QDEC — Quadrature decoder

The Quadrature decoder (QDEC) provides buffered decoding of quadrature-encoded sensor signals. It is suitable for mechanical and optical sensors.

The sample period and accumulation are configurable to match application requirements. The QDEC provides the following:

Figure 1. Quadrature decoder configuration
Quadrature decoder configuration

Sampling and decoding

The QDEC decodes the output from an incremental motion encoder by sampling the QDEC phase input pins (A and B).

The off-chip quadrature encoder is an incremental motion encoder outputting two waveforms, phase A and phase B. The two output waveforms are always 90 degrees out of phase, meaning that one always changes level before the other. The direction of movement is indicated by which of these two waveforms that changes level first. Invalid transitions may occur, that is when the two waveforms switch simultaneously. This may occur if the wheel rotates too fast relative to the sample rate set for the decoder.

The QDEC decodes the output from the off-chip encoder by sampling the QDEC phase input pins (A and B) at a fixed rate as specified in the SAMPLEPER register.

If the SAMPLEPER value needs to be changed, the QDEC shall be stopped using the STOP task. SAMPLEPER can be then changed upon receiving the STOPPED event, and QDEC can be restarted using the START task. Failing to do so may result in unpredictable behaviour.

It is good practice to change other registers (LEDPOL, REPORTPER, DBFEN and LEDPRE) only when the QDEC is stopped.

When started, the decoder continuously samples the two input waveforms and decodes these by comparing the current sample pair (n) with the previous sample pair (n-1).

The decoding of the sample pairs is described in the table below.

Table 1. Sampled value encoding
Previous sample pair(n - 1) Current samples pair(n) SAMPLE register ACC operation ACCDBL operation Description
A B A B        
0 0 0 0 0 No change No change No movement
0 0 0 1 1 Increment No change Movement in positive direction
0 0 1 0 -1 Decrement No change Movement in negative direction
0 0 1 1 2 No change Increment Error: Double transition
0 1 0 0 -1 Decrement No change Movement in negative direction
0 1 0 1 0 No change No change No movement
0 1 1 0 2 No change Increment Error: Double transition
0 1 1 1 1 Increment No change Movement in positive direction
1 0 0 0 1 Increment No change Movement in positive direction
1 0 0 1 2 No change Increment Error: Double transition
1 0 1 0 0 No change No change No movement
1 0 1 1 -1 Decrement No change Movement in negative direction
1 1 0 0 2 No change Increment Error: Double transition
1 1 0 1 -1 Decrement No change Movement in negative direction
1 1 1 0 1 Increment No change Movement in positive direction
1 1 1 1 0 No change No change No movement

LED output

The LED output follows the sample period, and the LED is switched on a given period before sampling and switched off immediately after the inputs are sampled. The period the LED is switched on before sampling is given in the LEDPRE register.

The LED output pin polarity is specified in the LEDPOL register.

For using off-chip mechanical encoders not requiring a LED, the LED output can be disabled by writing value 'Disconnected' to the CONNECT field of the PSEL.LED register. In this case the QDEC will not acquire access to a LED output pin and the pin can be used for other purposes by the CPU.

Debounce filters

Each of the two-phase inputs have digital debounce filters.

When enabled through the DBFEN register, the filter inputs are sampled at a fixed 1 MHz frequency during the entire sample period (which is specified in the SAMPLEPER register), and the filters require all of the samples within this sample period to equal before the input signal is accepted and transferred to the output of the filter.

As a result, only input signal with a steady state longer than twice the period specified in SAMPLEPER are guaranteed to pass through the filter, and any signal with a steady state shorter than SAMPLEPER will always be suppressed by the filter. (This is assumed that the frequency during the debounce period never exceeds 500 kHz (as required by the Nyquist theorem when using a 1 MHz sample frequency).

The LED will always be ON when the debounce filters are enabled, as the inputs in this case will be sampled continuously.

Note that when when the debounce filters are enabled, displacements reported by the QDEC peripheral are delayed by one SAMPLEPER period.

Accumulators

The quadrature decoder contains two accumulator registers, ACC and ACCDBL, that accumulate respectively valid motion sample values and the number of detected invalid samples (double transitions).

