• 状态
  • 已锁定 已锁定
  • 回复 9 回复
  • 订户 10 订户
  • 视图 2170 视图
  • 用户 0 会员在此处
选项
选项
相关

This thread has been locked.

If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.

编码器无法获取电机转子角度数据

Cherry
Prodigy 5 points
Other Parts Discussed in Thread: C2000WARE

TI 工程师：您好！我做编码器实验的时候，发现编码器无法获取电机转子的位置信息，且我发现程序会卡在 while(tformatData.dataReady != 1) ;//{;}。我用的是TI的 F28379D板子（launchpad）+BOOSTL-POSMGR（编码器接口板）。然后利用的程序时TI的例程：D:\ti\c2000\C2000Ware_MotorControl_SDK_3_01_00_00\solutions\boostxl_posmgr\f2837xd。   因为我考虑到自己实际使用的tformat编码器命令ID与例程有所不同，所以就此进行修改，但是发现出不来结果。希望能给与解答，谢谢！

  • 0
    TI__Guru** 101655 points
    Cherry 说：
    自己实际使用的tformat编码器命令ID与例程有所不同，所以就此进行修改

    你好，具体修改的是什么？

  • 0 回复 Green Deng
    Prodigy 5 points

    将图一的内容改为图2的内容。

                            图1

                           图2

    具体修改的代码就是：uint16_t PM_tformat_setupCommand(uint16_t tformatDataID, uint16_t eepromAddr,uint16_t eepromData, uint16_t crcSend) 和uint16_t PM_tformat_receiveData(uint16_t tformatDataID)以及主函数main的while循环。

    uint16_t PM_tformat_setupCommand(uint16_t tformatDataID, uint16_t eepromAddr,
                                 uint16_t eepromData, uint16_t crcSend)
{
    uint16_t sendClks;
    uint16_t receiveClks;
    uint16_t dummySPIClks;
    uint16_t i;
    uint16_t word1, word2, word3, temp;
    uint16_t addrl, datal;

    tformat_resetCLB();
    tformatData.dataReady = 0;

    word1 = (tformatDataID << 6) | 0x903F;

    switch(tformatDataID)
    {
       case (PM_TFORMAT_DATAID2):
       sendClks = ABIT + PACKET_BITS + IDLE_BITS;
       receiveClks =  4*PACKET_BITS ;

       if(((sendClks + receiveClks) % 16) == 0)
       {
        tformatData.fifoLevel =  ((sendClks + receiveClks) / 16);
       }
       else
       {
       tformatData.fifoLevel = ((sendClks + receiveClks) / 16) + 1;
       }

       dummySPIClks = (tformatData.fifoLevel * 16) -(sendClks + receiveClks);

       tformat_configureSPILen(15);

        //
        //void tformat_configureCLBLen(uint16_t CLB4_C1_M1,
        // uint16_t CLB4_C1_M2, uint16_t CLB4_R0)
        //
        tformat_configureCLBLen((PACKET_BITS + 2), sendClks,receiveClks + dummySPIClks);

        tformatData.sdata[0] = word1;
        tformatData.sdata[1] = 0xFFFF;
        tformatData.sdata[2] = 0xFFFF;
        tformatData.sdata[3] = 0xFFFF;
        for (i = 0;i < tformatData.fifoLevel;i++)
        {
           SPI_writeDataNonBlocking(PM_TFORMAT_SPI, tformatData.sdata[i]);
        }

        break;

       case (PM_TFORMAT_DATAID3):
               sendClks = ABIT + PACKET_BITS + IDLE_BITS;
               receiveClks = 11* PACKET_BITS ;

               if(((sendClks + receiveClks) % 16) == 0)
               {
                tformatData.fifoLevel =  ((sendClks + receiveClks) / 16);
               }
               else
               {
               tformatData.fifoLevel = ((sendClks + receiveClks) / 16) + 1;
               }

               dummySPIClks = (tformatData.fifoLevel * 16) -(sendClks + receiveClks);

               tformat_configureSPILen(15);

