基于eTPU角度计数功能的深入研究及实现

Research and Implementation Based on theeTPU Angle Counter Function

eTPU作为控制系统中的专用I/O通道,配合宿主机完成相应的功能。角度计数通过I/O通道角度模式完成角度计数的功能。针对eTPU角度计数功能进行了深入研究、设计相应模式实现角度计数。经过对角度计数中几个关键点的分析,发现系统存在一定的缺陷,该缺陷产生系统延迟造成角度计数误差,为了消除此误差,提出了硬件和软件两方面的改进方案。通过改进,使得eTPU可以提供更为精确的角度计数。尤其是实现部分,让eTPU的使用方法更加便于掌握。

As a special I/O channel in the control system, the eTPU cooperates with the host computer to complete the corresponding functions. The eTPU angle counter, which is completed through I/O channel angle mode. The angle counter function of the eTPU is deeply analyzed, and the relevant mode is designed to implement the angle counter. Through the studies of several key points in angle counter, it is found that there are some defects in the system, which causes system delay and the angle counter error. In order to eliminate this error, it proposes the improvement scheme of hardware and software. Through the improvement,eTPU can provide more accurate angle counter. Especially through the implementation part, the usage method of eTPU is more convenient to master.