Pulse 280 Bedienungsanleitung Seite 1

TMS320x280x, 2801x, 2804x EnhancedQuadrature Encoder Pulse (eQEP) ModuleReference GuideLiterature Number: SPRU790DNovember 2004–Revised December 2008

T00 1 2 3 4 5 6 7 N−6 N−5 N−4 N−3 N−2 N−10QEPAQEPBQEPIClockwise shaft rotation/forward movementAnti-clockwise shaft rotation/reverse movement0 N−1 N−2

v(k)[x(k)* x(k * 1)T+DXTv(k)[Xt(k)* t(k * 1)+XDTwww.ti.comDescriptionSome typical applications of shaft encoders include robotics and even computer in

Descriptionwww.ti.com2.1 EQEP InputsThe eQEP inputs include two pins for quadrature-clock mode or direction-count mode, an index (or 0marker), and a s

QWDTMRQWDPRD16QWDOGUTIMEQUPRDQUTMR32UTOUTWDTOUTQuadraturecapture unit(QCAP)QCPRDLATQCTMRLAT16QFLGQEPSTSQEPCTLRegistersused bymultiple unitsQCLKQDIRQIQ

Descriptionwww.ti.comTable 1. EQEP Memory Map (continued)Size(x16)/Name Offset #shadow Reset Register DescriptionQPOSCTL 0x17 1/0 0x00000 eQEP Positio

0110QAQB1100QDECCTL:QBPQuadraturedecoder00011011iCLKxCLKxCLKxCLK01111000iDIRxDIR10QDECCTL:QSRC2QFLG:PHEPHEQDECCTL:QAPx1x2x1, x2QDECCTL:XCR0110QDECCTL:

(00)(10)(11)(01)(A,B)=QEPAQEPBeQEP signals100100 11IncrementcounterDecrementcounterDecrementcounterIncrementcounterDecrementcounterDecrementcounterInc

+1 +1 +1+1 +1+1+1 −1 −1 −1−1 −1−1−1−1 −1−1 −1 +1+1+1−1 −1 −1 −1 −1 −1 −1 +1 +1 +1 +1 +1 +1 +1+1+1+1 +1 −1−1−1QAQBQCLKQDIRQPOSCNTQAQBQCLKQDIRQPOSCNTwww

Position Counter and Control Unit (PCCU)www.ti.com3.1.4 Down-Count ModeThe counter direction signal is hardwired for a down count and the position cou

F9DF9E0F9F321 4 3 12F9DF9EF9F0F9BF9C F9AF97F98F99QAQBQCLKQEPSTS:QDFQPOSCNT F9C 4 5F9F 0QIIndex interrupt/ index event markerQPOSILATQEPSTS:QDLFwww.ti.

2SPRU790D–November 2004–Revised December 2008Submit Documentation FeedbackCopyright © 2004–2008, Texas Instruments Incorporated

QAQBQCLKQDIRQPOSCNTOV/UFQAQBQCLKQDIRQPOSCNTOV/UF1 2 3 4 0 1 2 1 0 4 3 2 1 0 4 3 2 1 2 3 4 01 0 4 3 2 1 0 1 2 3 4 0 1 2 3 4 0 1 0 4 3Position Counter a

www.ti.comPosition Counter and Control Unit (PCCU)4.2 Position Counter LatchThe eQEP index and strobe input can be configured to latch the position co

F9CF9DF9EF9FFA0FA1FA2FA3FA4FA5FA4FA3FA2FA1FA0F9FF9EF9DF9CF9BF9AF99F98F97F9F 0QAQBQIQCLKQEPSTS:QDFQPOSCNTIndex interrupt/index eventmarkerQPOSILATQEPST

QPOSCTL:PCSPW8PulsestretcherQFLG:PCMQPOSCNT32QPOSCMPQFLG:PCR32QPOSCTL:PCSHDWQPOSCTL:PCLOAD01QPOSCTL:PCPOLPCSOUTPCEVENTwww.ti.comPosition Counter and C

POSCMP=201234321012343210eQEP counterPCEVNTPCSOUT (active HIGH)PCSOUT (active LOW)PCSPWDIRQPOSCMPQPOSCNTPCSOUT (active HIGH)PCSPWPCSPWPCSPWPCEVNTPosit

v(k)+Xt(k)* t(k * 1)+XDTwww.ti.comeQEP Edge Capture Unit5 eQEP Edge Capture UnitThe eQEP peripheral includes an integrated edge capture unit to measur