                //
                //void tformat_configureCLBLen(uint16_t CLB4_C1_M1,
                // uint16_t CLB4_C1_M2, uint16_t CLB4_R0)
                //
                tformat_configureCLBLen((PACKET_BITS + 2), sendClks,receiveClks + dummySPIClks);

                tformatData.sdata[0] = word1;
                tformatData.sdata[1] = 0xFFFF;
                tformatData.sdata[2] = 0xFFFF;
                tformatData.sdata[3] = 0xFFFF;
                for (i = 0;i < tformatData.fifoLevel;i++)
                {
                   SPI_writeDataNonBlocking(PM_TFORMAT_SPI, tformatData.sdata[i]);
                }

                break;

       case (PM_TFORMAT_DATAID4):
        sendClks = ABIT + PACKET_BITS + IDLE_BITS;
        receiveClks = 7* PACKET_BITS ;

        if(((sendClks + receiveClks) % 16) == 0)
        {
        tformatData.fifoLevel =  ((sendClks + receiveClks) / 16);
        }
        else
        {
        tformatData.fifoLevel = ((sendClks + receiveClks) / 16) + 1;
        }

        dummySPIClks = (tformatData.fifoLevel * 16) -(sendClks + receiveClks);

        tformat_configureSPILen(15);

        //
        //void tformat_configureCLBLen(uint16_t CLB4_C1_M1,
        // uint16_t CLB4_C1_M2, uint16_t CLB4_R0)
        //
        tformat_configureCLBLen((PACKET_BITS + 2), sendClks,receiveClks + dummySPIClks);

        tformatData.sdata[0] = word1;
        tformatData.sdata[1] = 0xFFFF;
        tformatData.sdata[2] = 0xFFFF;
        tformatData.sdata[3] = 0xFFFF;
        for (i = 0;i < tformatData.fifoLevel;i++)
        {
         SPI_writeDataNonBlocking(PM_TFORMAT_SPI, tformatData.sdata[i]);
         }

         break;

       case (PM_TFORMAT_DATAID5):
               sendClks = ABIT + PACKET_BITS + IDLE_BITS;
               receiveClks =9* PACKET_BITS ;

               if(((sendClks + receiveClks) % 16) == 0)
               {
               tformatData.fifoLevel =  ((sendClks + receiveClks) / 16);
               }
               else
               {
               tformatData.fifoLevel = ((sendClks + receiveClks) / 16) + 1;
               }

               dummySPIClks = (tformatData.fifoLevel * 16) -(sendClks + receiveClks);

               tformat_configureSPILen(15);

               //
               //void tformat_configureCLBLen(uint16_t CLB4_C1_M1,
               // uint16_t CLB4_C1_M2, uint16_t CLB4_R0)
               //
               tformat_configureCLBLen((PACKET_BITS + 2), sendClks,receiveClks + dummySPIClks);

               tformatData.sdata[0] = word1;
               tformatData.sdata[1] = 0xFFFF;
               tformatData.sdata[2] = 0xFFFF;
               tformatData.sdata[3] = 0xFFFF;
               for (i = 0;i < tformatData.fifoLevel;i++)
               {
                SPI_writeDataNonBlocking(PM_TFORMAT_SPI, tformatData.sdata[i]);
                }

                break;

        case (PM_TFORMAT_DATAID7):
        case (PM_TFORMAT_DATAID8):
        case (PM_TFORMAT_DATAIDC):

            sendClks = ABIT + PACKET_BITS + IDLE_BITS;
            receiveClks = 6 * PACKET_BITS ;

            if(((sendClks + receiveClks) % 16) == 0)
            {
                tformatData.fifoLevel =  ((sendClks + receiveClks) / 16);
            }
            else
            {
                tformatData.fifoLevel = ((sendClks + receiveClks) / 16) + 1;
            }

            dummySPIClks = (tformatData.fifoLevel * 16) -
                            (sendClks + receiveClks);

            tformat_configureSPILen(15);

