LM3S5956-IQR80-C1 Datasheet, PDF (1021/1144 Pages) Texas Instruments – Stellaris® LM3S5956 Microcontroller

NRND: Not recommended for new designs.
Stellaris^® LM3S5956 Microcontroller
20.3
Functional Description
The QEI module interprets the two-bit gray code produced by a quadrature encoder wheel to integrate
position over time and determine direction of rotation. In addition, it can capture a running estimate
of the velocity of the encoder wheel.
The position integrator and velocity capture can be independently enabled, though the position
integrator must be enabled before the velocity capture can be enabled. The two phase signals, PhA
and PhB, can be swapped before being interpreted by the QEI module to change the meaning of
forward and backward and to correct for miswiring of the system. Alternatively, the phase signals
can be interpreted as a clock and direction signal as output by some encoders.
The QEI module input signals have a digital noise filter on them that can be enabled to prevent
spurious operation. The noise filter requires that the inputs be stable for a specified number of
consecutive clock cycles before updating the edge detector. The filter is enabled by the FILTEN bit
in the QEI Control (QEICTL) register. The frequency of the input update is programmable using
the FILTCNT bit field in the QEICTL register.
The QEI module supports two modes of signal operation: quadrature phase mode and clock/direction
mode. In quadrature phase mode, the encoder produces two clocks that are 90 degrees out of
phase; the edge relationship is used to determine the direction of rotation. In clock/direction mode,
the encoder produces a clock signal to indicate steps and a direction signal to indicate the direction
of rotation. This mode is determined by the SIGMODE bit of the QEICTL register (see page 1025).
When the QEI module is set to use the quadrature phase mode (SIGMODE bit is clear), the capture
mode for the position integrator can be set to update the position counter on every edge of the PhA
signal or to update on every edge of both PhA and PhB. Updating the position counter on every PhA
and PhB edge provides more positional resolution at the cost of less range in the positional counter.
When edges on PhA lead edges on PhB, the position counter is incremented. When edges on PhB
lead edges on PhA, the position counter is decremented. When a rising and falling edge pair is seen
on one of the phases without any edges on the other, the direction of rotation has changed.
The positional counter is automatically reset on one of two conditions: sensing the index pulse or
reaching the maximum position value. The reset mode is determined by the RESMODE bit of the
QEICTL register.
When RESMODE is set, the positional counter is reset when the index pulse is sensed. This mode
limits the positional counter to the values [0:N-1], where N is the number of phase edges in a full
revolution of the encoder wheel. The QEI Maximum Position (QEIMAXPOS) register must be
programmed with N-1 so that the reverse direction from position 0 can move the position counter
to N-1. In this mode, the position register contains the absolute position of the encoder relative to
the index (or home) position once an index pulse has been seen.
When RESMODE is clear, the positional counter is constrained to the range [0:M], where M is the
programmable maximum value. The index pulse is ignored by the positional counter in this mode.
Velocity capture uses a configurable timer and a count register. The timer counts the number of
phase edges (using the same configuration as for the position integrator) in a given time period.
The edge count from the previous time period is available to the controller via the QEI Velocity
(QEISPEED) register, while the edge count for the current time period is being accumulated in the
QEI Velocity Counter (QEICOUNT) register. As soon as the current time period is complete, the
total number of edges counted in that time period is made available in the QEISPEED register
(overwriting the previous value), the QEICOUNT register is cleared, and counting commences on
a new time period. The number of edges counted in a given time period is directly proportional to
the velocity of the encoder.
October 06, 2012
Texas Instruments-Production Data
1021