posif position interface - infineon technologies

POSIFPosition InterfaceXMC™ microcontrollersSeptember 2016

Agenda

Overview

Key feature: interface for linear/quadrature rotary encoder

Key feature: interface for hall sensors

Key feature: stand-alone multi-channel control

System integration

Application examples

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5

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Copyright © Infineon Technologies AG 2016. All rights reserved. 2

Agenda

Overview




System integration


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POSIFPosition Interface

Highlights

The POSIF module is the ideal solution

for motor control applications using hall

sensors and quadrature decoders. The

user can configure freely the type and

usage of the resources to perform an

optimized mapping to the wanted

application.

Customer benefitsKey feature

› Application tailored motor position andvelocity measurement

› Tailored solution for 2 or 3 hall sensorapplications. Coupling with PWMgeneration

› Perform multi-level modulation for PWM

› Tailored modulation development

› Interface for linear or quadraturerotary encoder

› Interface for hall sensors

› Stand-alone multi-channel control

Copyright © Infineon Technologies AG 2016. All rights reserved.

POSIF

Modeselection

Output

control

OUT 0

OUT 1

OUT 2

OUT 3

OUT 4

OUT 5

OUT 6

MCP

LPF

IN

IN

IN

IN

IN

IN

IN

IN

...

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3

Quadrature/linear interface

2/3 hall sensorinterface

Multi-channelcontrol

INTs

4

Agenda

Overview




System integration


1

2

3

4

5

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POSIF: interface for linear or quadraturerotary encoder

› Linear or quadrature interface

› Input signal filtering

› Position monitoring (tick counting + direction)

› Velocity monitoring (time between ticks or/and elapsed time for anumber of ticks)

› Revolution monitoring


Phase A

Phase B

Index

Clock

Direction

OR

Motor shaftrevolution

counter

Motor shaftpositionmonitor

Velocitymeasurement

Phase A

Phase B

Phase A

Phase B

Clock/ticks

Configurable resourceorganization

POSIF

Modeselection

rev

dir

clock

speed

LPF

IN

IN

IN

IN

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3




INTs

Output

control

6

Agenda

Overview




System integration


1

2

3

4

5

6


POSIFInterface for hall sensors

› Current and expected pattern can be easily updated via SW

› Flexible input signal debouncing/ filtering

› Time measurement between Correct Hall Events

› Programmable error handling (Wrong Hall Event)

› Synchronization with the PWM generation


Timer measuring thedistance between

Correct Hall events

PWM generationtimers

Debouncing timer

Configurable resourceorganization

POSIF

Mode selection

edge

CHE

WHE

MCP

LPF

IN

IN

IN

IN

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3

Quadrature/ linearinterface


Expected pattern + currentpattern

Multi-channel control

INTs

Outputcontrol

PWM sync

8

Agenda

Overview




System integration


1

2

3

4

5

6


POSIFStand-alone multi-channel control

› Multi-channel control can work in stand-alone (without any of the other twomodes)

› With multi-channel control it is possible to control a pattern (max. 16-bits) thatis controlling the PWM outputs (of CCU4/CCU8)

› Pattern can be updated on-the-fly completely synchronous with the PWM timers

› The pattern is completely controlled by SW, allowing any type of PWM outputcontrol


POSIF

Mode selection Output

controlLPF

IN

IN

IN

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3

INTs


pattQuadrature/

linear interface

Multi-channel control

INPWM sync

Pattern update request

PWM timers

PWM 0

PWM 1

PWM 2

PWM 3

pattern

SW

HW

IN

update

Next pattern

› Request for a newpattern can bedone via SW or HW

› Synchronization ofthe pattern updatewith the PWMtimers allowsglitchless operation

Current pattern

› Pattern is applied to thetimers PWM outputs in parallel

› Allows multiple timer outputcontrol

1001b 1100b 0110b

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Agenda

Overview




System integration


1

2

3

4

5

6


POSIFSystem integration

› Target applications

– Motor control

– Power conversion

– Human machine interface

– Connectivity

– General purpose

The POSIF system integration offersseveral advantages:

› Distribution bus from CCU4/CCU8 overthe ERU for complex signal conditioningapplication cases

› Distribution of control logic to all of thetimer units (CCU4/CCU8)

› Connectivity to the ADC to performsignal monitoring (or emulation) formotor control

*Several components may be presented or notdepending on the device


Agenda

Overview




System integration


1

2

3

4

5

6


Application exampleHall sensor control BLDC (1/2)

For a standard BLDC motorcontrol application, the POSIF ismonitoring the hall sensoroutputs. In every transition ofthe hall sensors a debouncingtimer is started.

