怎么使用正交编码器接口模块PIC18f2431读取直流电机速度

你好，我正在尝试使用运动反馈*（正交编码器接口）来获得DC电机的速度。我正在模拟proteus中的应用程序，我用XC8编译器编写了MplabX的代码。我做了：配置了QEI模块，当POSCNT增加到一定数量（240）时，它产生一个中断，这是每个革命的脉冲数（我的马达模型每转240个脉冲）。n）因此，240个POSCNT增量应该意味着1次旋转——每当QEI产生一个中断（一次革命就完成）时，通过一个配置的TMR0增加一个速度变量，以中断0.06秒，并在其中使用计数器来跟踪1秒的时间周期。每1秒，我得到速度变量的值，因此得到每秒旋转的值。然后，我把这个数乘以60，得到RPM，然后重置速度变量，以便再次得到它。我是MPLAB新手，试图调试我的代码，但我使用了一些测试LED，发现我的代码由于某种原因没有进入TMR0中断。我提到，我第一次实现了TMR0中断，它工作良好后，我已经配置了QEI中断，并启用优先中断，现在我有这个问题（Un控制器只处理QEI中断，忽略TMR0溢出中断）。我认为我在“组态”功能上做了一些错事，但是我搞不清楚是什么。我尝试将TMR0溢出INT设置为高优先级，QEI为低优先级。请帮助我识别此代码有什么问题。谢谢大家的阅读！这是CODECONFIG位设置：我还上传了Proteus中的示意图。



      以下为原文

    Hello,

I'm trying to get the speed of a DC motor using the Motion Feedback*(Quadrature Encoder Interface). I'm simulating the application in Proteus and I wrote the code in MplabX with XC8 compiler.

What I did:
- configured QEI module to generate an interrupt when the POSCNT gets incremented to a certain number(240) which is the number of pulses per revolution(my motor's model has 240 pulses per revolution) so 240 increments of POSCNT should mean 1 revolution
- everytime the QEI generated an interrupt(one revolution is complete) increment a speed variable by one
- configured TMR0 to give an interrupt of 0.06 seconds and in it used a counter to keep track of 1 second time period. Every 1 second I get the value of the speed variable and so I get the value of rotations per second. Then I multiply this number with 60 to get RPM and then I reset the speed variable to be able to get it again.

I'm new to MPLAB and tried to debug my code but I used some test LEDs and found out that my code for some reason does not enter the TMR0 interrupt. I mention that I have first implemented the TMR0 interrupt and it worked fine after that I have configured the QEI interrupt and enabled priority interrupts now I have this problem(the ucontroller only processes QEI interrupt and ignores the TMR0 overflow interrupt). I think I'm doing something wrong in the 'configINTS' function but I cannot figure out what. I have tried setting TMR0 overflow int as high priority and QEI as low priority.
Please help me identify what's wrong with this code. Thank you for reading!

This is the code

#include
#include
#include "header.h"
#include
#include

#define FCY 6250000

int speed = 0; // initially speed is 0
float actualspeed;
int cnt = 0; // counter used to get speed
unsigned char stringSpeed[100];


void init_XLCD(void); //Initialize LCD display
void DelayFor18TCY( void ); //18 cycles delay
void DelayPORXLCD (void); // Delay of 15ms
void DelayXLCD (void); // Delay of 5ms
void configTMR0(void);
void configINTS(void);
void configQEI(void);

void main()
{
OSCCON = 0x7F; // 8Mhz internal oscillator

init_XLCD(); //Call the Initialize LCD display function

TRISC &= ~(1<<0); // test LED(ignore) for timer interrupt
TRISC &= ~(1<<1); // test LED for QEI interrupt


configINTS();
configQEI();
configTMR0(); // will give an interrupt every 0.15 seconds

while(1)
{
  sprintf(stringSpeed, " %.3g", actualspeed ); // convert speed to string
  putrsXLCD(stringSpeed); // and display it on LCD
  WriteCmdXLCD(0x01);
}

