP[m]).QEPSTS.bit.QDF; \
\
/* 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; \
\
/* Compute the mechanical angle */ \
            v.MechTheta= v.MechScaler*v.RawTheta; \
/* Compute the electrical angle */ \
           v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta); /* Q24 = Q0*Q24 */ \
\
/* Check an index occurrence*/ \
          if ((*eQEP[m]).QFLG.bit.IEL == 1) \
{ \
         v.IndexSyncFlag = 0x00F0; \
        v.QepCountIndex = (*eQEP[m]).QPOSILAT; \
        (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag */ \
} \
\
/* Check unit Time out-event for speed calculation: */ \
/* Unit Timer is configured for 100Hz in INIT function*/ \
if((*eQEP[m]).QFLG.bit.UTO == 1) \
{ \
/***** Low Speed Calculation ****/ \
if(((*eQEP[m]).QEPSTS.bit.COEF || (*eQEP[m]).QEPSTS.bit.CDEF)) \
{ /* Capture Counter overflowed, hence do no compute speed*/ \
(*eQEP[m]).QEPSTS.all = 0x000C; \
} \
else if((*eQEP[m]).QCPRDLAT!=0xffff) \
/* Compute lowspeed using capture counter value*/ \
v.QepPeriod = (*eQEP[m]).QCPRDLAT; \
}

Victor Zheng：

每一句都有注释，您具体是哪个地方不明白。

各位帮我看下这个程序，就这段看不懂了！！

#define QEP_MACRO(m,v) \
\
/* Check the rotational direction */ \
            v.DirectionQep = (*eQEP[m]).QEPSTS.bit.QDF; \
\
/* 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; \
\
/* Compute the mechanical angle */ \
            v.MechTheta= v.MechScaler*v.RawTheta; \
/* Compute the electrical angle */ \
           v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta); /* Q24 = Q0*Q24 */ \
\
/* Check an index occurrence*/ \
          if ((*eQEP[m]).QFLG.bit.IEL == 1) \
{ \
         v.IndexSyncFlag = 0x00F0; \
        v.QepCountIndex = (*eQEP[m]).QPOSILAT; \
        (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag */ \
} \
\
/* Check unit Time out-event for speed calculation: */ \
/* Unit Timer is configured for 100Hz in INIT function*/ \
if((*eQEP[m]).QFLG.bit.UTO == 1) \
{ \
/***** Low Speed Calculation ****/ \
if(((*eQEP[m]).QEPSTS.bit.COEF || (*eQEP[m]).QEPSTS.bit.CDEF)) \
{ /* Capture Counter overflowed, hence do no compute speed*/ \
(*eQEP[m]).QEPSTS.all = 0x000C; \
} \
else if((*eQEP[m]).QCPRDLAT!=0xffff) \
/* Compute lowspeed using capture counter value*/ \
v.QepPeriod = (*eQEP[m]).QCPRDLAT; \
}

haha haha1：

回复 Victor Zheng:

首先谢谢你的回答。

我的问题如下，我现在在做F28335控制pmsm，其中TI源代码里面是这样做的，让epwm1周期产生中断，然后采样ADC、控制等等。

然后在转子位置检测部分，他是这样做的，先检查CalibratedAngle偏移量，这个我知道是转子和编码器的偏移，但在程序里为什么要加上呢，比如上电电机转起来了，那QEP检测到的脉冲个数在QPOSCNT里面，就是编码器检测到的脉冲啊。干嘛还加啊，加的话脉冲数不就多了嘛。那算出来的机械角不就大了嘛。所以这几句话不懂

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;

2、v.MechTheta= v.MechScaler*v.RawTheta;

v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta);这两句怎么没归一化呢，我看TI28035例程是归一化的如下

v.MechTheta = __qmpy32by16(v.MechScaler,(int16)v.RawTheta,31); /* Q15 = Q30*Q0 */ \ v.MechTheta &= 0x7FFF; /* Wrap around 0x07FFF*/ \ v.MechTheta <<= 9; /* Q15 -> Q24 */ \ \/* Compute the electrical angle in Q24 */ \ v.ElecTheta = v.PolePairs*v.MechTheta; /* Q24 = Q0*Q24 */ \ v.ElecTheta &= 0x00FFFFFF; /* Wrap around 0x00FFFFFF*/

3、发生Z脉冲的时候会有个中断，那这个中断为什么不将计数脉冲清零呢？

if ((*eQEP[m]).QFLG.bit.IEL == 1) /*中断标志寄存器*/ \ { \ v.IndexSyncFlag = 0x00F0; \ v.QepCountIndex = (*eQEP[m]).QPOSILAT; /*位置锁存*/ \ (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag 中断清除寄存器*/ \ }

