XMC™ MCU: POSIF QD

This example demonstrates a position interface (POSIF) module in quadrature decoder (QD) mode and uses the CCU40 module to determine the speed of rotation of the encoder. LED1 turns ON when the encoder rotates in a clockwise direction; LED2 turns ON when the rotation is in anti-clockwise.

View this README on GitHub.

Provide feedback on this code example.

Requirements

ModusToolbox™ software v3.0
SEGGER J-Link software
Programming language: C
Associated parts: All XMC™ MCU parts

Supported toolchains (make variable 'TOOLCHAIN')

GNU Arm® embedded compiler v10.3.1 (GCC_ARM) - Default value of TOOLCHAIN
Arm® compiler v6.16 (ARM)
IAR C/C++ compiler v9.30.1 (IAR)

Supported kits (make variable 'TARGET')

XMC1300 boot kit (KIT_XMC13_BOOT_001)
XMC1400 boot kit (KIT_XMC14_BOOT_001) - Default value of TARGET
XMC4200 Platform2Go kit (TARGET_KIT_XMC_PLT2GO_XMC4200)
XMC4400 Platform2Go kit (TARGET_KIT_XMC_PLT2GO_XMC4400)
XMC4500 relax kit (TARGET_KIT_XMC45_RELAX_V1)
XMC4700 relax kit (KIT_XMC47_RELAX_V1)
XMC4800 relax EtherCAT kit (TARGET_KIT_XMC48_RELAX_ECAT_V1)

Hardware setup

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

Table 1 through Table 7 show the input signal connections from the encoder to ports.

Table 1. Input connections in XMC1300 boot kit

Input signal	Ports
Phase A input signal	Port P0.13
Phase B input signal	Port P1.1

Table 2. Input connections in XMC1400 boot kit

Input signal	Ports
Phase A input signal	Port P0.13
Phase B input signal	Port P1.1

Table 3. Input connections in XMC4200 Platform2Go kit

Input signal	Ports
Phase A input signal	Port P14.7
Phase B input signal	Port P14.6

Table 4. Input connections in XMC4400 Platform2Go kit

Input signal	Ports
Phase A input signal	Port P14.7
Phase B input signal	Port P14.6

Table 5. Input connections in XMC4500 relax kit

Input signal	Ports
Phase A input signal	Port P14.7
Phase B input signal	Port P14.6

Table 6. Input connections in XMC4700 relax kit

Input signal	Ports
Phase A input signal	Port P14.7
Phase B input signal	Port P14.6

Table 7. Input connections in XMC4800 relax kit

Input signal	Ports
Phase A input signal	Port P14.7
Phase B input signal	Port P14.6

Testing

For the simplicity and testing purposes, two PWM signals can be used as phase A and phase B inputs. Table 8 through Table 14 show phase A and phase B PWM signal output connections.

Table 8. PWM outputs in XMC1300 boot kit

Output signal	Ports
Phase A output signal	Port P1.0
Phase B output signal	Port P0.2

Table 9. PWM outputs in XMC1400 boot kit

Output signal	Ports
Phase A output signal	Port P0.0
Phase B output signal	Port P4.4

Table 10. PWM outputs in XMC4200 Platform2Go kit

Output signal	Ports
Phase A output signal	Port P0.5
Phase B output signal	Port P0.4

Table 11. PWM outputs in XMC4400 Platform2Go kit

Output signal	Ports
Phase A output signal	Port P1.5
Phase B output signal	Port P1.4

Table 12. PWM outputs in XMC4500 relax kit

Output signal	Ports
Phase A output signal	Port P1.14
Phase B output signal	Port P1.13

Table 13. PWM outputs in XMC4700 relax kit

Output signal	Ports
Phase A output signal	Port P0.5
Phase B output signal	Port P1.14

Table 14. PWM outputs in XMC4800 relax kit

Output signal	Ports
Phase A output signal	Port P0.5
Phase B output signal	Port P1.14

Software setup

Install a terminal emulator if you don't have one. Instructions in this document use Tera Term.

Using the code example

Create the project and open it using one of the following:

In Eclipse IDE for ModusToolbox™ software

Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the Project Creator tool.
Pick a kit supported by the code example from the list shown in the Project Creator - Choose Board Support Package (BSP) dialog.

When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the Quick Panel.

You can also just start the application creation process again and select a different kit.

If you want to use the application 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.
In the Project Creator - Select Application dialog, choose the example by enabling the checkbox.
(Optional) Change the suggested New Application Name.
The Application(s) Root Path defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the Application(s) Root Path value. Applications that share libraries should be in the same root path.
Click Create to complete the application creation process.

