Eqep Edge Capture Unit - Timing Details - Texas Instruments Concerto F28M36 Series Technical Reference Manual

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QEPA
QEPB
QCLK
QPOSCNT
UPEVNT
QCTMR
UTOUT
Velocity Calculation Equations:
x ( k ) * x ( k * 1 )
v ( k ) +
T
where
v(k): Velocity at time instant k
x(k): Position at time instant k
x(k-1): Position at time instant k-1
T: Fixed unit time or inverse of velocity calculation rate
ΔX: Incremental position movement in unit time
X: Fixed unit position
ΔT: Incremental time elapsed for unit position movement
t(k): Time instant "k"
t(k-1): Time instant "k-1"
Unit time (T) and unit period(X) are configured using the QUPRD and QCAPCTL[UPPS] registers.
Incremental position output and incremental time output is available in the QPOSLAT and QCPRDLAT
registers.
SPRUHE8E – October 2012 – Revised November 2019
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Figure 9-17. eQEP Edge Capture Unit - Timing Details
∆X
x(k−1)
+ DX
o
T
Copyright © 2012–2019, Texas Instruments Incorporated
x(k)
t(k)
∆T
t(k−1)
T
C28 Enhanced QEP (eQEP) Module
eQEP Edge Capture Unit
(4)
875