PCIF Interface

Detailed Description

Interface for PCIF functions.

Summary

Phase Counting Interface(PCIF) interface provides APIs and definitions for motor communication.

Data Structures
struct	pcif_callback_args_t
struct	pcif_phc_counter_info_t
struct	pcif_status_t
struct	pcif_cfg_t
struct	pcif_api_t
struct	pcif_instance_t

Typedefs
typedef void	pcif_ctrl_t

Enumerations
enum	pcif_error_t
enum	pcif_state_t
enum	pcif_mode_t
enum	pcif_clock_source_t
enum	pcif_clock_div_t
enum	pcif_phase_polarity_t
enum	pcif_stop_mode_t
enum	pcif_rotation_direction_t

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Data Structure Documentation

pcif_callback_args_t

struct pcif_callback_args_t

Callback parameter data

Data Fields
void const *	p_context	Placeholder for user data. Set in pcif_api_t::open function in pcif_cfg_t.
pcif_error_t	error

pcif_phc_counter_info_t

struct pcif_phc_counter_info_t

Phase Counting counter data configuration structure

Data Fields
uint16_t	new_position	New position of counter to be set.
int16_t	edge_count	Number of edge count.

pcif_status_t

struct pcif_status_t

Current PCIF status.

Data Fields
pcif_state_t	state	Current PCIF state (stopped or running)
pcif_rotation_direction_t	rotation_direction	Rotation direction (clockwise or counter-clockwise)
uint16_t	current_position_value	Current output counter value (PHCPOSCNTM or INCOCNTM)
uint16_t	position_write_value	Latest PHCPCWDR write value (0 in incremental mode)
uint8_t	input_counter_value	Incremental input counter value (INCICNTM, 0 in phase-counting mode)

pcif_cfg_t

struct pcif_cfg_t

User configuration structure, used in open function

Data Fields
pcif_mode_t	mode
	Select enumerated value from pcif_mode_t.
uint8_t	channel
pcif_clock_source_t	clock_src
	Source clock selection.
pcif_clock_div_t	clock_div
	Source clock divider.
pcif_phase_polarity_t	a_phase_polarity
	A phase polarity output. More...
pcif_phase_polarity_t	b_phase_polarity
	B phase polarity output.
pcif_phase_polarity_t	z_phase_polarity
	Z phase polarity output.
uint16_t	max_count_position
	Maximum position value.
timer_instance_t const *	p_lower_lvl_timer
	Pointer to the timer instance structs.
void(*	p_callback )(pcif_callback_args_t *p_args)
void *	p_context
void const *	p_extend
	Extension parameter for hardware specific settings.

Field Documentation

channel

uint8_t pcif_cfg_t::channel

Select a channel corresponding to the channel number of the hardware.

a_phase_polarity

pcif_phase_polarity_t pcif_cfg_t::a_phase_polarity

A phase polarity output.

Common setting

p_callback

void(* pcif_cfg_t::p_callback) (pcif_callback_args_t *p_args)

Callback provided when an PCIF carrier period occurs. Set to NULL if not use.

p_context

void* pcif_cfg_t::p_context

Placeholder for user data. Passed to the user callback in pcif_callback_args_t.

pcif_api_t

struct pcif_api_t

PCIF_API functions implemented at the HAL layer will follow this API.

Data Fields
fsp_err_t(*	open )(pcif_ctrl_t *const p_ctrl, pcif_cfg_t const *const p_cfg)
fsp_err_t(*	start )(pcif_ctrl_t *const p_ctrl)
fsp_err_t(*	stop )(pcif_ctrl_t *const p_ctrl, pcif_stop_mode_t stop_mode)
fsp_err_t(*	setCounter )(pcif_ctrl_t *const p_ctrl, pcif_phc_counter_info_t const *const p_counter_info, bool pos_reset)
fsp_err_t(*	statusGet )(pcif_ctrl_t *const p_ctrl, pcif_status_t *const p_status)
fsp_err_t(*	softwareEventGenerate )(pcif_ctrl_t *const p_ctrl)
fsp_err_t(*	close )(pcif_ctrl_t *const p_ctrl)

Field Documentation

open

fsp_err_t(* pcif_api_t::open) (pcif_ctrl_t *const p_ctrl, pcif_cfg_t const *const p_cfg)

Initial configuration.