If after the debouncing time thetransition is the expected one,then the hall sensor control logic“informs” the multi-channelcontrol that a pattern update ispossible.

After this, the multi-channelcontrol waits for a sync signalfrom the PWM timers to updatethe multi-channel pattern.

Overview

In brief

Standard BLDC motor control


Hall inputsDebouncing

Stop/TRAPPWM

H1

H2

H3

Transitiondetected

dbt

Debouncingover

Compare hallinputs w/expectedpattern

Wrongtransition

Correcttransition

chet

Time betweenCHE

Sync with PWM

Multi-channel

waiting forPWM sync

2 syncslots

PWM timers outs

Patternupdate

A+

A-

B+

B-

C+

C-

010110b 110100bMCP

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Application exampleHall sensor control BLDC (2/2)

Application example hall sensor control: detailed block diagram

› The hall sensor logic insidethe POSIF is monitoring theinput pattern against theexpected pattern


C+

C-

B+

B-

A+

A-

+

-

A

C

B

POSIF

Mode selection

Outputcontrol

Edge

CHE

WHE

MCP

LPF

IN

IN

IN

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3


INTs


Multi-channel controlPWM sync

H1:

H2:

H3:

Expectedn

Hall event

Error!

1 1 1 0 0 0

0 0 1 1 1 0

1 0 0 0 1 1

A+

A-

B+

B-

C+

C-

IN

Debouncing timer

CHE CHE CHE CHE CHE WHE

Timer 0

Timer 1

Timer 2

MCP

MCP

MCP

WHE

WHE

WHE

Expected pattern +current pattern

Timer measuring thedistance between

Correct Hall Events

A+

A-

B+

B-

C+

C-

Currentn

position

Delayedsamplen

6*

CCU

4/8

xO

UTy:s

Levelevents

input

sig

nals

› Pattern for BLDC isapplied to the CCU8timers in parallel

› CCU8 is then controllinga 3 phase motor scheme

N

S

› A timer is used to debouncethe input signals

› If a CHE occurs,then the PWMtimers willsignalize whenthe POSIFupdates themulti-channelpattern

› Wrong hallevent can beused togenerate aTRAP for thePWM timers

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Application exampleQuadrature decoder – fixed time stamp (1/2)

Position monitoring plus velocity calculationwithin a fixed timestamp

The quadrature decoder interfaceof the POSIF, together with theflexible set of timers present ineach derivative, can be used to:

› Implement a tailored solutionto monitor the motor shaftposition

› Implement a robust velocitymeasurement algorithm

In this application case, onecounter is monitoring themotor shaft position.

The velocity is monitored bystoring/capturing the elapsednumber of ticks within a fixedtime windows.

Overview

In brief


POSIF

Mode selection Outputcontrol

clock

dirLPFIN

IN

IN

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3

INTs




speedTimer +counter

(for velocity)

Performaction, e.g.

changerotationdirection 0x0000

Counter overflow value

Read backthe numberof elapsed

ticks

Calculatespeed

Timestamp

ISR ISR

Counter (formotor shaft

position)

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Application exampleQuadrature decoder – fixed time stamp (2/2)

Application example quadrature decoder fixed time stamp: detailed timing diagram

› With this setup it is possible to configure the ISR timestamp for velocitycalculation. Every time that an ISR is triggered by the “Velocity Timer 0” the SWreads back the stored number of ticks from Velocity Counter 0