The ACC register will accumulate all valid values (1/-1) written to the SAMPLE register. This can be useful for preventing hard real-time requirements from being enforced on the application. When using the ACC register the application does not need to read every single sample from the SAMPLE register, but can instead fetch the ACC register whenever it fits the application. The ACC register will always hold the relative movement of the external mechanical device since the previous clearing of the ACC register. Sample values indicating a double transition (2) will not be accumulated in the ACC register.

An ACCOF event will be generated if the ACC receives a SAMPLE value that would cause the register to overflow or underflow. Any SAMPLE value that would cause an ACC overflow or underflow will be discarded, but any samples not causing the ACC to overflow or underflow will still be accepted.

The accumulator ACCDBL accumulates the number of detected double transitions since the previous clearing of the ACCDBL register.

The ACC and ACCDBL registers can be cleared by the READCLRACC and subsequently read using the ACCREAD and ACCDBLREAD registers.

The ACC register can be separately cleared by the RDCLRACC and subsequently read using the ACCREAD registers.

The ACCDBL register can be separately cleared by the RDCLRDBL and subsequently read using the ACCDBLREAD registers.

The REPORTPER register allows automating the capture of several samples before it can send out a REPORTRDY event in case a non-null displacement has been captured and accumulated, and a DBLRDY event in case one or more double-displacements have been captured and accumulated. The REPORTPER field in this register selects after how many samples the accumulators contents are evaluated to send (or not) REPORTRDY and DBLRDY events.

Using the RDCLRACC task (manually sent upon receiving the event, or using the DBLRDY_RDCLRACC shortcut), ACCREAD can then be read.

In case at least one double transition has been captured and accumulated, a DBLRDY event is sent. Using the RDCLRDBL task (manually sent upon receiving the event, or using the DBLRDY_RDCLRDBL shortcut), ACCDBLREAD can then be read.

Output/input pins

The QDEC uses a three-pin interface to the off-chip quadrature encoder.

These pins will be acquired when the QDEC is enabled in the ENABLE register. The pins acquired by the QDEC cannot be written by the CPU, but they can still be read by the CPU.

The pin numbers to be used for the QDEC are selected using the PSEL.n registers.

Pin configuration

The Phase A, Phase B, and LED signals are mapped to physical pins according to the configuration specified in the PSEL.A, PSEL.B, and PSEL.LED registers respectively.

If the CONNECT field value 'Disconnected' is specified in any of these registers, the associated signal will not be connected to any physical pin. The PSEL.A, PSEL.B, and PSEL.LED registers and their configurations are only used as long as the QDEC is enabled, and retained only as long as the device is in ON mode. When the peripheral is disabled, the pins will behave as regular GPIOs, and use the configuration in their respective OUT bit field and PIN_CNF[n] register.

To secure correct behavior in the QDEC, the pins used by the QDEC must be configured in the GPIO peripheral as described in Table 2 before enabling the QDEC. This configuration must be retained in the GPIO for the selected IOs as long as the QDEC is enabled.

Only one peripheral can be assigned to drive a particular GPIO pin at a time. Failing to do so may result in unpredictable behavior.

Table 2. GPIO configuration before enabling peripheral
QDEC signal QDEC pin Direction Output value Comment
Phase A As specified in PSEL.A Input Not applicable  
Phase B As specified in PSEL.B Input Not applicable  
LED As specified in PSEL.LED Input Not applicable  

Registers

Table 3. Instances
Base address Domain Peripheral Instance Secure mapping DMA security Description Configuration

0x50033000
0x40033000

APPLICATION QDEC

QDEC0 : S
QDEC0 : NS

US

NA

Quadrature decoder 0

   

0x50034000
0x40034000

APPLICATION QDEC

QDEC1 : S
QDEC1 : NS

US

NA

Quadrature decoder 1

   
Table 4. Register overview
Register Offset Security Description
TASKS_START 0x000  

