Encoder
Libraries:
Embedded Coder Support Package for Infineon AURIX TC4x
Microcontrollers /
AURIX TC4x
Description
Measures the rotation of the motor in ticks.
The ticks port outputs the encoder ticks count as an int32
value.
The dir port, when enabled, outputs the direction of the encoder.
0
- clockwise direction.1
- counter-clockwise direction.
The Encoder block is developed based on GPT12 (general purpose timer) module available in the AURIX TC4x devices, where timer T3 & T5(slow speed calculation) is used.
Ports
Input
msg — SoC Blockset simulation message
scalar
The block converts this input SoC Blockset™ message into encoder position and outputs it in ticks port during simulation.
Dependencies
To view this port, select the Enable simulation port parameter and set the port type as SoC Data (Message based).
sig — Simulink based simulation signal
scalar
| vector
The simulation-only Simulink® signal input acts as pass-through with the output of the Encoder block during simulation.
Dependencies
To enable this port, select the Enable simulation port parameter and set the port type as Signal.
offset_in — Enable to add motor offset
scalar
The offset_in port enables you to dynamically add the offset in raw position with respective to the motor if required.
Dependencies
To enable this port, select the Enable offset inport parameter.
Data Types: int32
rate_in — Enable to change data rate
scalar
The rate_in ports enables you to change the rate at which the data is sampled at run time in seconds.
Dependencies
To enable this port, select the Enable refresh rate inport parameter.
Data Types: Float32
Output
ticks — Encoder position in count
scalar
The ticks port outputs the encoder position in count as an
int32
value.
Data Types: int32
dir — Current motor direction
scalar
The dir port outputs the current direction of the motor as one of the following:
0
- Clockwise direction1
- Counter clockwise direction
Dependencies
To enable this port, select the Enable direction port parameter.
Data Types: Boolean
speed — Mechanical speed of motor
scalar
The speed port outputs the mechanical speed (in rad/s) of the motor as
an float32
value.
Dependencies
To enable this port, select the Enable speed port parameter.
Data Types: float32
offset_out — Motor position offset
scalar
The offset_out port outputs the offset in raw position with respective to the motor as an int32 value.
Dependencies
To enable this port, select the Enable offset outport parameter.
Data Types: int32
rate — Encoder update period
scalar
The rate port outputs the rate at which the data is sampled (in
seconds) as an float32
value.
Dependencies
To enable this port, select the Enable rate outport parameter.
Data Types: float32
Parameters
Inputs
Enable offset inport — Select to enable offset input port
off
(default) | on
Enable this parameter to dynamically add the offset in raw position with respective to the motor.
Enable refresh rate inport — Select to enable refresh rate inport
off
(default) | on
Enable this parameter to refresh the rate at which the data is sampled.
Enable simulation port — Enable peripheral simulation ports in the block
off
(default) | on
Select this parameter to enable peripheral simulation capability.
Port Type — Specify the type of peripheral simulation port
SoC Data (Message based)
(default) | Signal
Select this parameter to configure either the SoC compatible or the simulink signal based simulation ports to enable peripheral simulation capability.
Dependencies
To view this parameter, select the Enable simulation port parameter.
Outputs
Enable direction port — Select to enable direction output port
off
(default) | on
Enable this parameter to output the current direction of the motor.
Enable speed port — Select to enable speed output port
off
(default) | on
Enable this parameter to output the mechanical speed (in rad/s) of the motor.
Enable offset outport — Select to enable offset output port
off
(default) | on
Enable this parameter to output the offset in raw position with respective to the motor.
Enable refresh rate outport — Select to enable rate output port
off
(default) | on
Enable this parameter to output the rate at which the data is sampled in seconds.
Sample time — Frequency at which block samples the input pin
0.0001
(default) | scalar
| vector
Specify in seconds how often the block should read the pin value.
When you specify this parameter as -1
, Simulink determines the best sample time for the block based on the
block context within the model.
Version History
Introduced in R2022b
See Also
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