PSOC™ 4 : Direction detection using quadrature decoder

This code example demonstrates the use of the TCPWM peripheral configured as a quadrature decoder in the PSOC™ 4 device.

View this README on GitHub.

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Requirements

ModusToolbox™ v3.5 or later (tested with v3.5)
Board support package (BSP) minimum required version: 3.1.0
Programming language: C
Associated parts: PSOC™ 4000S, PSOC™ 4100S Plus, PSOC™ 4100S Max, PSOC™ 4500S and PSOC™ 4 HV (High Voltage)

Supported toolchains (make variable 'TOOLCHAIN')

GNU Arm® Embedded Compiler v11.3.1 (GCC_ARM) – Default value of TOOLCHAIN
Arm® Compiler v6.22 (ARM)
IAR C/C++ Compiler v9.50.2 (IAR)

Supported kits (make variable 'TARGET')

PSOC™ 4100S Max Pioneer Kit (CY8CKIT-041S-MAX) - Default value of TARGET
PSOC™ 4100S Plus Prototyping Kit (CY8CKIT-149)
PSOC™ 4000S CAPSENSE™ Prototyping Kit (CY8CKIT-145-40XX)
PSOC™ 4500S Pioneer Kit (CY8CKIT-045S)
PSOC™ 4 HVMS-128K Evaluation Kit (KIT_PSoC4-HVMS-128K_LITE)
PSOC™ 4 HVMS-64K Evaluation Kit (KIT_PSoC4-HVMS-64K_LITE)
PSOC™ 4 HVPA-144K Evaluation Kit (KIT_PSOC4-HVPA-144K_LITE)

Hardware setup

This example uses the board's default configuration. See the kit guide to ensure that the board is configured correctly.

Note: Some of the PSOC™ 4 kits ship with KitProg2 installed. ModusToolbox™ requires KitProg3. Before using this code example, make sure that the board is upgraded to KitProg3. The tool and instructions are available in the Firmware Loader GitHub repository. If you do not upgrade, you will see an error like "unable to find CMSIS-DAP device" or "KitProg firmware is out of date".

Note:

For CY8CKIT-041S-MAX, connect a jumper wire from PWM_phiA (P1.6) output to phiA (P2.0) QuadDec input, and connect another jumper wire from PWM_phiB (P1.4) output to phiB (P2.1) QuadDec input.
For CY8CKIT-145-40XX, connect a jumper wire from PWM_phiA (P1.2) output to phiA (P4.0) QuadDec input, and connect another jumper wire from PWM_phiB (P2.6) output to phiB (P3.7) QuadDec input.
For CY8CKIT-149, connect a jumper wire from PWM_phiA (P5.6) output to phiA (P0.0) QuadDec input, and connect another jumper wire from PWM_phiB (P3.6) output to phiB (P1.3) QuadDec input.
For CY8CKIT-045S, connect a jumper wire from PWM_phiA (P5.6) output to phiA (P2.0) QuadDec input, and connect another jumper wire from PWM_phiB (P1.4) output to phiB (P1.3) QuadDec input.
For KIT_PSoC4-HVMS-64K_LITE, connect a jumper wire from PWM_phiA (P5.3) output to phiA (P0.2) QuadDec input, and connect another jumper wire from PWM_phiB (P5.1) output to phiB (P0.0) QuadDec input. Remove a short plug from J6.
For KIT_PSoC4-HVMS-128K_LITE, connect a jumper wire from PWM_phiA (P5.3) output to phiA (P0.2) QuadDec input, and connect another jumper wire from PWM_phiB (P5.1) output to phiB (P0.0) QuadDec input. Remove a short plug from J6.
For KIT_PSoC4-HVPA-144K_LITE, connect a jumper wire from PWM_phiA (P0.0) output to phiA (P0.1) QuadDec input, and connect another jumper wire from PWM_phiB (P0.4) output to phiB (P0.3) QuadDec input.

Software setup

See the ModusToolbox™ tools package installation guide for information about installing and configuring the tools package.

This example requires no additional software or tools.

Using the code example

Create the project

The ModusToolbox™ tools package provides the Project Creator as both a GUI tool and a command line tool.

Use Project Creator GUI

Open the Project Creator GUI tool.

There are several ways to do this, including launching it from the dashboard or from inside the Eclipse IDE. For more details, see the Project Creator user guide (locally available at {ModusToolbox™ install directory}/tools_{version}/project-creator/docs/project-creator.pdf).
On the Choose Board Support Package (BSP) page, select a kit supported by this code example. See Supported kits.