Task starting the quadrature decoder

 
TASKS_STOP 0x004  

Task stopping the quadrature decoder

 
TASKS_READCLRACC 0x008  

Read and clear ACC and ACCDBL

 
TASKS_RDCLRACC 0x00C  

Read and clear ACC

 
TASKS_RDCLRDBL 0x010  

Read and clear ACCDBL

 
SUBSCRIBE_START 0x080  

Subscribe configuration for task START

 
SUBSCRIBE_STOP 0x084  

Subscribe configuration for task STOP

 
SUBSCRIBE_READCLRACC 0x088  

Subscribe configuration for task READCLRACC

 
SUBSCRIBE_RDCLRACC 0x08C  

Subscribe configuration for task RDCLRACC

 
SUBSCRIBE_RDCLRDBL 0x090  

Subscribe configuration for task RDCLRDBL

 
EVENTS_SAMPLERDY 0x100  

Event being generated for every new sample value written to the SAMPLE register

 
EVENTS_REPORTRDY 0x104  

Non-null report ready

 
EVENTS_ACCOF 0x108  

ACC or ACCDBL register overflow

 
EVENTS_DBLRDY 0x10C  

Double displacement(s) detected

 
EVENTS_STOPPED 0x110  

QDEC has been stopped

 
PUBLISH_SAMPLERDY 0x180  

Publish configuration for event SAMPLERDY

 
PUBLISH_REPORTRDY 0x184  

Publish configuration for event REPORTRDY

 
PUBLISH_ACCOF 0x188  

Publish configuration for event ACCOF

 
PUBLISH_DBLRDY 0x18C  

Publish configuration for event DBLRDY

 
PUBLISH_STOPPED 0x190  

Publish configuration for event STOPPED

 
SHORTS 0x200  

Shortcuts between local events and tasks

 
INTENSET 0x304  

Enable interrupt

 
INTENCLR 0x308  

Disable interrupt

 
ENABLE 0x500  

Enable the quadrature decoder

 
LEDPOL 0x504  

LED output pin polarity

 
SAMPLEPER 0x508  

Sample period

 
SAMPLE 0x50C  

Motion sample value

 
REPORTPER 0x510  

Number of samples to be taken before REPORTRDY and DBLRDY events can be generated

 
ACC 0x514  

Register accumulating the valid transitions

 
ACCREAD 0x518  

Snapshot of the ACC register, updated by the READCLRACC or RDCLRACC task

 
PSEL.LED 0x51C  

Pin select for LED signal

 
PSEL.A 0x520  

Pin select for A signal

 
PSEL.B 0x524  

Pin select for B signal

 
DBFEN 0x528  

Enable input debounce filters

 
LEDPRE 0x540  

Time period the LED is switched ON prior to sampling

 
ACCDBL 0x544  

Register accumulating the number of detected double transitions

 
ACCDBLREAD 0x548  

Snapshot of the ACCDBL, updated by the READCLRACC or RDCLRDBL task

 

TASKS_START

Address offset: 0x000

Task starting the quadrature decoder

When started, the SAMPLE register will be continuously updated at the rate given in the SAMPLEPER register.

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A W

TASKS_START

   

Task starting the quadrature decoder

When started, the SAMPLE register will be continuously updated at the rate given in the SAMPLEPER register.

     

Trigger

1

Trigger task

TASKS_STOP

Address offset: 0x004

Task stopping the quadrature decoder

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A W

TASKS_STOP

   

Task stopping the quadrature decoder

     

Trigger

1

Trigger task

TASKS_READCLRACC

Address offset: 0x008

Read and clear ACC and ACCDBL

Task transferring the content of ACC to ACCREAD and the content of ACCDBL to ACCDBLREAD, and then clearing the ACC and ACCDBL registers. These read-and-clear operations will be done atomically.

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A W

TASKS_READCLRACC

   

Read and clear ACC and ACCDBL

Task transferring the content of ACC to ACCREAD and the content of ACCDBL to ACCDBLREAD, and then clearing the ACC and ACCDBL registers. These read-and-clear operations will be done atomically.

     

Trigger

1

Trigger task

TASKS_RDCLRACC

Address offset: 0x00C

Read and clear ACC

Task transferring the content of ACC to ACCREAD, and then clearing the ACC register. This read-and-clear operation will be done atomically.

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A W

TASKS_RDCLRACC

   

Read and clear ACC

Task transferring the content of ACC to ACCREAD, and then clearing the ACC register. This read-and-clear operation will be done atomically.