› The Position Counter can work

completely decoupled from the velocity

calculation. This counter can be used to

trigger an ISR with a certain number of

elapsed ticks or revolutions


Quadrature clock

Period clock

Direction

Fixed time

High speed Low speed

0x0000

0x0000

0x0000


Nr.elapsed ticks

Time window

Time between twoconsecutive ticks

Time between last tick

and time window trigger

Captureddata

Captureddata

Captureddata

Velocity timer 0Descr.: Generates a capture triggerfor the velocity counter 0 andvelocity timer 1 with a periodicityequal to the one set in the timewindow

Velocity counter 0Descr.: Captures/ stores theelapsed number of ticks thatoccurred within the time windowdictated by the velocity timer 0

Velocity timer 1Descr.: Captures/ stores the timeelapsed between the last 3consecutive ticksANDCaptures/stores the elapsed timebetween the last tick and the triggergenerated by velocity timer 0

Position counterDescr.: Monitors the motor shaftposition

High speed limit

POSIF


clock

LPF

IN

IN

IN

IN

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3




speed

Phase A

dirPhase B

Index

Nr.

ela

psed

ticks

Cap

ture

trig

ger

Cap

ture

trig

ger

Cap

ture

trig

ger

Cap

ture

trigg

er

17

Application example: Quadrature decoder –enhanced position and velocity (1/2)

› Enhanced position and velocitymonitoring

Overview

In brief

The flexible resource utilizationbetween the POSIF and theCCU4/CCU8 modules, gives thepossibility of having multipletimers/counters to monitor differentvariables.

In this application case, a positioncounter is used to monitor the motorshaft position.

Besides that one additional counterand two timers are used to monitor:

› The number of elapsed ticksbetween a fixed timestamp

› The time distance betweenticks

› The jitter between the last tickand the ISR


POSIF


clock

dirLPFIN

IN

IN

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3

INTs




speed 2 Timers +counter

(for velocity andangle adjustment)

Performaction, e.g.

changerotationdirection 0x0000

› Number ofelapsed ticks

› Distancebetween ticks

› Distancebetween lasttick and ISR

› Calculatespeed

› Informationfor SVM/anglecalculation

Timestamp

ISR ISR

Counter(for motor shaft

position)


18

Application example: Quadrature decoder –enhanced position and velocity (2/2)

Application example enhanced position and velocity: block diagram

› With this setup it is possible to configure theISR timestamp for velocity calculation. E.g.calculate the velocity every 2 ms

› In each ISR the SW has available thenumber of elapsed ticks, the time distancebetween two consecutive ticks, thedistance between the ISR and the last tick

› All these variables can be used not only tocalculate the accurate velocity but also forangle calculation that can be feedback to theSVM calculation routine


Quadrature clock

Period clock

Direction

Fixed time

High speed Low speed

0x0000

0x0000

0x0000


Nr.elapsed ticks

Time Window

Time between twoconsecutive ticks

Time between last tick

and time window trigger

Captureddata

Captureddata

Captureddata

Velocity timer 0Descr.: Generates a capture triggerfor the velocity counter 0 andvelocity timer 1 with a periodicityequal to the one set in the timewindow

Velocity counter 0Descr.: Captures/ stores theelapsed number of ticks thatoccurred within the time windowdictated by the velocity timer 0

Velocity timer 1Descr.: Captures/ stores the timeelapsed between the last 3consecutive ticksANDCaptures/stores the elapsed timebetween the last tick and the triggergenerated by velocity timer 0

Position counterDescr.: Monitors the motor shaftposition

High speed limit

POSIF


clock

LPF

IN

IN

IN

IN

Interrupt control

Mode

Phase A

Phase B

Index

Hall 2

Hall 1

Hall 3




speed

Phase A

dirPhase B

Index

Nr.

Ela

psed

ticks

Cap

ture

trig

ger

Cap

ture

trig

ger

Cap

ture

trig

ger

Cap

ture

trigg

er

19

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The information given in this training materials is given as a hint forthe implementation of the Infineon Technologies component only andshall not be regarded as any description or warranty of a certainfunctionality, condition or quality of the Infineon Technologiescomponent.

Infineon Technologies hereby disclaims any and all warranties andliabilities of any kind (including without limitation warranties of non-infringement of intellectual property rights of any third party) withrespect to any and all information given in this training material.

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