MPC5xxxのトピックRe: [MPC5553] Can't Read Z-pulse of Encoder with eTPU QD function

[MPC5553] Can't Read Z-pulse of Encoder with eTPU QD function

limheesun — Fri, 30 Dec 2016 09:25:17 GMT

Hello. I have a question.

I have to use the qd function of eTPU for Encoder Signals

I used 10, 11, 12 channel of eTPU_A for A(primary), B(secondary), Z(index) pulse and c-files that compiled on NXP site.

The Result, Position Counter using A and B Pulse was increasing well. But the Revolution Counter wasn't increasing and Position Counter cannot be reset by Index(Z pulse).

When I saw IPS bit of 12 channel using Trace32, IPS bit have correct behavior when the signal come in.

So, I saw the memory of RC and the value was zero.

I can't understand why it doesn't working well.

Please, Check my code.

etpu initializing function in etpu_gct.c

int32_t my_system_etpu_init()
{
int32_t err_code;

/* Initialization of eTPU global settings*/

fs_etpu_init( my_etpu_config, (uint32_t *)etpu_code, sizeof(etpu_code),
(uint32_t *)etpu_globals, sizeof(etpu_globals));

/* Initialization of eTPU channel settings*/

/* eTPU API Function initialization: 'QD - Quadrature Decoder'*/

err_code = fs_etpu_qd_init (QD0_PRIMARY,                   /* engine: A; channel: 10 */
                                             ETPU_CHAN_NOT_USED, /* This channel is not used */
                                             QD0_INDEX,                         /* engine: A; channel: 12 */
                                             FS_ETPU_QD_PRIM_SEC_INDEX, /* Index, primary and secondary. */
                                             FS_ETPU_PRIORITY_HIGH, /* priority: High */
                                             FS_ETPU_QD_CONFIGURATION_1, /* configuration: Both QD pins are 1 when the INDEX is reached. */
                                             FS_ETPU_TCR1, /* timer: FS_ETPU_TCR1 */
                                             0, /* pc_max: 0 */
                                             0, /* slow_normal_threshold: 0 */
                                             0, /* normal_slow_threshold: 0 */
                                             0, /* normal_fast_threshold: 0 */
                                             0, /* fast_normal_threshold: 0 */
                                             0, /* window_ratio1: 0 */
                                             0, /* window_ratio2: 0 */
                                             FS_ETPU_QD_HOME_TRANS_LOW_HIGH, /* home_transition: Detection of low-high                                                                                                                          transition. */
                                             FS_ETPU_QD_INDEX_PULSE_POSITIVE, /* index_pulse: Index pulse of positive polarity. */
                                             FS_ETPU_QD_INDEX_PC_RESET, /* index_pc_reset: Position Counter is reset on Index                                                                                                           transition. */
FS_ETPU_QD_ETPU_A_TCR1_FREQ, /* etpu_tcr_freq: frequency of eTPU engine A - TCR1 */
256); /* pc_per_rev: 0 */
if (err_code != 0)
return ((QD0_PRIMARY) + 1);

And then I called this function in main.c

Next,

Channel is defined in etpu_gct.h

**************************************************************************/
#define QD0_PRIMARY ETPU_ENGINE_A_CHANNEL(10)
#define QD0_SECONDARY ETPU_ENGINE_A_CHANNEL(11)
#define QD0_INDEX ETPU_ENGINE_A_CHANNEL(12)

And etpu_qd_auto.h

/****************************************************************
* Function Configuration Information.
****************************************************************/
#define FS_ETPU_QD_FUNCTION_NUMBER 0
#define FS_ETPU_QD_TABLE_SELECT 1
#define FS_ETPU_QD_NUM_PARMS 0x0040

#define FS_ETPU_QD_INDEX_FUNCTION_NUMBER 1
#define FS_ETPU_QD_INDEX_TABLE_SELECT 0
#define FS_ETPU_QD_INDEX_NUM_PARMS 0x0040

/****************************************************************
* Host Service Request Definitions.
****************************************************************/
#define FS_ETPU_QD_INIT 1
#define FS_ETPU_QD_INDEX_INIT 1

And I used the API of qd function in main interrupt rountine.

if(enablesw)
{
         fs_etpu_qd_enable(QD0_PRIMARY,
         ETPU_CHAN_NOT_USED,
         QD0_INDEX,
         FS_ETPU_QD_PRIM_SEC_INDEX,
         FS_ETPU_PRIORITY_HIGH);

         enablesw = 0;
}
mnew2 = fs_etpu_qd_get_pc(QD0_PRIMARY);
dirEnc = fs_etpu_qd_get_direction(QD0_PRIMARY);
EncZCnt = fs_etpu_qd_get_rc(QD0_PRIMARY);
testEnc = fs_etpu_qd_get_pc_sc(QD0_PRIMARY);

And PCR register of 10,11,12 channels initialized in main.c

SIU.PCR[124].R = 0x0500; // Configure pad for signal ETPU_A[10] input
SIU.PCR[125].R = 0x0500; // Configure pad for signal ETPU_A[11] input
SIU.PCR[126].R = 0x0500; // Configure pad for signal ETPU_A[12] input

In addition, when I saw this project's behavior on Trace32, 'dirEnc' that have the direction information is toggle sometimes.

I attached a capture below.

I need help and I'll appreciate your help. Please.

Thank you.

Original Attachment has been moved to: Encoder_with_Zpulse_Example.zip

Original Attachment has been moved to: Example_PWM2Encoder_MPC5604.zip

Re: [MPC5553] Can't Read Z-pulse of Encoder with eTPU QD function

davidtosenovjan — Mon, 02 Jan 2017 14:04:07 GMT

I don’t see anything obvious. Do you have right configuration fitting to you sensor (I mean FS_ETPU_QD_CONFIGURATION_0/1) ?