Note: To use this code example for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work.
On the Select Application page:

a. Select the Applications(s) Root Path and the Target IDE.

Note: Depending on how you open the Project Creator tool, these fields may be pre-selected for you.

b. Select this code example from the list by enabling its check box.

Note: You can narrow the list of displayed examples by typing in the filter box.

c. (Optional) Change the suggested New Application Name and New BSP Name.

d. Click Create to complete the application creation process.

Use Project Creator CLI

The 'project-creator-cli' tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ install directory}/tools_{version}/project-creator/ directory.

Use a CLI terminal to invoke the 'project-creator-cli' tool. On Windows, use the command-line 'modus-shell' program provided in the ModusToolbox™ installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ tools. You can access it by typing "modus-shell" in the search box in the Windows menu. In Linux and macOS, you can use any terminal application.

The following example clones the "mtb-example-psoc4-direction-detection-using-quadrature-decoder" application with the desired name "QuadDec" configured for the CY8CKIT-149 BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id CY8CKIT-149 --app-id mtb-example-psoc4-direction-detection-using-quadrature-decoder --user-app-name QuadDec --target-dir "C:/mtb_projects"

The 'project-creator-cli' tool has the following arguments:

Argument	Description	Required/optional
`--board-id`	Defined in the field of the BSP manifest	Required
`--app-id`	Defined in the field of the CE manifest	Required
`--target-dir`	Specify the directory in which the application is to be created if you prefer not to use the default current working directory	Optional
`--user-app-name`	Specify the name of the application if you prefer to have a name other than the example's default name	Optional

Note: The project-creator-cli tool uses the git clone and make getlibs commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).

Open the project

After the project has been created, you can open it in your preferred development environment.

Eclipse IDE

If you opened the Project Creator tool from the included Eclipse IDE, the project will open in Eclipse automatically.

For more details, see the Eclipse IDE for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_ide_user_guide.pdf).

Visual Studio (VS) Code

Launch VS Code manually, and then open the generated {project-name}.code-workspace file located in the project directory.

For more details, see the Visual Studio Code for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_vscode_user_guide.pdf).

Keil µVision

Double-click the generated {project-name}.cprj file to launch the Keil µVision IDE.

For more details, see the Keil µVision for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_uvision_user_guide.pdf).

IAR Embedded Workbench

Open IAR Embedded Workbench manually, and create a new project. Then select the generated {project-name}.ipcf file located in the project directory.

For more details, see the IAR Embedded Workbench for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_iar_user_guide.pdf).

Command line

If you prefer to use the CLI, open the appropriate terminal, and navigate to the project directory. On Windows, use the command-line 'modus-shell' program; on Linux and macOS, you can use any terminal application. From there, you can run various make commands.

For more details, see the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).

Operation

Connect the board to your PC using the provided USB cable through the KitProg3 USB connector.
In the main.c file, find the line “#define ROTATION” and set the value for desired rotation as CLOCKWISE-1, ANTI_CLOCKWISE-2, NO_ROTATION-0. For example, to select clockwise rotation set #define ROTATION to 1.
Program the board using one of the following:
Using Eclipse IDE
1. Select the application project in the Project Explorer.
2. In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4).
In other IDEs

Follow the instructions in your preferred IDE.
Using CLI

From the terminal, execute the make program command to build and program the application using the default toolchain to the default target. The default toolchain is specified in the application's Makefile but you can override this value manually:
```
make program TOOLCHAIN=<toolchain>
```
Example:
```
make program TOOLCHAIN=GCC_ARM
```
On successful programming, LED1 turns on when the direction is clockwise; LED2 turns on when the direction is counter-clockwise. Both LEDs turn off when no rotation is detected. For CY8CKIT-145-40XX and CY8CKIT-149 LED5 turns on when the direction is clockwise; LED6 turns on when the direction is counter-clockwise. For KIT_PSoC4-HVMS-64K_LITE and KIT_PSoC4-HVMS-128K_LITE LED6 turns on when the direction is clockwise; LED7 turns on when the direction is counter-clockwise. Both LEDs turn on when no rotation is detected. For KIT_PSoC4-HVPA-144K_LITE LED7 turns on when the direction is clockwise; LED7 turns off when the direction is counter-clockwise. LED7 is blinking when no rotation is detected.

Debugging

You can debug the example to step through the code.

In Eclipse IDE

Use the <Application Name> Debug (KitProg3_MiniProg4) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ user guide.

In other IDEs

Follow the instructions in your preferred IDE.

Design and implementation

To emulate the optical encoder, the design uses two PWM peripherals. Each PWM peripheral uses a TCPWM block in the PWM mode. The output frequency of both PWMs is the same but they are 90° out of phase. The PWM peripherals are configured to generate signals at 250 Hz.

