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1. a a des PER E 8 3 3 1 BOOT SELECTION JUMPER J2 8 3 4 CONNECTING THE MODULE 9 3 4 1 PIN ASSIGNMENTS 10 3 4 2 CONNECTION QUADRATURE ENCODER DEVICES 13 4 FUNCTIONAL DESCRIPTION LL 15 4 1 BLOCK DIAGRAM oi ac i kg E eal a 15 4 2 QUADRATURE DECODER FUNCTION LL 16 4 3 VO INTEREACE cke Sepa oko doin aed tb OD eee na E 17 4 4 NOISE IMMUNITY daa ee pwede ba wal ad Ga XR ADR we bw Wat aa e Ra 17 4 5 PERFORMANCE e ou VA nanan ka EE 18 4 6 M MODULE INTERFACE 18 4 6 1 MEMORY 000 cece eee eee eee nena 18 4 6 2 DUAL PORTED 18 4 6 3 PAGE REGISTER 19 4 6 4 CONTROL REGISTER 19 4 6 5 IDENTIFICATION EEPROM ooo 20 4 6 6 INTERRUPT HANDLING eee ena 20 4 7 BOOTING THE M323 a aet dl eth an 21 4 7 1 BOOTING FROM ROM eee eae 21 4 7 2 BOOTING FROM RAM 0 cc eee eee ee eee eens 21 5 LOCAL FIRMWARE 1 ed aga wa2. COMMON aper 5 apis h General definitions r OS YTIRAP T EMS apistrap 05 9 trap handler 14000089 14000 05 9 support relnotes txt Release notes version info apis_140000s9 h Platform specific definitions apis_140000s9 c suppone 1 3 M323 istoni SOFTWARE M32 311 Release notes version info LIB M323 support libraries EXAMPLE M323 example software MO DAD SOM WAS LIB modideep c e ID EEPROM library ideeprom h le ID definitions Code generation is platform dependent for information on building the software please refer to the release notes of the target platform and the APIS Programmer s Manual AcQuisition Technology bv Box 627 5340 AP Page 40 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 7 ANNEX 7 1 BIBLIOGRAPHY Specification for M module interface and physical dimensions M module specification manual April 1996 MUMM Simon Sch ffel Strasse 21 D 90427 N rnberg Germany APIS Programmer s Manual AcQuisition Technology P O Box 627 5340 AP Oss The Netherlands Data Sheet of the NM93C46 Memory Databook 1992 edition 400069 National Semiconductor Corporation
3. A rtisan Artisan Technology Group is your source for quality Technology Group new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com 7 information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED SELE BAD Contact us 888 88 SOURCE sales artisantg com www artisantg com AcQuisition Technology bv Headquarters Raadhuislaan 27a 5341 GL OSS THE NETHERLANDS Postal address Box 627 5340 AP OSS THE NETHERLANDS Phone 31 412 651055 Fax 31 412 651050 Email info acq nl WEB http www acq nl M323 Quadrature Incremental Encoder Interface M module User Manual Version 1 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Ver
4. www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 m323 ioctl Control M323 or Library functions Syntax int m323_ioctl M323 DEV device void command int size Description This function is provided to pass raw commands to the M323 firmware and provides access to miscellaneous control functions provided by the M323 library Each M323 firmware command is available through the m323 ioctl call and the library function CLRIRQSTAT is provided for clearing the interrupt status For details on command usage refer to chapter 5 Arguments M323 DEV device Pointer to M323 device void command The file mS23lib h contains type definitions of structures for each available command according to the command template show below typedef struct Command template UINT16 cmd command field UINT16 result result field UINT16 prm 32 parameter field CMDSTRUCT The command structure is compatible with the host interface and firmware commands described in chapter 5 All M323 firmware commands are accessible through the m323 ioctl function Furthermore the M323 library command CLRIRQSTAT is implemented this command is provided to clear interrupt status bits of the M323 device variable device gt irqstat according to the mask passed via parameter 0 Any bits set in the interrupt mask parameter 0 are cleared in the module s global interrupt status device gt irqsta
5. 1111 West Bardin Road Arlington TX76017 United States 7 2 COMPONENT IMAGE n eee z _ O z L u2 is GI 0 1 ee B 3 2 m C8 T 622 Y M 42 ug EE pp a ETE E FEL c Eq SEES ERES A B Du ee DI lt 05 ate DE E E DEE ol mm Figure 12 M323 Component Image AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 41 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual 7 3 TECHNICAL DATA Slots on the base board Requires one 16 bit M module slot Connection To base board via 40 pole M module interface To peripheral via 25 pole D sub connector Power supply 5VDC 10 typical 125mA Temperature range Operating 0 60 C Storage 20 70 Humidity Class F non condensing