            //
            //void tformat_configureCLBLen(uint16_t CLB4_C1_M1,
            // uint16_t CLB4_C1_M2, uint16_t CLB4_R0)
            //
            tformat_configureCLBLen((PACKET_BITS + 2), sendClks,receiveClks + dummySPIClks);

            tformatData.sdata[0] = word1;
            tformatData.sdata[1] = 0xFFFF;
            tformatData.sdata[2] = 0xFFFF;
            tformatData.sdata[3] = 0xFFFF;
            for (i = 0;i < tformatData.fifoLevel;i++)
            {
                SPI_writeDataNonBlocking(PM_TFORMAT_SPI, tformatData.sdata[i]);
            }

        break;

        case (PM_TFORMAT_DATAIDD):
            sendClks = ABIT + 3 * PACKET_BITS + IDLE_BITS;
            receiveClks = 4 * PACKET_BITS ;

            addrl = (__flip32(eepromAddr) >> 24) & 0xFE;    // busy "0"
            temp = (addrl >> 4) & 0xF;
            word1 = (tformatDataID << 6) | 0x9020 | temp;
            temp = (addrl  & 0xF) << 12;
            word2 = temp | 0x803 | (crcSend << 2);

            if(((sendClks + receiveClks) % 16) == 0)
            {
                tformatData.fifoLevel =  ((sendClks + receiveClks) / 16);
            }
            else
            {
                tformatData.fifoLevel = ((sendClks + receiveClks) / 16) + 1;
            }
            dummySPIClks = (tformatData.fifoLevel * 16) -
                    (sendClks + receiveClks);

            tformat_configureSPILen(15);

            //
            //void tformat_configureCLBLen(uint16_t CLB4_C1_M1,
            //uint16_t CLB4_C1_M2, uint16_t CLB4_R0)
            //
            tformat_configureCLBLen((3 * PACKET_BITS + 2), sendClks,
                    receiveClks + dummySPIClks);

            tformatData.sdata[0] = word1;
            tformatData.sdata[1] = word2;
            tformatData.sdata[2] = 0xFFFF;
            tformatData.sdata[3] = 0xFFFF;
            for (i = 0;i < tformatData.fifoLevel;i++)
            {
                SPI_writeDataNonBlocking(PM_TFORMAT_SPI, tformatData.sdata[i]);
            }

        break;

        case (PM_TFORMAT_DATAID6):

            sendClks = ABIT + 4 * PACKET_BITS + IDLE_BITS;
            receiveClks = 4 * PACKET_BITS ;

            addrl = (__flip32(eepromAddr) >> 24) & 0xFE;    // busy "0"
            datal = (__flip32(eepromData) >> 24) & 0xFF;
            temp = (addrl >> 4) & 0xF;
            word1 = (tformatDataID << 6) | 0x9020 | temp;
            temp = (addrl  & 0xF) << 12;
            word2 = temp | 0x802 | (datal << 2);
            word3 = (crcSend << 8) | 0xFF;

            if(((sendClks + receiveClks) % 16) == 0)
            {
                tformatData.fifoLevel =  ((sendClks + receiveClks) / 16);
            }
            else
            {
                tformatData.fifoLevel = ((sendClks + receiveClks) / 16) + 1;
            }

            dummySPIClks = (tformatData.fifoLevel * 16) -
                    (sendClks + receiveClks);

            tformat_configureSPILen(15);

            tformat_configureCLBLen((4 * PACKET_BITS + 2), sendClks,
                                    receiveClks + dummySPIClks);

            tformatData.sdata[0] = word1;
            tformatData.sdata[1] = word2;
            tformatData.sdata[2] = word3;
            tformatData.sdata[3] = 0xFFFF;
            for (i = 0;i < tformatData.fifoLevel;i++)
            {
                SPI_writeDataNonBlocking(PM_TFORMAT_SPI, tformatData.sdata[i]);
            }

        break;

        default:
            word1 = 0;
        break;

