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TMS320x2833x, 2823x Enhanced QuadratureEncoder Pulse (eQEP) ModuleReference GuideLiterature Number: SPRUG05AAugust 2008 – Revised December 2008

v(k)[x(k)* x(k * 1)T+DXT(1)v(k)[Xt(k)* t(k * 1)+XDT(2)2 DescriptionDescriptionwww.ti.comSome typical applications of shaft encoders include robotics a

2.1 EQEP Inputs2.2 Functional Descriptionwww.ti.comDescriptionThe eQEP inputs include two pins for quadrature-clock mode or direction-count mode, an i

QWDTMRQWDPRD16QWDOGUTIMEQUPRDQUTMR32UTOUTWDTOUTQuadraturecapture unit(QCAP)QCPRDLATQCTMRLAT16QFLGQEPSTSQEPCTLRegistersused bymultiple unitsQCLKQDIRQIQ

www.ti.comDescriptionTable 1. EQEP Memory Map (continued)Size(x16)/Name Offset #shadow Reset Register DescriptionQPOSCTL 0x17 1/0 0x00000 eQEP Positio

3 Quadrature Decoder Unit (QDU)0110QAQB1100QDECCTL:QBPQuadraturedecoder00011011iCLKxCLKxCLKxCLK01111000iDIRxDIR10QDECCTL:QSRC2QFLG:PHEPHEQDECCTL:QAPx1

3.1.1 Quadrature Count Mode(00)(10)(11)(01)(A,B)=QEPAQEPBeQEP signals100100 11IncrementcounterDecrementcounterDecrementcounterIncrementcounterDecremen

+1 +1 +1+1 +1+1+1 −1 −1 −1−1 −1−1−1−1 −1−1 −1 +1+1+1−1 −1 −1 −1 −1 −1 −1 +1 +1 +1 +1 +1 +1 +1+1+1+1 +1 −1−1−1QAQBQCLKQDIRQPOSCNTQAQBQCLKQDIRQPOSCNT3.1

3.1.4 Down-Count Mode3.2 eQEP Input Polarity Selection3.3 Position-Compare Sync Output4 Position Counter and Control Unit (PCCU)4.1 Position Counter O

F9DF9E0F9F321 4 3 12F9DF9EF9F0F9BF9C F9AF97F98F99QAQBQCLKQEPSTS:QDFQPOSCNT F9C 4 5F9F 0QIIndex interrupt/ index event markerQPOSILATQEPSTS:QDLF4.1.2 P

QAQBQCLKQDIRQPOSCNTOV/UFQAQBQCLKQDIRQPOSCNTOV/UF1 2 3 4 0 1 2 1 0 4 3 2 1 0 4 3 2 1 2 3 4 01 0 4 3 2 1 0 1 2 3 4 0 1 2 3 4 0 1 0 4 34.1.3 Position Cou

2 SPRUG05A – August 2008 – Revised December 2008Submit Documentation Feedback

4.2 Position Counter Latch4.2.1 Index Event LatchPosition Counter and Control Unit (PCCU)www.ti.comThe eQEP index and strobe input can be configured t

F9CF9DF9EF9FFA0FA1FA2FA3FA4FA5FA4FA3FA2FA1FA0F9FF9EF9DF9CF9BF9AF99F98F97F9F 0QAQBQIQCLKQEPSTS:QDFQPOSCNTIndex interrupt/index eventmarkerQPOSILATQEPST

4.3 Position Counter Initialization4.4 eQEP Position-compare UnitQPOSCTL:PCSPW8PulsestretcherQFLG:PCMQPOSCNT32QPOSCMPQFLG:PCR32QPOSCTL:PCSHDWQPOSCTL:P

POSCMP=201234321012343210eQEP counterPCEVNTPCSOUT (active HIGH)PCSOUT (active LOW)PCSPWDIRQPOSCMPQPOSCNTPCSOUT (active HIGH)PCSPWPCSPWPCSPWPCEVNTwww.t

5 eQEP Edge Capture Unitv(k)+Xt(k)* t(k * 1)+XDT(3)eQEP Edge Capture Unitwww.ti.comThe eQEP peripheral includes an integrated edge capture unit to mea

QCAPCTL:CENCapture timercontrol unit(CTCU)QCPRDQCTMRQCTMRLATQCPRDLAT16163-bit binarydividerx1, 1/2, 1/4...,1/128CAPCLKQCAPCTL:CCPS3SYSCLKOUT160xFFFF16