Re: [MPC5553] Can't Read Z-pulse of Encoder with eTPU QD function

limheesun — Tue, 03 Jan 2017 03:11:25 GMT

Thanks to your comment :smileygrin:

Um... I think that's configuration is right.

I made the virtual signals using PWM of another board (TRK-MPC5604P). The signals have 25Hz, 0 to 5 [V], and 90 degree of phase difference. Z-pulse is recieved at once per 64 pulses (Both A and B have 64-pulses per 1 revolution). And Z-pulse is coming when A and B are high. I checked by oscilloscope.

I attached my test projects.

If you check my projects, I really appreciate.

Thanks.

Re: [MPC5553] Can't Read Z-pulse of Encoder with eTPU QD function

davidtosenovjan — Tue, 03 Jan 2017 09:39:40 GMT

I have tried to connect TRK-MPC5604P with your QD simulating software, but I dont see QD-like signal. You you only one phase toggling, you are changing the line by button.

Quadrature decoder in fact generates two signals like on the picture below:

Apparently you will have to modify the code on the TRK-MPC5604P side to have both lines toggling with different phases.

Re: [MPC5553] Can't Read Z-pulse of Encoder with eTPU QD function

limheesun — Tue, 03 Jan 2017 10:19:02 GMT

Thank your comment. But I think, there are right signals of phase A and B generated on TRK-MPC5604P.

void intc_U_Center(void)
{

FLEXPWM_0.SUB[0].STS.B.CMPF = 1;

SW=SIU.GPDI[48].R;

switch(SW)
{
case 1:
intcU_Ctr++;

if(intcU_Ctr>=64)
{
FLEXPWM_0.SUB[0].VAL[2].R = (unsigned short)-20000; // PWMA[0];PCR[58]-->rising ; phase A
FLEXPWM_0.SUB[0].VAL[3].R = (unsigned short) 0;//PWMA[0];PCR[58] --> falling ; phase A
FLEXPWM_0.SUB[0].VAL[4].R = (unsigned short)-10000;//PWMB[0];PCR[59]-->rising ; phase B
FLEXPWM_0.SUB[0].VAL[5].R = (unsigned short) 10000;//PWMB[0];PCR[58] --> falling ; phase B
FLEXPWM_0.SUB[1].VAL[2].R = (unsigned short)-10000;//PWMA[1];PCR[61]-->rising ; Generate Z pulse when intcU_Ctr is up to 64
FLEXPWM_0.SUB[1].VAL[3].R = (unsigned short) 0;//PWMA[1];PCR[61]-->falling
FLEXPWM_0.SUB[1].VAL[4].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[2].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[3].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[4].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.MCTRL.B.LDOK |= 0xF; // Load config values into buffers
FLEXPWM_0.MCTRL.B.RUN |=0xF; //1, 2, 3, 4 RUN
intcU_Ctr=0;
}
else
{
FLEXPWM_0.SUB[0].VAL[2].R = (unsigned short)-20000;// PWMA[0];PCR[58]-->rising
FLEXPWM_0.SUB[0].VAL[3].R = (unsigned short) 0;//PWMA[0];PCR[58] --> falling
FLEXPWM_0.SUB[0].VAL[4].R = (unsigned short)-10000;//PWMB[0];PCR[59]-->rising
FLEXPWM_0.SUB[0].VAL[5].R = (unsigned short) 10000;//PWMB[0];PCR[58] --> falling
FLEXPWM_0.SUB[1].VAL[2].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[3].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[4].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[2].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[3].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[4].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.MCTRL.B.LDOK |= 0xF; // Load config values into buffers
FLEXPWM_0.MCTRL.B.RUN |=0xF; //1, 2, 3, 4 RUN
}
break;
case 0: //And then, When I push the switch1, The direction of revolution is changed. So, Position Counter is decreasing and Revolution Counter is decreasing too. That means, phase B has a leading position.
intcU_Ctr--;

if(intcU_Ctr<=0)
{
FLEXPWM_0.SUB[0].VAL[2].R = (unsigned short)-10000;
FLEXPWM_0.SUB[0].VAL[3].R = (unsigned short) 10000;
FLEXPWM_0.SUB[0].VAL[4].R = (unsigned short)-20000;
FLEXPWM_0.SUB[0].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[2].R = (unsigned short)-10000;
FLEXPWM_0.SUB[1].VAL[3].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[4].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[2].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[3].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[4].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.MCTRL.B.LDOK |= 0xF; // Load config values into buffers
FLEXPWM_0.MCTRL.B.RUN |=0xF; //1, 2, 3, 4 RUN
intcU_Ctr=64;
}
else
{
FLEXPWM_0.SUB[0].VAL[2].R = (unsigned short)-10000;
FLEXPWM_0.SUB[0].VAL[3].R = (unsigned short) 10000;
FLEXPWM_0.SUB[0].VAL[4].R = (unsigned short)-20000;
FLEXPWM_0.SUB[0].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[2].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[3].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[4].R = (unsigned short) 0;
FLEXPWM_0.SUB[1].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[2].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[3].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[4].R = (unsigned short) 0;
FLEXPWM_0.SUB[2].VAL[5].R = (unsigned short) 0;
FLEXPWM_0.MCTRL.B.LDOK |= 0xF; // Load config values into buffers
FLEXPWM_0.MCTRL.B.RUN |=0xF; //1, 2, 3, 4 RUN
}
break;
}

}

What am I missing? I can't found it.

Thanks. ; )