     

Trigger

1

Trigger task

TASKS_RDCLRDBL

Address offset: 0x010

Read and clear ACCDBL

Task transferring the content of ACCDBL to ACCDBLREAD, and then clearing the ACCDBL register. This read-and-clear operation will be done atomically.

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A W

TASKS_RDCLRDBL

   

Read and clear ACCDBL

Task transferring the content of ACCDBL to ACCDBLREAD, and then clearing the ACCDBL register. This read-and-clear operation will be done atomically.

     

Trigger

1

Trigger task

SUBSCRIBE_START

Address offset: 0x080

Subscribe configuration for task START

When started, the SAMPLE register will be continuously updated at the rate given in the SAMPLEPER register.

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that task START will subscribe to

B RW

EN

     

     

Disabled

0

Disable subscription

     

Enabled

1

Enable subscription

SUBSCRIBE_STOP

Address offset: 0x084

Subscribe configuration for task STOP

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that task STOP will subscribe to

B RW

EN

     

     

Disabled

0

Disable subscription

     

Enabled

1

Enable subscription

SUBSCRIBE_READCLRACC

Address offset: 0x088

Subscribe configuration for task READCLRACC

Task transferring the content of ACC to ACCREAD and the content of ACCDBL to ACCDBLREAD, and then clearing the ACC and ACCDBL registers. These read-and-clear operations will be done atomically.

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that task READCLRACC will subscribe to

B RW

EN

     

     

Disabled

0

Disable subscription

     

Enabled

1

Enable subscription

SUBSCRIBE_RDCLRACC

Address offset: 0x08C

Subscribe configuration for task RDCLRACC

Task transferring the content of ACC to ACCREAD, and then clearing the ACC register. This read-and-clear operation will be done atomically.

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that task RDCLRACC will subscribe to

B RW

EN

     

     

Disabled

0

Disable subscription

     

Enabled

1

Enable subscription

SUBSCRIBE_RDCLRDBL

Address offset: 0x090

Subscribe configuration for task RDCLRDBL

Task transferring the content of ACCDBL to ACCDBLREAD, and then clearing the ACCDBL register. This read-and-clear operation will be done atomically.

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that task RDCLRDBL will subscribe to

B RW

EN

     

     

Disabled

0

Disable subscription

     

Enabled

1

Enable subscription

EVENTS_SAMPLERDY

Address offset: 0x100

Event being generated for every new sample value written to the SAMPLE register

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

EVENTS_SAMPLERDY

   

Event being generated for every new sample value written to the SAMPLE register

     

NotGenerated

0

Event not generated

     

Generated

1

Event generated

EVENTS_REPORTRDY

Address offset: 0x104

Non-null report ready

Event generated when REPORTPER number of samples has been accumulated in the ACC register and the content of the ACC register is not equal to 0. (Thus, this event is only generated if a motion is detected since the previous clearing of the ACC register).

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

EVENTS_REPORTRDY

   

Non-null report ready

Event generated when REPORTPER number of samples has been accumulated in the ACC register and the content of the ACC register is not equal to 0. (Thus, this event is only generated if a motion is detected since the previous clearing of the ACC register).

     

NotGenerated

0

Event not generated

     

Generated

1

Event generated

EVENTS_ACCOF

Address offset: 0x108

ACC or ACCDBL register overflow

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

EVENTS_ACCOF

   

ACC or ACCDBL register overflow

     

NotGenerated

0

Event not generated

     

Generated

1

Event generated

EVENTS_DBLRDY

Address offset: 0x10C

Double displacement(s) detected

Event generated when REPORTPER number of samples has been accumulated and the content of the ACCDBL register is not equal to 0. (Thus, this event is only generated if a double transition is detected since the previous clearing of the ACCDBL register).

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

EVENTS_DBLRDY

   

Double displacement(s) detected

Event generated when REPORTPER number of samples has been accumulated and the content of the ACCDBL register is not equal to 0. (Thus, this event is only generated if a double transition is detected since the previous clearing of the ACCDBL register).

