旋转编码器测速c语言程序,官方例程中编码器测速程序高低速怎么区分

如下是官方编码器测速的程序：

//**** High Speed Calculation using QEP Position counter ****//

// Check unit Time out-event for speed calculation:

// Unit Timer is configured for 100Hz in INIT function

if(EQep1Regs.QFLG.bit.UTO==1) // If unit timeout (one 100Hz period)

{

/** Differentiator **/

// The following lines calculate position = (x2-x1)/4000 (position in 1 revolution)

pos16bval=(unsigned int)EQep1Regs.QPOSLAT; // Latched POSCNT value

tmp = (long)((long)pos16bval*(long)p->mech_scaler); // Q0*Q26 = Q26

tmp &= 0x03FFF000;

tmp = (int)(tmp>>11); // Q26 -> Q15

tmp &= 0x7FFF;

newp=_IQ15toIQ(tmp);

oldp=p->oldpos;

if (p->DirectionQep==0) // POSCNT is counting down

{

if (newp>oldp)

Tmp1 = - (_IQ(1) - new