Implemented as

• R_PCIF_Open()

Precondition

Peripheral clocks and any required output pins should be configured prior to calling this function.

Note

To reconfigure after calling this function, call pcif_api_t::close first.

Parameters

[in]	p_ctrl	Pointer to control structure. Must be declared by user. Elements set here.
[in]	p_cfg	Pointer to pin configuration structure. All elements of this structure must be set by user.

start

fsp_err_t(* pcif_api_t::start) (pcif_ctrl_t *const p_ctrl)

Start the output waveform.

Implemented as

• R_PCIF_Start()

Parameters

[in]

p_ctrl

Control block set in pcif_api_t::open call for this module.

stop

fsp_err_t(* pcif_api_t::stop) (pcif_ctrl_t *const p_ctrl, pcif_stop_mode_t stop_mode)

Stop the output waveform.

Implemented as

• R_PCIF_Stop()

Parameters

[in]	p_ctrl	Control block set in pcif_api_t::open call for this module.
[in]	stop_mode	Stop mode

setCounter

fsp_err_t(* pcif_api_t::setCounter) (pcif_ctrl_t *const p_ctrl, pcif_phc_counter_info_t const *const p_counter_info, bool pos_reset)

Set the counter and the initial value.

Implemented as

• R_PCIF_SetCounter()

Note

This function is only available in phase counting mode.

Parameters

[in]	p_ctrl	Control block set in pcif_api_t::open call for this module.
[in]	p_counter_info	Pointer to counter info structure. All elements of this structure must be set by user.
[in]	pos_reset	Reset counter position.

statusGet

fsp_err_t(* pcif_api_t::statusGet) (pcif_ctrl_t *const p_ctrl, pcif_status_t *const p_status)

Stores current status in p_status.

Implemented as

• R_PCIF_StatusGet()

Parameters

[in]	p_ctrl	Control block set in pcif_api_t::open call for this module.
[out]	p_status	Current status for this module.

softwareEventGenerate

fsp_err_t(* pcif_api_t::softwareEventGenerate) (pcif_ctrl_t *const p_ctrl)

Generates a software event to trigger the PCIF.

Implemented as

• R_PCIF_SoftwareEventGenerate()

Note

This function is only available in incremental mode.

This function is used to generate a Z phase signal.

Parameters

[in]

p_ctrl

Control block set in pcif_api_t::open call for this module.

close

fsp_err_t(* pcif_api_t::close) (pcif_ctrl_t *const p_ctrl)

Closes the driver and allows reconfiguration. May reduce power consumption.

Implemented as

• R_PCIF_Close()

Parameters

[in]

p_ctrl

Control block set in pcif_api_t::open call for this module.

pcif_instance_t

struct pcif_instance_t

This structure encompasses everything that is needed to use an instance of this interface.

Data Fields
pcif_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
pcif_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
pcif_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

pcif_ctrl_t

typedef void pcif_ctrl_t

PCIF_API control block. Allocate an instance specific control block to pass into the PCIF_API API calls.

Enumeration Type Documentation

pcif_error_t

enum pcif_error_t

PCIF Error Event

Enumerator
PCIF_ERROR_NONE	No error.
PCIF_ERROR_CARRIER_PERIOD	Carrier Period Event error.
PCIF_ERROR_INTERNAL_EDGE_COUNTING	Internal Edge Count error.
PCIF_ERROR_EDGE_COUNTING_OVERFLOW	Internal Edge Count Overflow error.
PCIF_ERROR_OLD_EDGE_COUNTING	Old Edge Count Usage error.

pcif_state_t

enum pcif_state_t

PCIF Status

Enumerator
PCIF_STATE_STOPPED	PCIF is idle.
PCIF_STATE_RUNNING	PCIF is busy.

pcif_mode_t

enum pcif_mode_t

PCIF Mode

Enumerator
PCIF_MODE_PHASE_COUNTING	Phase counting mode.
PCIF_MODE_INCREMENTAL	Incremental mode.

