【E860】STM32 Hiperface编码器电路及软件

项目编号：E860

文件大小：2.9M

源码说明：带中文注释

开发环境：C编译器

简要概述：

SinCos编码器接口

STM32 Hiperface SinCos编码器电路和软件这些文档基于Hiperface电机控制反馈规范，此PDF位于根文件夹中。

编码器有2个差分输出（+-sin和+-cos），如图中所示

模拟电路：

//ENCODER VARIABLES

int indexx;

long int interp;

long int XY;

long int t;

int Sin,Cos,X,Y,A;

uint16_t B,B2,B3;

long int tits;

int octant,octant2;

extern float Error_d,SP_d,Pterm_d,Pterm2_d,Iterm_d,Iterm2_d;

extern float Error_q,SP_q,Pterm_q,Pterm2_q,Iterm_q,Iterm2_q;

extern float thetaSum,theta_eSum;

long int thetaI,Turns,Theta_Turns;

float theta,theta2,theta_e,AbsTheta,AbsTheta2;

int Sa,Ca,S,C;

int ATAN_Table[33] = 

{

58,331,653,976,1298,1617,1934,2247,2555,2860,3159,3453,3742,4025,4301,4572,

4836,5093,5344,5588,5826,6057,6282,6500,6712,6917,7116,7310,7497,7679,7855,8026,8192

};

void Atan_interp(void) 

{

indexx = A/1024;//(A>>10 );

A = (A - (indexx<<10));

interp = ATAN_Table[indexx+1] - ATAN_Table[indexx];

interp = interp*A;

A = interp/1024;

A = A + ATAN_Table[indexx];

}

void Enc_Process(void)

{

//Octant and Fine angle calculation

if (Sin >= 0) 

{

S = 1;

if (Cos >= 0) {

C = 1;

if (Sin < Cos) { //octant = 0;

X = Sin;

Y = Cos;

XY = 32767*X;

XY = XY/Y;

A = XY;

Atan_interp();

B = A + 0;

}

else { //octant = 1;

X = Cos;

Y = Sin;

XY = 32767*X;

XY = XY/Y;

A = XY;

Atan_interp();

B = 16383 - A;

}

}

else { //Sin>0 e Cos <0 

C = 0;

if (Sin <= -Cos) { //octant = 3;

X = Sin;

Y = -Cos;

XY = 32767*X;

XY = XY/Y;

A = XY;

Atan_interp();

B = 32767 - A;

}

else { //octant = 2;

X = -Cos;

Y = Sin;

XY = 32767*X;

XY = XY/Y;

A = XY;

Atan_interp();

B = A + 16383;

}

}

}

else {

S = 0;

if (Cos >= 0) { //Sin<0 e Cos>0

C = 1;

if (-Sin <= Cos) { //octant = 7;

X = -Sin;

Y = Cos;

XY = 32767*X;

XY = XY/Y;

A = XY;

Atan_interp();

B = 32767 + 32767 - A;

}

else { //octant = 6;

X = Cos;

Y = -Sin;

XY = 32767*X;

XY = XY/Y;

A = XY;

Atan_interp();

  B = 32767 + 16383 + A;

}

}

else { //Sin<0 e Cos<00

C = 0;

if (-Sin < -Cos) { //octant = 4;

X = -Sin;

Y = -Cos;

XY = 32767*X;

XY = XY/Y;

A = XY;

Atan_interp();

B = 32767 + A;

}

else { //octant = 5;

X = -Cos;

Y = -Sin;

XY = 32767*X;

XY = XY/Y;

A = XY;

Atan_interp();

  B = 32767 + 16383 - A;

}

}

}

//A = Octant separated angle

//B = Entire period angle

//S/C = Sin/Cos signal Sa/Ca= Sin/Cos signal before

//Quadrature Counter/ Course angle calculation 512 counts/mechanical turn

if (S != Sa) {

if (S != C) { thetaI--; Theta_Turns--; }

else { thetaI++; Theta_Turns++; }

}

if (C != Ca) {

if (S == C) { thetaI--; Theta_Turns--; }

else { thetaI++; Theta_Turns++; }

}

Sa = S;

Ca = C;

//thetaI = Quadrature Counter 4 counts/period -> (128(SKS36) * 4) = 512 counts/mechanical turn

if(thetaI>511) { 

thetaI = 0;

Turns++;

}

else if (thetaI <0) {

thetaI = 511;

Turns--;

}

//Turns = Mechanical turns

//A = (A/512) + 64;

//thetaI = abs(thetaI)%512;

//thetaI = 0;

//A = -32760;

tets = (thetaI)/4;

B2 = ((B>>9) + tets*128 + octant*8)%16384;// /128    - B3; //B3 = Zeramento do Angulo 

B3 = (B2*4)%16384;

theta2 = (float) B3;

theta_e= theta2/(2607.59458f); //Angulação elétrica de 0 a 2pi ; 1/4 de volta mecanica

theta2 = (float) B2;

theta = theta2;///(2607.59458f); //Angulação mecanica de 0 a 2pi ; 1 volta mecanica

//Calculo theta absoluto

long int T,T2,temps;

tets = (Theta_Turns);///4;

if (tets < 0) {

tets = tets + 1;

tets = tets/4;

T = (tets*128);

theta2 = (float) (128-(B>>9))- octant*8;

AbsTheta2 = (float) T - theta2;// FALHA EM angulos negativos (B>>9) +Theta_Turns

}

else {

tets = tets/4;

T = (tets*128);

theta2 = (float) ((B>>9)+ octant*8);

AbsTheta2 = (float) T + theta2;// FALHA EM angulos negativos (B>>9) +Theta_Turns

}

//AbsTheta2 = AbsTheta2 + ((float) T2/(45.511110f));

//theta = ((float) thetaI)/4 + theta/128;

//DAC2->DHR12R1 = B2/4;//2048 + (int)id

//theta = 2.8125f*theta;

//theta = theta/360.0f;

//AbsTheta

  //octant2 = octant;

}

目录│文件列表:

 └ SinCos-Encoder-Interface-main

    │ Code.c

    │ EXTRACTION OF HIGH RESOLUTION POSITION INFORMATION FROM SINUSOIDAL ENCODERS.pdf

    │ operating_instructions_specification_hiperface®_motor_feedback_protocol_en_im0064865.pdf

    └ product_information_sks_skm36_motor_feedback_systems_rotary_hiperface®_en_im0046159.pdf