}

void init_XLCD(void) //Initialize LCD display
{
OpenXLCD(FOUR_BIT&LINES_5X7); //configure LCD in 4-bit Data Interface mode
                                    //and 5x7 characters, multiple line display
while(BusyXLCD()); //Check if the LCD controller is not busy
                                    //before writing some commands
WriteCmdXLCD(0x06); //Move cursor right, don't shift display
WriteCmdXLCD(0x0C); //Turn display on without cursor

}

void DelayFor18TCY( void ) //18 cycles delay
{
Delay10TCYx(20);
}
void DelayPORXLCD (void) //Delay of 15ms
{
Delay1KTCYx(30);
}
void DelayXLCD (void) //Delay of 5ms
{
Delay1KTCYx(10);
}


void configINTS(void)
{
    INTCONbits.GIE = 1; // enable all interrupts
    INTCONbits.PEIE = 1; // enable all unmasked peripheral interrupts
    RCONbits.IPEN = 1; // enable priority level on interrupts

    INTCON |= (1 << 5); // enable TMR0 overflow interrupt
    INTCON2 |= (1 << 2); // TMR0 overflow interrupt = high
     
    PIE3bits.IC2QEIE = 1; // enable QEI interrupt(when POSCNT == MAXCNT)
    IPR3bits.IC2QEIP = 0; // QEI interrupt priority = low
   
}

void configTMR0(void)
{
    T0CONbits.TMR0ON = 1; // enables timer0
    T0CONbits.T016BIT = 0; // timer0 is a 16bit timer/counter
    T0CONbits.T0CS = 0; // timer0 clock source = internal clock(FOSC/4)
    T0CONbits.PSA = 0; // timer0 clock input comes from prescaler output
    T0CONbits.T0PS2 = 0;
    T0CONbits.T0PS1 = 0;
    T0CONbits.T0PS0 = 0; // PRESCALER SET TO 2
}

void configQEI(void)
{
    ANSEL0 = 0x00; // QEI set as digital
    TRISA |= 0x1C; // QEA, QEB and INDEX set as inputs;
    QEICONbits.QEIM2 = 0; // disable the
    QEICONbits.QEIM1 = 0; // QEIM
    QEICONbits.QEIM0 = 0; // module
   
    QEICONbits.VELM = 1; // velocity mode disabled
    QEICONbits.UPDOWN = 1; // forward direction(!!!!!!!!!!!!!)
   
    QEICONbits.QEIM2 = 1; // QEI enabled in 4x Update mode
    QEICONbits.QEIM1 = 1; // position counter reset on period match
    QEICONbits.QEIM0 = 0; // POSCNT = MAXCNT
   
    POSCNTH = 0; // reset the position counter
    POSCNTL = 0;
   
    MAXCNTH = 0; // 240 pulses per revolution
    MAXCNTL = 240;
   
}


void interrupt ISR_QEI()
{
    if(IC2QEIE && IC2QEIF) // if POSCNT = MAXCNT do this
    LATCbits.LATC1 ^= 1; // test interrupt execution
    {
speed = speed + 1; // increment speed
    POSCNTH = 0; // reset the position counter
    POSCNTL = 0;
    }
    IC2QEIF = 0;
}

void interrupt ISR_TMR0() // interrupt every 0.06 seconds
{
    if(TMR0IE && TMR0IF)
    {
        cnt = cnt+1;
        if(cnt == 15) // 1 second has passed
        {
            LATCbits.LATC0 ^= 1; // test interrupt execution
            actualspeed = speed * 60; // get speed in RPM
            speed = 0;
            cnt = 0;
        }
    }
    TMR0IF = 0;
}


Config bits settings:

