Eqep Watchdog Timer; Eqep Unit Time Base - Texas Instruments Concerto F28M36 Series Technical Reference Manual

eQEP Watchdog
Parameter
T
ΔX
X
ΔT
9.6 eQEP Watchdog
The eQEP peripheral contains a 16-bit watchdog timer that monitors the quadrature-clock to indicate
proper operation of the motion-control system. The eQEP watchdog timer is clocked from
SYSCLKOUT/64 and the quadrate clock event (pulse) resets the watchdog timer. If no quadrature-clock
event is detected until a period match (QWDPRD = QWDTMR), then the watchdog timer will time out and
the watchdog interrupt flag will be set (QFLG[WTO]). The time-out value is programmable through the
watchdog period register (QWDPRD).
SYSCLKOUT
QCLK
9.7 Unit Timer Base
The eQEP peripheral includes a 32-bit timer (QUTMR) that is clocked by SYSCLKOUT to generate
periodic interrupts for velocity calculations. The unit time out interrupt is set (QFLG[UTO]) when the unit
timer (QUTMR) matches the unit period register (QUPRD).
The eQEP peripheral can be configured to latch the position counter, capture timer, and capture period
values on a unit time out event so that latched values are used for velocity calculation as described in
Section Section 9.5.
SYSCLKOUT
876
C28 Enhanced QEP (eQEP) Module
Relevant Register to Configure or Read the Information
Unit Period Register (QUPRD)
Incremental Position = QPOSLAT(k) - QPOSLAT(K-1)
Fixed unit position defined by sensor resolution and ZCAPCTL[UPPS] bits
Capture Period Latch (QCPRDLAT)
Figure 9-18. eQEP Watchdog Timer
QWDOG
QEPCTL:WDE
SYSCLKOUT
/64
RESET
Figure 9-19. eQEP Unit Time Base
UTIME
Copyright © 2012–2019, Texas Instruments Incorporated
QWDTMR
16
16
QWDPRD QFLG:WTO
QEPCTL:UTE
QUTMR
32
32
QUPRD QFLG:UTO
SPRUHE8E – October 2012 – Revised November 2019
www.ti.com
WDTOUT
UTOUT
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