各位帮我看下这个程序，就这段看不懂了！！

#define QEP_MACRO(m,v) \
\
/* Check the rotational direction */ \
            v.DirectionQep = (*eQEP[m]).QEPSTS.bit.QDF; \
\
/* 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; \
\
/* Compute the mechanical angle */ \
            v.MechTheta= v.MechScaler*v.RawTheta; \
/* Compute the electrical angle */ \
           v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta); /* Q24 = Q0*Q24 */ \
\
/* Check an index occurrence*/ \
          if ((*eQEP[m]).QFLG.bit.IEL == 1) \
{ \
         v.IndexSyncFlag = 0x00F0; \
        v.QepCountIndex = (*eQEP[m]).QPOSILAT; \
        (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag */ \
} \
\
/* Check unit Time out-event for speed calculation: */ \
/* Unit Timer is configured for 100Hz in INIT function*/ \
if((*eQEP[m]).QFLG.bit.UTO == 1) \
{ \
/***** Low Speed Calculation ****/ \
if(((*eQEP[m]).QEPSTS.bit.COEF || (*eQEP[m]).QEPSTS.bit.CDEF)) \
{ /* Capture Counter overflowed, hence do no compute speed*/ \
(*eQEP[m]).QEPSTS.all = 0x000C; \
} \
else if((*eQEP[m]).QCPRDLAT!=0xffff) \
/* Compute lowspeed using capture counter value*/ \
v.QepPeriod = (*eQEP[m]).QCPRDLAT; \
}

Victor Zheng：

回复 haha haha1:

这个代码是哪个例程中的？

各位帮我看下这个程序，就这段看不懂了！！

#define QEP_MACRO(m,v) \
\
/* Check the rotational direction */ \
            v.DirectionQep = (*eQEP[m]).QEPSTS.bit.QDF; \
\
/* 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; \
\
/* Compute the mechanical angle */ \
            v.MechTheta= v.MechScaler*v.RawTheta; \
/* Compute the electrical angle */ \
           v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta); /* Q24 = Q0*Q24 */ \
\
/* Check an index occurrence*/ \
          if ((*eQEP[m]).QFLG.bit.IEL == 1) \
{ \
         v.IndexSyncFlag = 0x00F0; \
        v.QepCountIndex = (*eQEP[m]).QPOSILAT; \
        (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag */ \
} \
\
/* Check unit Time out-event for speed calculation: */ \
/* Unit Timer is configured for 100Hz in INIT function*/ \
if((*eQEP[m]).QFLG.bit.UTO == 1) \
{ \
/***** Low Speed Calculation ****/ \
if(((*eQEP[m]).QEPSTS.bit.COEF || (*eQEP[m]).QEPSTS.bit.CDEF)) \
{ /* Capture Counter overflowed, hence do no compute speed*/ \
(*eQEP[m]).QEPSTS.all = 0x000C; \
} \
else if((*eQEP[m]).QCPRDLAT!=0xffff) \
/* Compute lowspeed using capture counter value*/ \
v.QepPeriod = (*eQEP[m]).QCPRDLAT; \
}

haha haha1：

回复 Victor Zheng:

HVPM_Sensorless_2833x中的。

各位帮我看下这个程序，就这段看不懂了！！

#define QEP_MACRO(m,v) \
\
/* Check the rotational direction */ \
            v.DirectionQep = (*eQEP[m]).QEPSTS.bit.QDF; \
\
/* 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; \
\
/* Compute the mechanical angle */ \
            v.MechTheta= v.MechScaler*v.RawTheta; \
/* Compute the electrical angle */ \
           v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta); /* Q24 = Q0*Q24 */ \
\
/* Check an index occurrence*/ \
          if ((*eQEP[m]).QFLG.bit.IEL == 1) \
{ \
         v.IndexSyncFlag = 0x00F0; \
        v.QepCountIndex = (*eQEP[m]).QPOSILAT; \
        (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag */ \
} \
\
/* Check unit Time out-event for speed calculation: */ \
/* Unit Timer is configured for 100Hz in INIT function*/ \
if((*eQEP[m]).QFLG.bit.UTO == 1) \
{ \
/***** Low Speed Calculation ****/ \
if(((*eQEP[m]).QEPSTS.bit.COEF || (*eQEP[m]).QEPSTS.bit.CDEF)) \
{ /* Capture Counter overflowed, hence do no compute speed*/ \
(*eQEP[m]).QEPSTS.all = 0x000C; \
} \
else if((*eQEP[m]).QCPRDLAT!=0xffff) \
/* Compute lowspeed using capture counter value*/ \
v.QepPeriod = (*eQEP[m]).QCPRDLAT; \
}

Victor Zheng：

回复 haha haha1:

我对第一个问题的理解是，*eQEP[m]).QPOSCNT + v.CalibratedAngle;表示转子的绝对机械角度。比如eQEP[m]).QPOSCNT=0的时候转子的绝对位置可能是10度，这就需要加v.CalibratedAngle来补偿这个差值。个人理解。

