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Figure 19.6. TIMER Quadrature Encoded Inputs
Channel A
Channel B
90 °
Forward rotation (Channel A leads Channel B)
Channel A
Channel B
90 °
Backward rotation (Channel B leads Channel A)
In the Timer these inputs are tapped from the Compare/Capture channel 0 (Channel A) and 1 (Channel
B) inputs before edge detection. The Timer/Counter then increments or decrements the counter, based
on the phase relation between the two inputs. The Quadrature Decoder Mode supports two channels,
but if a third channel (Z-terminal) is available, this can be connected to an external interrupt and trigger
a counter reset from the interrupt service routine. By connecting a periodic signal from another timer as
input capture on Compare/Capture Channel 2, it is also possible to calculate speed and acceleration.
Figure 19.7. TIMER Quadrature Decoder Configuration
Com pa r e /Ca pt u r e ch a n n e l 0
(Controlled by TIMERn_CC0_CTRL)
INSEL
ICEDGE
TIMn_CC0
PRS channels
PRSSEL
Filter
Input
Capture 0
Cou n t e r
(Controlled by TIMERn_CTRL)
QDM
MODE
FILT
Com pa r e /Ca pt u r e ch a n n e l 1
(Controlled by TIMERn_CC1_CTRL)
TIMn_CC1
INSEL
ICEDGE
Ch A
Ch B
Qu a dr a t u r e
De code r
Inc Cou n t e r
Dec
PRS channels
Filter
Input
Capture 1
PRSSEL
FILT
The Quadrature Decoder can be set in either X2 or X4 mode, which is configured in the QDM bit in
TIMERn_CTRL. See Figure 19.7 (p. 249)
19.3.1.6.1 X2 Decoding Mode
In X2 Decoding mode, the counter increments or decrements on every edge of Channel A, see
Table 19.1 (p. 250) and Figure 19.8 (p. 250) .
2011-04-12 - d0001_Rev1.10
249
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