    }
    return(word1);
}


uint16_t PM_tformat_receiveData(uint16_t tformatDataID)
{
    uint32_t len, bitIndex, wordNo;
    uint16_t word1;

    word1  = 1;

    switch(tformatDataID)
    {
        case (PM_TFORMAT_DATAID2):
        len = 8;
        bitIndex = 13;
        wordNo = 1;
        tformatData.controlField = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.statusField = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField0 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.crc = tformat_getBits (len, wordNo, bitIndex);

        tformatData.rxPkts[0] = ((uint32_t) tformatData.controlField << 16)
                                            | ((uint32_t) tformatData.statusField << 8)
                                            | ((uint32_t) tformatData.dataField0);
        break;

        case (PM_TFORMAT_DATAID3):
        len = 8;
        bitIndex = 13;
        wordNo = 1;
        tformatData.controlField = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.statusField = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField0 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField1 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField2 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField3 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField4 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField5 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField6 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField7 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.crc = tformat_getBits (len, wordNo, bitIndex);

        tformatData.rxPkts[0] = ((uint32_t) tformatData.controlField << 24)
                                         | ((uint32_t) tformatData.statusField << 16)
                                         | ((uint32_t) tformatData.dataField0 << 8)
                                         | (uint32_t) tformatData.dataField1;

        tformatData.rxPkts[1] = ((uint32_t) tformatData.dataField2 << 24) |
                                           ((uint32_t) tformatData.dataField3 << 16) |
                                           ((uint32_t) tformatData.dataField4 << 8) |
                                           ((uint32_t) tformatData.dataField5);

        tformatData.rxPkts[2] = ((uint32_t) tformatData.dataField6 << 8) |
                                             ((uint32_t) tformatData.dataField7);

        break;

        case (PM_TFORMAT_DATAID4):
        len = 8;
        bitIndex = 13;
        wordNo = 1;
        tformatData.controlField = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.statusField = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField0 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField1 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField2 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField3 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.crc = tformat_getBits (len, wordNo, bitIndex);

        tformatData.rxPkts[0] = ((uint32_t) tformatData.controlField << 24)
                                         | ((uint32_t) tformatData.statusField << 16)
                                         | ((uint32_t) tformatData.dataField0 << 8)
                                         | (uint32_t) tformatData.dataField1;

        tformatData.rxPkts[1] = ((uint32_t) tformatData.dataField2 <<8) |
                                           ((uint32_t) tformatData.dataField3);

        break;

        case (PM_TFORMAT_DATAID5):
        len = 8;
        bitIndex = 13;
        wordNo = 1;
        tformatData.controlField = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.statusField = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField0 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField1 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField2 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField3 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField4 = tformat_getBits (len, wordNo, bitIndex);

        wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
        bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
        tformatData.dataField5 = tformat_getBits (len, wordNo, bitIndex);

        tformatData.rxPkts[0] = ((uint32_t) tformatData.controlField << 24)
                                         | ((uint32_t) tformatData.statusField << 16)
                                         | ((uint32_t) tformatData.dataField0 << 8)
                                         | (uint32_t) tformatData.dataField1;

        tformatData.rxPkts[1] = ((uint32_t) tformatData.dataField2 << 24) |
                                           ((uint32_t) tformatData.dataField3 << 16) |
                                           ((uint32_t) tformatData.dataField4 << 8) |
                                           ((uint32_t) tformatData.dataField5);

        break;

        case (PM_TFORMAT_DATAID7):
        case (PM_TFORMAT_DATAID8):
        case (PM_TFORMAT_DATAIDC):

            len = 8;

            bitIndex = 13;
            wordNo = 1;
            tformatData.controlField = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.statusField = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.dataField0 = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.dataField1 = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.dataField2 = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.crc = tformat_getBits (len, wordNo, bitIndex);

            tformatData.rxPkts[0] = ((uint32_t) tformatData.controlField << 24)
                                    | ((uint32_t) tformatData.statusField << 16)
                                    | ((uint32_t) tformatData.dataField0 << 8)
                                    | ((uint32_t) tformatData.dataField1);

            tformatData.rxPkts[1] = ((uint32_t) tformatData.dataField2) ;

        break;

        case (PM_TFORMAT_DATAIDD):
            len = 8;

