Eqep Watchdog Timer; Eqep Unit Time Base - Texas Instruments Concerto F28M35 Series Technical Reference Manual

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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
SPRUH22I – April 2012 – Revised November 2019
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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
eQEP Watchdog
WDTOUT
UTOUT
C28 Enhanced QEP (eQEP) Module
839