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

In command-line interface (CLI)

ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The 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™ software 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™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software 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 "project-creator-cli" tool has the following arguments:

Argument	Description	Required/optional
`--board-id`	Defined in the `<id>` field of the BSP manifest	Required
`--app-id`	Defined in the `<id>` 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

The following example will clone the "POSIF QD" application with the desired name "POSIFQD" configured for the KIT_XMC14_BOOT_001 BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id KIT_XMC14_BOOT_001 --app-id mtb-example-xmc-posif-qd --user-app-name POSIFQD --target-dir "C:/mtb_projects"

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™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

In third-party IDEs

Note: Only VS code is supported.

Follow the instructions from the In command-line interface (CLI) section to create the application, and import the libraries using the make getlibs command.
Export the application to a supported IDE using the make <ide> command.

For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

Follow the instructions displayed in the terminal to create or import the application as an IDE project.

Operation

Connect the board to your PC using a micro-USB cable through the debug USB connector.
Open a terminal program and select the KitProg3 COM port. Set the serial port parameters to 8N1 and 115200 baud.
Program the board using Eclipse IDE for ModusToolbox™ software:
1. Select the application project in the Project Explorer.
2. In the Quick Panel, scroll down, and click <Application Name> Program (JLink).
Connect Phase A and Phase B signals from the external encoder to posif module input pins as mentioned in the Hardware setup section.
Operation of the example:
1. USER_LED1 turns ON when the motor encoder rotates in the clockwise direction.
2. USER_LED2 turns ON when the motor encoder rotates in the anti-clockwise direction.

Figure 1. Terminal output

Debugging

You can debug the example to step through the code. In the IDE, use the <Application Name> Debug (JLink) configuration in the Quick Panel. For more details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ software user guide.

Design and implementation

The application uses the 'CYBSP_DEBUG_UART' resource to print messages in a UART terminal emulator. This resource is configured by the ModusToolbox™ UART personality. The retargeting of the standard I/O to the CYBSP_DEBUG_UART port is included in the example. After using retarget_io_init, messages can be printed on the terminal by using printf commands.

The POSIF module is configured in Quadrature Decoder mode. Within this mode, standard mode is selected, which is used when the external rotary encoder provides two-phase signals. Encoder signals are connected to the POSIF module input ports. The POSIF0.OUT1 pin from the POSIF module is asserted HIGH when the encoder is rotating clockwise and LOW when it is rotating in an anti-clockwise direction.

The application uses a CCU4 slice configured using the CCU4 personality for precise time measuring for getting relative encoder position and period interval of the rotations.

In the main loop, the direction is continuously monitored; USER_LED1 turns ON when the motor rotates in a clockwise direction and USER_LED2 turns ON when the motor rotates in an anti-clockwise direction. It also reads out the relative position of the encoder, and prints the interval time of the revolutions.

Resources and settings

The project uses a custom design.modus file because the following settings were modified in the default design.modus file.

Figure 2. CCU40 configuration for position counter

Figure 3. CCU40 configuration for measuring time between ticks

Figure 4. CCU40 configuration for timestamp triggering

Figure 5. CCU80 configuration for phase A signal output

Figure 6. CCU80 configuration for phase B signal output

Figure 7. POSIF configuration

Related resources

Resources	Links
Code examples	Using ModusToolbox™ software on GitHub
Kit guides	XMC4700/XMC4800 relax kit series-V1 – The schematic and hardware of the XMC4700/XMC4800 relax kit series-V1 board user‘s manual XMC1400 boot kit – The schematic and hardware of the XMC1400 boot kit for application code development on the XMC1404-Q064X0200 device board user‘s manual
Device documentation	XMC1000 MCU family datasheets XMC1000 MCU family technical reference manuals XMC4000 MCU family datasheets XMC4000 MCU family technical reference manuals AP32289 position interface (POSIF)
Development kits	XMC™ MCU eval boards
Libraries on GitHub	mtb-xmclib-cat3 – XMC™ MCU peripheral library (XMCLib) and docs
Tools	Eclipse IDE for ModusToolbox™ software – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices.

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.

For XMC™ MCU devices, see 32-bit XMC™ Industrial microcontroller based on Arm® Cortex®-M.

Document history

Document title: CE232707 - XMC™ MCU: POSIF QD

Version	Description of change
1.0.0	New code example
2.0.0	Updated to support ModusToolbox™ software v3.0. This CE is not be backward compatible with previous versions of ModusToolbox™ software
2.1.0	Added support for POSIF personality

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mtb-example-xmc-posif-qd/README.md