MSP432E401Y Motor Encoder QEI Module

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MSP432E401Y Motor Encoder QEI Module [Copy link]

/* DriverLib Includes */
#include <ti/devices/msp432e4/driverlib/driverlib.h>

/* Standard Includes */
#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>

unsigned long COUNT = 0;
unsigned long POS = 0;
int s;
int d;

//************************************************************************
//QEI0 initialization

int
QEIInit (void)
{
QEIConfigure(QEI0_BASE,(QEI_CONFIG_CAPTURE_A_B |QEI_CONFIG_NO_RESET|
QEI_CONFIG_QUADRATURE|QEI_CONFIG_NO_SWAP),10000000); //Use A and B channels to calculate the position with 4 edges

/* GPIOPadConfigSet(GPIO_PORTL_BASE, GPIO_PIN_1,
GPIO_STRENGTH_4MA,
GPIO_PIN_TYPE_STD);

GPIOPadConfigSet(GPIO_PORTL_BASE, GPIO_PIN_2,
GPIO_STRENGTH_4MA,
GPIO_PIN_TYPE_STD);

GPIOPadConfigSet(GPIO_PORTL_BASE, GPIO_PIN_3,
GPIO_STRENGTH_4MA,
GPIO_PIN_TYPE_STD);
*/
GPIOPinTypeQEI(GPIO_PORTL_BASE,GPIO_PIN_1|GPIO_PIN_2);//配置PL1，PL2为PhA1，PhB1
QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1, 120000000/100);//10ms

//Enable speed calculation, enable QEI
QEIVelocityEnable(QEI0_BASE);
QEIEnable(QEI0_BASE);

//Trigger interrupt when speed timer is finished
QEIIntEnable(QEI0_BASE,QEI_INTTIMER);
IntEnable(INT_QEI0);

return(0);
}

void QEI0_IRQHandler(void)
{

QEIIntClear(QEI0_BASE, QEI_INTTIMER);
POS = QEIPositionGet(QEI0_BASE);
d = QEIDirectionGet(QEI0_BASE);

COUNT = QEIVelocityGet(QEI0_BASE);
s = (COUNT*6000)/2024;
printf("The Speed is %d .Velocity is %d.Direction is %d.\n",s,COUNT /4,d);
COUNT = 0;

}

int main(void)
{

/* Configure the system clock for 120 MHz */
MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480),
120000000);

MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);//使能QEI0外设
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);/*enable L port*/
MAP_IntEnable(INT_GPIOL);

GPIOPinConfigure(GPIO_PL1_PHA0);
GPIOPinConfigure(GPIO_PL2_PHB0);

QEIEnable(QEI0_BASE); //Enable quadrature encoder QEI0

QEIInit();
while(1)
{

}
}