53. QEO

53.1. Overview

QEO (Quadrature Encoder Output) is a peripheral for generating quadrature encoder signals. QEO peripheral can generate various types of output signals based on input position information:

  • ABZ quadrature encoder signals

  • Waveform signals (cosine wave, triangle wave, saddle wave, etc.)

  • PWM commutation control signals

53.2. Features

  • Position Input Support:

    • Position input from system position manager

    • Software position injection

    • Support for position compensation and line number conversion

  • Waveform Output Features:

    • Support for 4 waveform types: cosine wave, triangle wave, saddle wave, sawtooth wave

    • 3 independent output channels with configurable phase shift

    • Support for VD/VQ control

    • Support for waveform scaling, limiting, and deadzone compensation

    • Analog signal output through DAC

  • ABZ Output Features:
    • Support for 4 output modes:

      • A/B quadrature output with internal position

      • High-speed pulse (Pulse&Revise) output

      • Up&Down output

      • A/B quadrature output without internal position

    • Built-in position manager with position synchronization

    • Configurable minimum pulse width

    • Watchdog function support

  • PWM Output Features:

    • Support for 8 groups of PWM force output control signals

    • Configurable up to 12-phase commutation table

    • Safety mode configuration support

    • Support for three-phase BLDC and two-phase stepper motor control

53.3. API Description

53.3.1. Waveform Output APIs

/* Get default configuration for wave mode */
void qeo_wave_get_default_mode_config(QEO_Type *ptr, qeo_wave_mode_t *config);

/* Configure wave mode */
void qeo_wave_config_mode(QEO_Type *ptr, qeo_wave_mode_t *config);

/* Set wave resolution lines */
void qeo_wave_set_resolution_lines(QEO_Type *ptr, uint32_t lines);

/* Set wave phase shift */
void qeo_wave_set_phase_shift(QEO_Type *ptr, uint8_t wave_index, uint32_t phase_shift);

/* Get wave output value */
uint16_t qeo_get_wave_output_val(QEO_Type *ptr, uint8_t wave_index);

53.3.2. ABZ Output APIs

/* Get default configuration for ABZ mode */
void qeo_abz_get_default_mode_config(QEO_Type *ptr, qeo_abz_mode_t *config);

/* Configure ABZ mode */
void qeo_abz_config_mode(QEO_Type *ptr, qeo_abz_mode_t *config);

/* Set ABZ resolution lines */
void qeo_abz_set_resolution_lines(QEO_Type *ptr, uint32_t lines);

/* Set ABZ maximum output frequency */
hpm_stat_t qeo_abz_set_max_frequency(QEO_Type *ptr, uint32_t src_freq_hz, uint32_t max_freq_hz);

/* Configure ABZ position synchronization */
void qeo_abz_position_sync(QEO_Type *ptr, uint32_t position);

53.3.3. PWM Output APIs

/* Get default configuration for PWM mode */
void qeo_pwm_get_default_mode_config(QEO_Type *ptr, qeo_pwm_mode_t *config);

/* Configure PWM mode */
void qeo_pwm_config_mode(QEO_Type *ptr, qeo_pwm_mode_t *config);

/* Set PWM resolution lines */
void qeo_pwm_set_resolution_lines(QEO_Type *ptr, uint32_t lines);

/* Configure PWM phase table */
void qeo_pwm_config_phase_table(QEO_Type *ptr, uint8_t phase_num, uint8_t *phase_table);

53.3.4. Position Control APIs

/* Enable software position injection */
void qeo_enable_software_position_inject(QEO_Type *ptr);

/* Disable software position injection */
void qeo_disable_software_position_inject(QEO_Type *ptr);

/* Inject position value through software */
void qeo_software_position_inject(QEO_Type *ptr, uint32_t position);

53.4. Examples