To detect the direction of rotation, a quadrature decoder peripheral is used. This peripheral uses a TCPWM block configured as a quadrature decoder. The counter of the quadrature decoder is initialized with a midpoint counter value on an index event. The counter value increases or decreases based on the quadrature input signal. For example, a positive edge on phiA increments the counter when phiB is 0 and decrements the counter when phiB is 1. Therefore, if phiA leads phiB, the counter value of the quadrature decoder increases; if phiB leads phiA, the counter value decreases. Based on the current and the previous counter values the direction of rotation is determined. Digital output pins drive the LEDs. If the rotation is clockwise, LED1 is ON; if it is counter-clockwise, LED2 is ON. For KIT_PSoC4-HVMS-64K_LITE and KIT_PSoC4-HVMS-128K_LITE If the rotation is clockwise, LED6 is ON; if it is counter-clockwise, LED7 is ON. For KIT_PSoC4-HVPA-144K_LITE If the rotation is clockwise, LED7 is ON; if it is counter-clockwise, LED7 is OFF.

Resources and settings

Table 1. Application resources

Resource	Alias/object	Purpose
PWM	PWM_phiA	To generate quadrature encoded signal
PWM	PWM_phiB	To generate quadrature encoded signal
Quadrature decoder	QuadDec	To detect direction
Clock	Clock_phiA	It is used to drive the PWM and quadrature decoder peripherals
Clock	Clock_phiB	It is used to drive the PWM and quadrature decoder peripherals
Clock	Clock_Quaddec	It is used to drive the PWM and quadrature decoder peripherals
Led 1 (BSP)	CYBSP_USER_LED	User LED to show output
Led 2 (BSP)	CYBSP_USER_LED	User LED to show output

Related resources

Resources	Links
Application notes	AN79953 – Getting started with PSOC™ 4 MCU AN0034 - Getting started with PSOC™ 4 HV MS MCUs in ModusToolbox™
Code examples	Using ModusToolbox™ on GitHub
Device documentation	PSOC™ 4 datasheets PSOC™ 4 technical reference manuals PSOC™ high voltage (HV) mixed signal (MS) automotive MCU 128K datasheets PSOC™ high voltage (HV) mixed signal (MS) automotive MCU 64K datasheets PSOC™ high voltage (HV) precision analog (PA) automotive MCU 144K datasheets PSOC™ high voltage (HV) mixed signal (MS) MCU: PSOC™ HVMS-128K registers reference manuals PSOC™ high voltage (HV) mixed signal (MS) MCU: PSOC™ HVMS-64K registers reference manuals PSOC™ high voltage (HV) mixed signal (MS) MCU architecture reference manuals PSOC™ high voltage (HV) precision analog (PA) MCU architecture reference manuals
Development kits	Select your kits from the Evaluation board finder page.
Libraries on GitHub	mtb-pdl-cat2 – PSOC™ 4 Peripheral Driver Library (PDL) mtb-hal-cat2 – Hardware Abstraction Layer (HAL) library
Tools	ModusToolbox™ – ModusToolbox™ software is a collection of easy-to-use libraries and tools enabling rapid development with Infineon MCUs for applications ranging from wireless and cloud-connected systems, edge AI/ML, embedded sense and control, to wired USB connectivity using PSOC™ Industrial/IoT MCUs, AIROC™ Wi-Fi and Bluetooth® connectivity devices, XMC™ Industrial MCUs, and EZ-USB™/EZ-PD™ wired connectivity controllers. ModusToolbox™ incorporates a comprehensive set of BSPs, HAL, libraries, configuration tools, and provides support for industry-standard IDEs to fast-track your embedded application development.

Other resources

Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.

Document history

Document title: CE236460 - PSOC™ 4: Direction detection using quadrature decoder

Version	Description of change
1.0.0	New code example
1.1.0	Added support for CY8CKIT-045S and updated to support ModusToolbox™ v3.1.
1.2.0	Added support for KIT_PSoC4-HVMS-128K_LITE and KIT_PSoC4-HVMS-64K_LITE and updated to support ModusToolbox™ v3.2.
1.3.0	Changed PSoC HV MS kit name to PSOC4 and updated to support ModusToolbox™ v3.4.
1.4.0	Added support for KIT_PSOC4-HVMS-128K_LITE-02 and KIT_PSOC4-HVMS-64K_LITE-02 and updated to support ModusToolbox™ v3.5.
1.5.0	Added support for KIT_PSOC4-HVPA-144K_LITE.

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