Quelltext /~heha/ewa/Reluktanzmotor/maweig-Motor-200831.zip/posEncoderSuite.cpp

#include "Settings.h"
#include "qep.h"
#include "regdef2.h"

namespace nsRESOLVER{
  const int POLES = 8;			// Number of poles
}

// Variables for Position Sensor Suite
float PosEnc::ElecTheta;		// Inhalt geht an MotorControl.cpp
float PosEnc::MechTheta;
Uint16 PosEnc::lsw;

// Instance a QEP interface driver
MONITOR QEP qep(			// C++ constructor
	EQep1Regs,		// Hardware-Registersatz
	nsRESOLVER::POLES/2,	// (elektrische) Polpaarzahl
	512);			// Striche pro Umdrehung

// ***************************************************************
// Periodic action, called from MotorControl ISR at some runlevels
// - Reads QEP
// - Decodes RESOLVER (core algo is available in resolver.lib)
// - Angles are in range 0.0 to < 1.0
// ***************************************************************
void PosEnc::Suite() {
  if (ENCODERS&1<<QEP_ENCODER) {
// ----------------------------------
// lsw = 0 ---> Alignment Routine
// ----------------------------------
    if (!lsw) qep.resetPos();	// remove known absolute position
// ******************************************************************************
//    Detect calibration angle and call the QEP module
// ******************************************************************************
	// for once the QEP index pulse is found, go to lsw=2
    if (lsw==1 && qep.isAbsolute()) ++lsw;		// Check the index occurrence
	// Keep the latched pos. at the first index

    if (lsw) qep();
    ElecTheta = qep.getElecTheta();
    MechTheta = qep.getMechTheta();
  }
  if (ENCODERS&bit(SINCOS_ENCODER)) {
// TODO: Position ermitteln
  }
}

void PosEnc::InitAll() {
  if (ENCODERS&1<<QEP_ENCODER) {
// Eingänge zuweisen, Pullups sind nicht erforderlich da von Pushpull-Treibern angesteuert
    configGpio(20,1,3);
    configGpio(21,1,3);
//    GpioCtrlRegs.GPAMUX2.all  |= 1UL<<8 | 1UL<<10;	// GPIO20 und GPIO21 an QEP1
    configGpio(99,5,3);
//    GpioCtrlRegs.GPDGMUX1.all |= 1UL<<6;
//    GpioCtrlRegs.GPDMUX1.all  |= 1UL<<6;		// GPIO99 an QEP1
    configGpio(54,5,3);
    configGpio(55,5,3);
    configGpio(57,5,3);
//    GpioCtrlRegs.GPBGMUX2.all |= 1UL<<12 | 1UL<<14 | 1UL<<18;
//    GpioCtrlRegs.GPBMUX2.all  |= 1UL<<12 | 1UL<<14 | 1UL<<18;	// GPIO54,55,57 an QEP2
    qep.init(0,true);	// Init QEP parameters
  }
  if (ENCODERS&bit(SINCOS_ENCODER)) {
// TODO: A/D-Wandler zuweisen usw.
  }
}