     

NotGenerated

0

Event not generated

     

Generated

1

Event generated

EVENTS_STOPPED

Address offset: 0x110

QDEC has been stopped

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

EVENTS_STOPPED

   

QDEC has been stopped

     

NotGenerated

0

Event not generated

     

Generated

1

Event generated

PUBLISH_SAMPLERDY

Address offset: 0x180

Publish configuration for event SAMPLERDY

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that event SAMPLERDY will publish to.

B RW

EN

     

     

Disabled

0

Disable publishing

     

Enabled

1

Enable publishing

PUBLISH_REPORTRDY

Address offset: 0x184

Publish configuration for event REPORTRDY

Event generated when REPORTPER number of samples has been accumulated in the ACC register and the content of the ACC register is not equal to 0. (Thus, this event is only generated if a motion is detected since the previous clearing of the ACC register).

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that event REPORTRDY will publish to.

B RW

EN

     

     

Disabled

0

Disable publishing

     

Enabled

1

Enable publishing

PUBLISH_ACCOF

Address offset: 0x188

Publish configuration for event ACCOF

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that event ACCOF will publish to.

B RW

EN

     

     

Disabled

0

Disable publishing

     

Enabled

1

Enable publishing

PUBLISH_DBLRDY

Address offset: 0x18C

Publish configuration for event DBLRDY

Event generated when REPORTPER number of samples has been accumulated and the content of the ACCDBL register is not equal to 0. (Thus, this event is only generated if a double transition is detected since the previous clearing of the ACCDBL register).

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that event DBLRDY will publish to.

B RW

EN

     

     

Disabled

0

Disable publishing

     

Enabled

1

Enable publishing

PUBLISH_STOPPED

Address offset: 0x190

Publish configuration for event STOPPED

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID B                                               A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

CHIDX

 

[255..0]

Channel that event STOPPED will publish to.

B RW

EN

     

     

Disabled

0

Disable publishing

     

Enabled

1

Enable publishing

SHORTS

Address offset: 0x200

Shortcuts between local events and tasks

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                   G F E D C B A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

REPORTRDY_READCLRACC

   

Shortcut between event REPORTRDY and task READCLRACC

     

Disabled

0

Disable shortcut

     

Enabled

1

Enable shortcut

B RW

SAMPLERDY_STOP

   

Shortcut between event SAMPLERDY and task STOP

     

Disabled

0

Disable shortcut

     

Enabled

1

Enable shortcut

C RW

REPORTRDY_RDCLRACC

   

Shortcut between event REPORTRDY and task RDCLRACC

     

Disabled

0

Disable shortcut

     

Enabled

1

Enable shortcut

D RW

REPORTRDY_STOP

   

Shortcut between event REPORTRDY and task STOP

     

Disabled

0

Disable shortcut

     

Enabled

1

Enable shortcut

E RW

DBLRDY_RDCLRDBL

   

Shortcut between event DBLRDY and task RDCLRDBL

     

Disabled

0

Disable shortcut

     

Enabled

1

Enable shortcut

F RW

DBLRDY_STOP

   

Shortcut between event DBLRDY and task STOP

     

Disabled

0

Disable shortcut

     

Enabled

1

Enable shortcut

G RW

SAMPLERDY_READCLRACC

   

Shortcut between event SAMPLERDY and task READCLRACC

     

Disabled

0

Disable shortcut

     

Enabled

1

Enable shortcut

INTENSET

Address offset: 0x304

Enable interrupt

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                       E D C B A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

SAMPLERDY

   

Write '1' to enable interrupt for event SAMPLERDY

     

Set

1

Enable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

B RW

REPORTRDY

   

Write '1' to enable interrupt for event REPORTRDY

Event generated when REPORTPER number of samples has been accumulated in the ACC register and the content of the ACC register is not equal to 0. (Thus, this event is only generated if a motion is detected since the previous clearing of the ACC register).

     

Set

1

Enable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

C RW

ACCOF

   

Write '1' to enable interrupt for event ACCOF

     

Set

1

Enable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

D RW

DBLRDY

   

Write '1' to enable interrupt for event DBLRDY

Event generated when REPORTPER number of samples has been accumulated and the content of the ACCDBL register is not equal to 0. (Thus, this event is only generated if a double transition is detected since the previous clearing of the ACCDBL register).