// PIC18F2431 Configuration Bit Settings
// 'C' source line config statements
#include
// #pragma config statements should precede project file includes.
// Use project enums instead of #define for ON and OFF.
// CONFIG1H
#pragma config OSC = XT // Oscillator Selection bits (XT oscillator)
#pragma config FCMEN = OFF // Fail-Safe Clock Monitor Enable bit (Fail-Safe Clock Monitor disabled)
#pragma config IESO = ON // Internal External Oscillator Switchover bit (Internal External Switchover mode enabled)
// CONFIG2L
#pragma config PWRTEN = OFF // Power-up Timer Enable bit (PWRT disabled)
#pragma config BOREN = OFF // Brown-out Reset Enable bits (Brown-out Reset disabled)
// BORV = No Setting
// CONFIG2H
#pragma config WDTEN = OFF // Watchdog Timer Enable bit (WDT disabled (control is placed on the SWDTEN bit))
#pragma config WDPS = 32768 // Watchdog Timer Postscale Select bits (1:32768)
#pragma config WINEN = OFF // Watchdog Timer Window Enable bit (WDT window disabled)
// CONFIG3L
#pragma config PWMPIN = OFF // PWM output pins Reset state control (PWM outputs disabled upon Reset (default))
#pragma config LPOL = HIGH // Low-Side Transistors Polarity (PWM0, 2, 4 and 6 are active-high)
#pragma config HPOL = HIGH // High-Side Transistors Polarity (PWM1, 3, 5 and 7 are active-high)
#pragma config T1OSCMX = ON // Timer1 Oscillator MUX (Low-power Timer1 operation when microcontroller is in Sleep mode)
// CONFIG3H
#pragma config MCLRE = OFF // MCLR Pin Enable bit (Disabled)
// CONFIG4L
#pragma config STVREN = ON // Stack Full/Underflow Reset Enable bit (Stack full/underflow will cause Reset)
#pragma config LVP = OFF // Low-Voltage ICSP Enable bit (Low-voltage ICSP enabled)
// CONFIG5L
#pragma config CP0 = OFF // Code Protection bit (Block 0 (000200-000FFFh) not code-protected)
#pragma config CP1 = OFF // Code Protection bit (Block 1 (001000-001FFF) not code-protected)
#pragma config CP2 = OFF // Code Protection bit (Block 2 (002000-002FFFh) not code-protected)
#pragma config CP3 = OFF // Code Protection bit (Block 3 (003000-003FFFh) not code-protected)
// CONFIG5H
#pragma config CPB = OFF // Boot Block Code Protection bit (Boot Block (000000-0001FFh) not code-protected)
#pragma config CPD = OFF // Data EEPROM Code Protection bit (Data EEPROM not code-protected)
// CONFIG6L
#pragma config WRT0 = OFF // Write Protection bit (Block 0 (000200-000FFFh) not write-protected)
#pragma config WRT1 = OFF // Write Protection bit (Block 1 (001000-001FFF) not write-protected)
#pragma config WRT2 = OFF // Write Protection bit (Block 2 (002000-002FFFh) not write-protected)
#pragma config WRT3 = OFF // Write Protection bit (Block 3 (003000-003FFFh) not write-protected)
// CONFIG6H
#pragma config WRTC = OFF // Configuration Register Write Protection bit (Configuration registers (300000-3000FFh) not write-protected)
#pragma config WRTB = OFF // Boot Block Write Protection bit (Boot Block (000000-0001FFh) not write-protected)
#pragma config WRTD = OFF // Data EEPROM Write Protection bit (Data EEPROM not write-protected)
// CONFIG7L
#pragma config EBTR0 = OFF // Table Read Protection bit (Block 0 (000200-000FFFh) not protected from table reads executed in other blocks)
#pragma config EBTR1 = OFF // Table Read Protection bit (Block 1 (001000-001FFF) not protected from table reads executed in other blocks)
#pragma config EBTR2 = OFF // Table Read Protection bit (Block 2 (002000-002FFFh) not protected from table reads executed in other blocks)
#pragma config EBTR3 = OFF // Table Read Protection bit (Block 3 (003000-003FFFh) not protected from table reads executed in other blocks)
// CONFIG7H
#pragma config EBTRB = OFF // Boot Block Table Read Protection bit (Boot Block (000000-0001FFh) not protected from table reads executed in other blocks)
#define _XTAL_FREQ 8000000


I have also uploaded the schematic in Proteus.
   Attached Image(s)

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