pcif_clock_source_t

enum pcif_clock_source_t

Selection of source clock

Enumerator
PCIF_CLOCK_SOURCE_ASYN_CLK	Select asynchronous clock source (GPTCLK)
PCIF_CLOCK_SOURCE_SYN_CLK	Select synchronous clock source (PCLK)

pcif_clock_div_t

enum pcif_clock_div_t

Division clock ratio for source clock

Enumerator
PCIF_CLOCK_DIV_1	Clock source divided by 1.
PCIF_CLOCK_DIV_2	Clock source divided by 2 with duty ratio 1:1.
PCIF_CLOCK_DIV_3	Clock source divided by 3 with duty ratio 2:1.
PCIF_CLOCK_DIV_4	Clock source divided by 4 with duty ratio 2:2.
PCIF_CLOCK_DIV_5	Clock source divided by 5 with duty ratio 3:2.
PCIF_CLOCK_DIV_6	Clock source divided by 6 with duty ratio 3:3.
PCIF_CLOCK_DIV_7	Clock source divided by 7 with duty ratio 4:3.
PCIF_CLOCK_DIV_8	Clock source divided by 8 with duty ratio 4:4.
PCIF_CLOCK_DIV_9	Clock source divided by 9 with duty ratio 5:4.
PCIF_CLOCK_DIV_10	Clock source divided by 10 with duty ratio 5:5.
PCIF_CLOCK_DIV_11	Clock source divided by 11 with duty ratio 6:5.
PCIF_CLOCK_DIV_12	Clock source divided by 12 with duty ratio 6:6.
PCIF_CLOCK_DIV_13	Clock source divided by 13 with duty ratio 7:6.
PCIF_CLOCK_DIV_14	Clock source divided by 14 with duty ratio 7:7.
PCIF_CLOCK_DIV_15	Clock source divided by 15 with duty ratio 8:7.
PCIF_CLOCK_DIV_16	Clock source divided by 16 with duty ratio 8:8.
PCIF_CLOCK_DIV_17	Clock source divided by 17 with duty ratio 9:8.
PCIF_CLOCK_DIV_18	Clock source divided by 18 with duty ratio 9:9.
PCIF_CLOCK_DIV_19	Clock source divided by 19 with duty ratio 10:9.
PCIF_CLOCK_DIV_20	Clock source divided by 20 with duty ratio 10:10.
PCIF_CLOCK_DIV_21	Clock source divided by 21 with duty ratio 11:10.
PCIF_CLOCK_DIV_22	Clock source divided by 22 with duty ratio 11:11.
PCIF_CLOCK_DIV_23	Clock source divided by 23 with duty ratio 12:11.
PCIF_CLOCK_DIV_24	Clock source divided by 24 with duty ratio 12:12.
PCIF_CLOCK_DIV_25	Clock source divided by 25 with duty ratio 13:12.
PCIF_CLOCK_DIV_26	Clock source divided by 26 with duty ratio 13:13.
PCIF_CLOCK_DIV_27	Clock source divided by 27 with duty ratio 14:13.
PCIF_CLOCK_DIV_28	Clock source divided by 28 with duty ratio 14:14.
PCIF_CLOCK_DIV_29	Clock source divided by 29 with duty ratio 15:14.
PCIF_CLOCK_DIV_30	Clock source divided by 30 with duty ratio 15:15.
PCIF_CLOCK_DIV_31	Clock source divided by 31 with duty ratio 16:15.
PCIF_CLOCK_DIV_32	Clock source divided by 32 with duty ratio 16:16.

pcif_phase_polarity_t

enum pcif_phase_polarity_t

Output phase polarity selection

Enumerator
PCIF_PHASE_POSITIVE	Positive phase.
PCIF_PHASE_NEGATIVE	Negative phase.

pcif_stop_mode_t

enum pcif_stop_mode_t

Stop mode

Enumerator
PCIF_STOP_MODE_IMMEDIATE	PCIF stops immediately.
PCIF_STOP_MODE_SYNC	PCIF stops after generating the ABZ phase and synchronizing with the carrier cycle.

pcif_rotation_direction_t

enum pcif_rotation_direction_t

Rotation direction

Enumerator
PCIF_ROTATION_DIRECTION_CW	Clockwise rotation.
PCIF_ROTATION_DIRECTION_CCW	Counter-clockwise rotation.