Texas Instruments TMS570LC4357 - Page 1975

v
(
k
)
+
x
(
k
)
* x
(
k * 1
)
T
+
DX
T
or
∆X
x(k−1)
∆T
t(k)
t(k−1)
T
QEPA
QEPB
QCLK
QPOSCNT
UPEVNT
QCTMR
UTOUT
x(k)
www.ti.com Basic Operation
1975
SPNU563A–March 2018
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Enhanced Quadrature Encoder Pulse (eQEP) Module
Figure 34-17. eQEP Edge Capture Unit - Timing Details
Velocity Calculation Equations:
(71)
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.