∆Xx(k−1)∆Tt(k)t(k−1)TQEPAQEPBQCLKQPOSCNTUPEVNTQCTMRUTOUTx(k)v(k)+x(k)* x(k * 1)T+DXTor(4)eQEP Edge Capture Unitwww.ti.comFigure 17. eQEP Edge Capture

6 eQEP WatchdogQFLG:WTOQWDPRD16QWDTMR16QEPCTL:WDEQWDOGRESETSYSCLKOUT/64SYSCLKOUTQCLKWDTOUT7 Unit Timer Basewww.ti.comeQEP WatchdogParameter Relevant R

QFLG:UTOQUPRD32QUTMR32QEPCTL:UTEUTIMESYSCLKOUTUTOUT8 eQEP Interrupt StructureClrSetLatchQFRC:PCEPCEQCLR:PCEQFLG:PCEQEINT:PCEQCLR:UTOQFRC:UTOQEINT:UTOs

www.ti.comeQEP RegistersFigure 21. QEP Decoder Control (QDECCTL) Register15 14 13 12 11 10 9 8QSRC SOEN SPSEL XCR SWAP IGATE QAPR/W-0 R/W-0 R/W-0 R/W-

ContentsPreface ...

eQEP Registerswww.ti.comFigure 22. eQEP Control (QEPCTL) Register15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0FREE, SOFT PCRM SEI IEI SWI SEL IEL QPEN QCLM UT

www.ti.comeQEP RegistersTable 4. eQEP Control (QEPCTL) Register Field Descriptions (continued)Bits Name Value Description6 SEL Strobe event latch of p

eQEP Registerswww.ti.comTable 5. eQEP Position-compare Control (QPOSCTL) Register Field Descriptions (continued)Bit Name Description1 Load when QPOSCN

www.ti.comeQEP RegistersFigure 25. eQEP Position Counter (QPOSCNT) Register31 0QPOSCNTR/W-0LEGEND: R/W = Read/Write; R = Read only; - n = value after

eQEP Registerswww.ti.comTable 10. eQEP Position-compare (QPOSCMP) Register Field DescriptionsBits Name Description31-0 QPOSCMP The position-compare va

www.ti.comeQEP RegistersFigure 32. eQEP Unit Timer (QUTMR) Register31 0QUTMRR/W-0LEGEND: R/W = Read/Write; R = Read only; - n = value after resetTable

eQEP Registerswww.ti.comTable 17. eQEP Watchdog Period (QWDPRD) Register Field DescriptionBits Name Value Description15-0 QWDPRD This register contain

www.ti.comeQEP RegistersTable 18. eQEP Interrupt Enable(QEINT) Register Field Descriptions (continued)Bits Name Value Description0 Interrupt is disabl

eQEP Registerswww.ti.comTable 19. eQEP Interrupt Flag (QFLG) Register Field Descriptions (continued)Bits Name Value Description3 QDC Quadrature direct

www.ti.comeQEP RegistersTable 20. eQEP Interrupt Clear (QCLR) Register Field Descriptions (continued)Bit Field Value Description5 PCU Clear position c

www.ti.comList of Figures1 Optical Encoder Disk ...

eQEP Registerswww.ti.comTable 21. eQEP Interrupt Force (QFRC) Register Field Descriptions (continued)Bit Field Value Description7 PCR Force position-c

www.ti.comeQEP RegistersTable 22. eQEP Status (QEPSTS) Register Field Descriptions (continued)Bit Field Value Description4 QDLF eQEP direction latch f

eQEP Registerswww.ti.comTable 25. eQEP Capture Timer Latch (QCTMRLAT) Register Field DescriptionsBits Name Description15-0 QCTMRLAT The eQEP capture t

IMPORTANT NOTICETexas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, modifications, enhancements, improveme

www.ti.comList of Tables1 EQEP Memory Map ... 122

PrefaceSPRUG05A – August 2008 – Revised December 2008Read This FirstThis reference guide describes the enhanced quadrature encoder pulse (eQEP) module

www.ti.comRelated Documentation From Texas InstrumentsSPRU949— TMS320x2833x, 2823x External Interface (XINTF) User's Guide describes the XINTF, w

1 IntroductionQEPAQEPBQEPIReference GuideSPRUG05A – August 2008 – Revised December 2008Enhanced QEP (eQEP) ModuleThe enhanced quadrature encoder pulse

T00 1 2 3 4 5 6 7 N−6 N−5 N−4 N−3 N−2 N−10QEPAQEPBQEPIClockwise shaft rotation/forward movementAnti-clockwise shaft rotation/reverse movement0 N−1 N−2