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TMS320F28379D: Tamagawa多摩川绝对值编码器校验错误 Tamagawa absolute value encoder check error

David Lew
Prodigy 50 points

Part Number: TMS320F28379D

我在IDDKV2.2.1评估板上可以读到电机的编码器的位置信息，但是发现经常发生校验错误，这个有什么好的处理办法，谢谢？

I can read the position information of the motor encoder on the IDDKV2.2.1 evaluation board, but I find that check errors often occur. Is there any good way to deal with this  ？

Thanks！

  • 0
    TI__Guru** 101655 points

    你好，校验错误有具体的错误内容或者错误代码吗？

  • 0 回复 Green Deng
    Prodigy 50 points

    这个在判断位置在readTformatEncPosition程序内：

    inline void readTformatEncPosition(void)
    {

    if(tFormat_dataId == PM_TFORMAT_DATAID3)
    {
    retVal1 = PM_tformat_receiveData(PM_TFORMAT_DATAID3);

    crcResult = PM_tformat_getCRC(0, 80, 8,
    (uint16_t *)(&tformatData.rxPkts), tformatCRCtable, 10);
    crcResult = crcResult ^ (0xFF);

    if(!tformat_checkCRC(crcResult, tformatData.crc))
    {
    //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!正常时不会进入这段代码

    tFormat_crcError = 1;
    runMotor = MOTOR_STOP;


    //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!这个代表收到的数据包（不含CRC字节）CRC校验后和数据包尾的CRC校验码不一致 

    //不知道你们遇到这种概率有多大 ？这个一定是保持很低概率才行！

    }

    //
    //Invert the received bit sequence for position and
    //turns for actual data
    //
    position =
    ((__flip32((uint32_t) tformatData.dataField0) >> 24 ) & 0xFF) |
    ((__flip32((uint32_t) tformatData.dataField1) >> 16 ) & 0xFF00) |
    ((__flip32((uint32_t) tformatData.dataField2) >> 8 ) & 0xFF0000);

    turns =
    ((__flip32((uint32_t) tformatData.dataField4) >> 24 ) & 0xFF) |
    ((__flip32((uint32_t) tformatData.dataField5) >> 16 ) & 0xFF00) |
    ((__flip32((uint32_t) tformatData.dataField6) >> 8 ) & 0xFF0000);

    tFormat_encCmdStatus = ENC_CLOSE;
    tFormat_dataId = 0; // reset the ID log

  • 0 回复 David Lew
    TI__Guru** 101655 points

    你好，我咨询了一下其他工程师，对方认为这个错误是由系统中的某种噪音导致的。 建议仔细检查所有连接器并确保所有连接的探头/示波器探头正确接地。