            bitIndex = 9;
            wordNo = 2;
            tformatData.controlField = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.eepromAddress = tformat_getBits (len,
                            wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.eepromRdDtata = tformat_getBits (len,
                            wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.crc = tformat_getBits (len, wordNo, bitIndex);

            tformatData.rxPkts[0] = ((uint32_t) tformatData.controlField << 16)
                                  | ((uint32_t) tformatData.eepromAddress << 8)
                                  | ((uint32_t) tformatData.eepromRdDtata);
        break;

        case (PM_TFORMAT_DATAID6):

            len = 8;

            bitIndex = 15;
            wordNo = 3;
            tformatData.controlField = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.eepromAddress = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.eepromRdDtata = tformat_getBits (len, wordNo, bitIndex);

            wordNo = wordNo + (10 + (16 - bitIndex) ) / 16;
            bitIndex = 16 - ((10 + (16 - bitIndex)) % 16) ;
            tformatData.crc = tformat_getBits (len, wordNo, bitIndex);

            tformatData.rxPkts[0] = ((uint32_t) tformatData.controlField << 16)
                                  | ((uint32_t) tformatData.eepromAddress << 8)
                                  | ((uint32_t) tformatData.eepromRdDtata);
            break;

    }

    return(word1);
}



// 主循环 
while(1)
        {
            retVal1 = PM_tformat_setupCommand (PM_TFORMAT_DATAID3, 0, 0, 0);
            PM_tformat_startOperation();
            DEVICE_DELAY_US(10L);
            while(tformatData.dataReady != 1);// {}
            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))
            {
                 ESTOP0;
            }

            //
            //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);

            DEVICE_DELAY_US(400L);
        }

  • 0 回复 Cherry
    TI__Guru** 101655 points

    卡在while应该是你的中断没进去，确认一下引脚是否跟下面参考设计中说明的一致，比如SPICLK引脚即GPIO65与GPIO7是否连接在一起？GPIO9的INXBAR是否被占用？

    这是接口参考设计，你可以看一下：https://www.ti.com.cn/cn/lit/ug/zhcu481c/zhcu481c.pdf 

    另外，这个帖子中有和你一样的问题，你可以参考一下：https://e2echina.ti.com/support/microcontrollers/c2000/f/c2000-microcontrollers-forum/119863/iddk_pm_servo_f2837x/334368?tisearch=e2e-sitesearch&keymatch=%25252522while%25252520%25252528tformatData.dataReady%25252520%25252521%2525253D%252525201%25252529%25252522#334368 

  • 0 回复 Green Deng
    Prodigy 5 points

    我看你发的文档上，实现tformat编码器功能的GPIO口好像和手册上的不一样啊！

  • 0 回复 Cherry
    TI__Guru** 101655 points

    你好，你是按照什么说明连接的GPIO口？

  • 0 回复 Green Deng
    Prodigy 5 points

    我是按照这个来配置的。

  • 0 回复 Cherry
    TI__Guru** 101655 points

    额，不好意思可能是我没说清楚。

    我的意思是你提到“实现tformat编码器功能的GPIO口好像和手册上的不一样”。那么具体你的引脚配置跟T-format文档中说明引脚配置有哪些差别呢？

  • 0 回复 Green Deng
    Prodigy 5 points

    你发的文档实现tformat功能的是这几个GPIO口（图一），而我实现tformat配置的口是图二

                                        图1

                                          图2

    最主要是我现在利用的就是F28379d launchpad，例程也是针对于整个板子的，我的配置应该没问题，应该是你发的文档上GPIO口是错的。

    另外：如果有条件的话，您那边能不能把我的程序哪个你们美国那边工程师看一下，我卡在这里很久了，让他们帮忙处理一下，谢谢！        我用的编码器是多摩川的编码器（型号为TS5720N8401）

  • 0 回复 Cherry
    TI__Guru** 101655 points

    抱歉最近公司杂事比较多，忘记回复了。

    因为你的问题描述比较复杂，方便的话可以自己操作在英文E2E论坛上发帖咨询国外工程师：https://e2e.ti.com/support/microcontrollers/c2000/f/c2000-microcontrollers-forum