54.6.16.4 Position and Rotation Measurement

When TC_BMR.POSEN is set, the motor axis position is processed on channel 0 (by means of the PHA, PHB edge detections) and the number of motor revolutions are recorded on channel 1 if the IDX signal is provided on the TIOB1 input. If no IDX signal is available, the internal counter can be cleared for each revolution if the number of counts per revolution is configured in TC_RC0.RC and the TC_CMR.CPCTRG bit is written to ‘1’. The position measurement can be read in the TC_CV0 register and the rotation measurement can be read in the TC_CV1 register.

Channel 0 and 1 must be configured in Capture mode (TC_CMR0.WAVE = 0). ‘Rising edge’ must be selected as the External Trigger Edge (TC_CMR.ETRGEDG = 0x01) and ‘TIOAx’ must be selected as the External Trigger (TC_CMR.ABETRG = 0x1). The process must be started by configuring TC_CCR.CLKEN and TC_CCR.SWTRG.

In parallel, the number of edges are accumulated on TC channel 0 and can be read on the TC_CV0 register.

Therefore, the accurate position can be read on both TC_CV registers and concatenated to form a 32-bit word.

The TC channel 0 is cleared for each increment of IDX count value.

Depending on the quadrature signals, the direction is decoded and allows to count up or down in TC channels 0 and 1. The direction status is reported on TC_QISR.