HVPM_Sensored 中编码器角度校准CalibratedAngle

yanhui fu

在HVPM_Sensored中有下面的一段程序，计算CalibratedAngle（校准角）程序如下：检测到第一个index脉冲，QPOSILAT记录下QPOSCNT值，把这个值当做CalibratedAngle的脉冲，不知道为什么？可是我现在的电机index脉冲与a相绕组的反电势从正到负过零点对齐，那么我的CalibratedAngle脉冲应该是5000（假设编码器线数为2500,4倍频）

if ((EQep1Regs.QFLG.bit.IEL==1) && Init_IFlag==0) // Check the first index occurrence
{
qep1.CalibratedAngle= EQep1Regs.QPOSILAT;
Init_IFlag++;
} // Keep the latched position

在 QEP_MACRO中使用到了这个角度CalibratedAngle，程序如下：

#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 in Q24 */ \
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*/ \
\
/* 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 */ \
} \