各位帮我看下这个程序，就这段看不懂了！！

#define QEP_MACRO(m,v) \
\
/* Check the rotational direction */ \
            v.DirectionQep = (*eQEP[m]).QEPSTS.bit.QDF; \
\
/* 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; \
\
/* Compute the mechanical angle */ \
            v.MechTheta= v.MechScaler*v.RawTheta; \
/* Compute the electrical angle */ \
           v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta); /* Q24 = Q0*Q24 */ \
\
/* Check an index occurrence*/ \
          if ((*eQEP[m]).QFLG.bit.IEL == 1) \
{ \
         v.IndexSyncFlag = 0x00F0; \
        v.QepCountIndex = (*eQEP[m]).QPOSILAT; \
        (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag */ \
} \
\
/* Check unit Time out-event for speed calculation: */ \
/* Unit Timer is configured for 100Hz in INIT function*/ \
if((*eQEP[m]).QFLG.bit.UTO == 1) \
{ \
/***** Low Speed Calculation ****/ \
if(((*eQEP[m]).QEPSTS.bit.COEF || (*eQEP[m]).QEPSTS.bit.CDEF)) \
{ /* Capture Counter overflowed, hence do no compute speed*/ \
(*eQEP[m]).QEPSTS.all = 0x000C; \
} \
else if((*eQEP[m]).QCPRDLAT!=0xffff) \
/* Compute lowspeed using capture counter value*/ \
v.QepPeriod = (*eQEP[m]).QCPRDLAT; \
}

haha haha1：

回复 Victor Zheng:

为什么是10°啊？不是跟A相重合了嘛，那就应该是0°啊，因为我选A相为0°参考啊！

各位帮我看下这个程序，就这段看不懂了！！

#define QEP_MACRO(m,v) \
\
/* Check the rotational direction */ \
            v.DirectionQep = (*eQEP[m]).QEPSTS.bit.QDF; \
\
/* 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; \
\
/* Compute the mechanical angle */ \
            v.MechTheta= v.MechScaler*v.RawTheta; \
/* Compute the electrical angle */ \
           v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta); /* Q24 = Q0*Q24 */ \
\
/* Check an index occurrence*/ \
          if ((*eQEP[m]).QFLG.bit.IEL == 1) \
{ \
         v.IndexSyncFlag = 0x00F0; \
        v.QepCountIndex = (*eQEP[m]).QPOSILAT; \
        (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag */ \
} \
\
/* Check unit Time out-event for speed calculation: */ \
/* Unit Timer is configured for 100Hz in INIT function*/ \
if((*eQEP[m]).QFLG.bit.UTO == 1) \
{ \
/***** Low Speed Calculation ****/ \
if(((*eQEP[m]).QEPSTS.bit.COEF || (*eQEP[m]).QEPSTS.bit.CDEF)) \
{ /* Capture Counter overflowed, hence do no compute speed*/ \
(*eQEP[m]).QEPSTS.all = 0x000C; \
} \
else if((*eQEP[m]).QCPRDLAT!=0xffff) \
/* Compute lowspeed using capture counter value*/ \
v.QepPeriod = (*eQEP[m]).QCPRDLAT; \
}

qiang wang4：

回复 Victor Zheng:

是啊 ，这个的的地方很难理解的，是否可以给解释解释呢？为什么10度呢？

各位帮我看下这个程序，就这段看不懂了！！

#define QEP_MACRO(m,v) \
\
/* Check the rotational direction */ \
            v.DirectionQep = (*eQEP[m]).QEPSTS.bit.QDF; \
\
/* 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; \
\
/* Compute the mechanical angle */ \
            v.MechTheta= v.MechScaler*v.RawTheta; \
/* Compute the electrical angle */ \
           v.ElecTheta = (v.PolePairs*v.MechTheta) -floor(v.PolePairs*v.MechTheta); /* Q24 = Q0*Q24 */ \
\
/* Check an index occurrence*/ \
          if ((*eQEP[m]).QFLG.bit.IEL == 1) \
{ \
         v.IndexSyncFlag = 0x00F0; \
        v.QepCountIndex = (*eQEP[m]).QPOSILAT; \
        (*eQEP[m]).QCLR.bit.IEL = 1; /* Clear interrupt flag */ \
} \
\
/* Check unit Time out-event for speed calculation: */ \
/* Unit Timer is configured for 100Hz in INIT function*/ \
if((*eQEP[m]).QFLG.bit.UTO == 1) \
{ \
/***** Low Speed Calculation ****/ \
if(((*eQEP[m]).QEPSTS.bit.COEF || (*eQEP[m]).QEPSTS.bit.CDEF)) \
{ /* Capture Counter overflowed, hence do no compute speed*/ \
(*eQEP[m]).QEPSTS.all = 0x000C; \
} \
else if((*eQEP[m]).QCPRDLAT!=0xffff) \
/* Compute lowspeed using capture counter value*/ \
v.QepPeriod = (*eQEP[m]).QCPRDLAT; \
}

Liang Young：

回复 haha haha1:

编码器的安装问题，没能安装到与A相完全重合

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