QCAPCTL:CENCapture timercontrol unit(CTCU)QCPRDQCTMRQCTMRLATQCPRDLAT16163-bit binarydividerx1, 1/2, 1/4...,1/128CAPCLKQCAPCTL:CCPS3SYSCLKOUT160xFFFF16

∆Xx(k−1)∆Tt(k)t(k−1)TQEPAQEPBQCLKQPOSCNTUPEVNTQCTMRUTOUTx(k)v(k)+x(k)* x(k * 1)T+DXTorwww.ti.comeQEP Edge Capture UnitFigure 17. eQEP Edge Capture Uni

QFLG:WTOQWDPRD16QWDTMR16QEPCTL:WDEQWDOGRESETSYSCLKOUT/64SYSCLKOUTQCLKWDTOUTQFLG:UTOQUPRD32QUTMR32QEPCTL:UTEUTIMESYSCLKOUTUTOUTeQEP Watchdogwww.ti.comP

ClrSetLatchQFRC:PCEPCEQCLR:PCEQFLG:PCEQEINT:PCEQCLR:UTOQFRC:UTOQEINT:UTOsetLatchclrUTOQFLG:UTO010Pulsegeneratorwheninput=1QFLG:INTLatchSet ClrQCLR:INT

Preface ... 61 Int

eQEP Registerswww.ti.comTable 3. eQEP Decoder Control (QDECCTL) Register Field Descriptions (continued)Bits Name Value Description12 SPSEL Sync output

www.ti.comeQEP RegistersTable 4. eQEP Control (QEPCTL) Register Field DescriptionsBits Name Value Description15-14 FREE, Emulation Control BitsSOFTQPO

eQEP Registerswww.ti.comTable 4. eQEP Control (QEPCTL) Register Field Descriptions (continued)Bits Name Value Description3 QPEN Quadrature position co

www.ti.comeQEP RegistersFigure 24. eQEP Capture Control (QCAPCTL) Register15 14 7 6 4 3 0CEN Reserved CCPS UPPSR/W-0 R-0 R/W-0 R/W-0LEGEND: R/W = Read

eQEP Registerswww.ti.comTable 8. eQEP Position Counter Initialization (QPOSINIT) Register Field DescriptionsBits Name Description31-0 QPOSINIT This re

www.ti.comeQEP RegistersTable 12. eQEP Strobe Position Latch (QPOSSLAT) Register Field DescriptionsBits Name Description31-0 QPOSSLAT The position-cou

eQEP Registerswww.ti.comTable 16. eQEP Watchdog Timer (QWDTMR) Register Field DescriptionsBits Name Description15-0 QWDTMR This register acts as time

www.ti.comeQEP RegistersTable 18. eQEP Interrupt Enable(QEINT) Register Field Descriptions (continued)Bits Name Value Description5 PCU Position counte

eQEP Registerswww.ti.comTable 19. eQEP Interrupt Flag (QFLG) Register Field Descriptions (continued)Bits Name Value Description1 This bit is set on po

www.ti.comeQEP RegistersTable 20. eQEP Interrupt Clear (QCLR) Register Field Descriptions (continued)Bit Field Value Description6 PCO Clear position c

www.ti.comList of Figures1 Optical Encoder Disk ...

eQEP Registerswww.ti.comTable 21. eQEP Interrupt Force (QFRC) Register Field Descriptions (continued)Bit Field Value Description7 PCR Force position-c

www.ti.comeQEP RegistersTable 22. eQEP Status (QEPSTS) Register Field Descriptions (continued)Bit Field Value Description4 QDLF eQEP direction latch f

eQEP Registerswww.ti.comFigure 44. eQEP Capture Period Latch (QCPRDLAT) Register15 0QCPRDLATR/WLEGEND: R/W = Read/Write; R = Read only; -n = value aft

www.ti.comAppendix A Revision HistoryThe changes shown below were made in this revision.Table 27. Changes for Revision DLocation Additions, Deletions,

IMPORTANT NOTICETexas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, modifications, enhancements, improveme

www.ti.comList of Tables1 EQEP Memory Map ... 132 Q

PrefaceSPRU790D–November 2004–Revised December 2008Read This FirstThis reference guide describes the enhanced quadrature encoder pulse (eQEP) module .

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QEPAQEPBQEPIReference GuideSPRU790D–November 2004–Revised December 2008Enhanced QEP (eQEP) ModuleThe enhanced quadrature encoder pulse (eQEP) module i