     

Set

1

Enable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

E RW

STOPPED

   

Write '1' to enable interrupt for event STOPPED

     

Set

1

Enable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

INTENCLR

Address offset: 0x308

Disable interrupt

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                       E D C B A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

SAMPLERDY

   

Write '1' to disable interrupt for event SAMPLERDY

     

Clear

1

Disable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

B RW

REPORTRDY

   

Write '1' to disable interrupt for event REPORTRDY

Event generated when REPORTPER number of samples has been accumulated in the ACC register and the content of the ACC register is not equal to 0. (Thus, this event is only generated if a motion is detected since the previous clearing of the ACC register).

     

Clear

1

Disable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

C RW

ACCOF

   

Write '1' to disable interrupt for event ACCOF

     

Clear

1

Disable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

D RW

DBLRDY

   

Write '1' to disable interrupt for event DBLRDY

Event generated when REPORTPER number of samples has been accumulated and the content of the ACCDBL register is not equal to 0. (Thus, this event is only generated if a double transition is detected since the previous clearing of the ACCDBL register).

     

Clear

1

Disable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

E RW

STOPPED

   

Write '1' to disable interrupt for event STOPPED

     

Clear

1

Disable

     

Disabled

0

Read: Disabled

     

Enabled

1

Read: Enabled

ENABLE

Address offset: 0x500

Enable the quadrature decoder

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                             A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

ENABLE

   

Enable or disable the quadrature decoder

When enabled the decoder pins will be active. When disabled the quadrature decoder pins are not active and can be used as GPIO .

     

Disabled

0

Disable

     

Enabled

1

Enable

LEDPOL

Address offset: 0x504

LED output pin polarity

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                               A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

LEDPOL

   

LED output pin polarity

     

ActiveLow

0

Led active on output pin low

     

ActiveHigh

1

Led active on output pin high

SAMPLEPER

Address offset: 0x508

Sample period

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                         A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

SAMPLEPER

   

Sample period. The SAMPLE register will be updated for every new sample

     

128us

0

128 us

     

256us

1

256 us

     

512us

2

512 us

     

1024us

3

1024 us

     

2048us

4

2048 us

     

4096us

5

4096 us

     

8192us

6

8192 us

     

16384us

7

16384 us

     

32ms

8

32768 us

     

65ms

9

65536 us

     

131ms

10

131072 us

SAMPLE

Address offset: 0x50C

Motion sample value

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A R

SAMPLE

 

[-1..2]

Last motion sample

The value is a 2's complement value, and the sign gives the direction of the motion. The value '2' indicates a double transition.

REPORTPER

Address offset: 0x510

Number of samples to be taken before REPORTRDY and DBLRDY events can be generated

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID                                                         A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A RW

REPORTPER

   

Specifies the number of samples to be accumulated in the ACC register before the REPORTRDY and DBLRDY events can be generated

The report period in [us] is given as: RPUS = SP * RP Where RPUS is the report period in [us/report], SP is the sample period in [us/sample] specified in SAMPLEPER, and RP is the report period in [samples/report] specified in REPORTPER .

     

10Smpl

0

10 samples / report

     

40Smpl

1

40 samples / report

     

80Smpl

2

80 samples / report

     

120Smpl

3

120 samples / report

     

160Smpl

4

160 samples / report

     

200Smpl

5

200 samples / report

     

240Smpl

6

240 samples / report

     

280Smpl

7

280 samples / report

     

1Smpl

8

1 sample / report

ACC

Address offset: 0x514

Register accumulating the valid transitions

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A R

ACC

 

[-1024..1023]

Register accumulating all valid samples (not double transition) read from the SAMPLE register

Double transitions ( SAMPLE = 2 ) will not be accumulated in this register. The value is a 32 bit 2's complement value. If a sample that would cause this register to overflow or underflow is received, the sample will be ignored and an overflow event ( ACCOF ) will be generated. The ACC register is cleared by triggering the READCLRACC or the RDCLRACC task.

ACCREAD

Address offset: 0x518

Snapshot of the ACC register, updated by the READCLRACC or RDCLRACC task

Bit number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ID A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A
Reset 0x00000000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
ID Access Field Value ID Value Description
A R

ACCREAD

 

[-1024..1023]