6. 5340 AP Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 5 5 ENCODER CONTROL COMMANDS The commands in this section are provided to request a motion profile CON FIG Configure Encoder Channel Command 0x0100 Inputs Channel number configuration parameters Outputs Undefined Function This function is provided to configure encoder channels The table below contains an overview of the command parameters st Index input signal Configure index input rising da falling edge 1 or both edges 2 Index function Enable 1 or disable 0 preset on index when enabled the corresponding counter will be loaded with a preset value set with the PRESET command Note Channel 4 and 5 are not available in index mode Parameters 2 and 3 are not used in no index mode AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 29 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 PR ES ET Load Preset Value Command Inputs Outputs Function 0x0200 Channel number preset value Undefined Write counter preset value Parameter 0 contains the channel number and parameter 1 and 2 contain the preset value
7. Channel number Preset value upper 16 bits Preset value lower 16 bits When preset on index is disabled the counter will be loaded immediately if preset on index is enabled with the CONFIG command then the counter will be loaded with the preset value when an index pulse is detected G ETC NTR Get Counter Value Command Inputs Outputs Function Page 30 of 42 0x0500 Channel number Channel number counter value Get counter value of a channel Input parameter 0 must contain the channel number After completion of the command output parameter 0 contains the requested channel number and output parameter 1 and 2 contain the 32 bit counter value The table below contains a description of the output parameters EH Channel number Counter value upper 16 bits Counter value lower 16 bits AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 GETINDEX Get and Clear Index Status Command 0x0600 Inputs Channel number Outputs Channel number index status input pin state Function Get and clear the index status of a channel Input parameter 0 must contain the channel number After completion of the command output parameter 0 contains the requested channel number Output parameter 1 and 2 contain the 32 bit counter va
8. Inputs Outputs Function Page 28 of 42 0x0030 Interrupt status None The M323 uses one interrupt line for all interrupt sources Whenever an interrupt request is generated the pending interrupt must be cleared via the control register see section 4 6 4 The nature of the event s responsible for generating the interrupt must be obtained from the interrupt status field in the command register A bit set means the interrupt request is active The IACK command must be executed to acknowledge pending interrupts Parameter 0 must contain the interrupt status A bit set in the interrupt status will acknowledge the corresponding interrupt Every interrupt Source has a corresponding bit defined in the interrupt status The status is defined as follows Fa IRQ_BLANK 0x0000 nothing to report IRQ_INDEX_0 0x0001 signal index channel 0 IRQ_INDEX_1 0x0002 signal index channel 1 IRQ INDEX 2 0x0004 signal index channel 2 IRQ INDEX 3 0x0008 signal index channel 3 EXCEPTION 0x0010 internal exception error IRQ ALL OxFFFF all interrupt sources It is allowed to clear more than one pending interrupt simultaneously with the IACK command As a result of the IACK command not acknowledged pending interrupts will cause a new host interrupt request The IACK command is a special command because on completion the result field is not affected and the polling bit is not set AcQuisition Technology bv P O Box 627
9. ss rentas cei pose asc ns tt poema sec ns 8 poems Bce e poems ace AcQuisition Technology bv Box 627 5340 AP Oss The Netherlands Page 11 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual The figure below illustrates the connector layout in index mode P3 25 pole D sub INA0 1 INBO 2e 9 14 No 3 6 1 INI1 4 e 16 5 9 17 INBi 6 e 18 INA2 7 a 19 INB2 g e 20 2 gle 21 10e 22 INA3 11 9 23 INB3 12 e 9 24 NC 43 Front View Figure 5 Connector layout M323 with index INAO INBO INIO INI1 INA1 INB1 INA2 INB2 INI2 INI3 INA3 INB3 Version 1 1 P2 24 pole female header INAO 2 INBO 4 INIO 6 8 INA1 10 INB1 42 INA2 14 INB2 16 INI2 18 INI3 20 INA3 22 INB3 24 1 INAO 3 INBO 5 INIO 7 INIT 9 INA1 11 INB1 13 INA2 15 INB2 17 INI2 19 INI3 21 INA3 23 INB3 Top View The figure below illustrates the connector layout in non index mode 25 pole D sub INAO 1 ingo 2e 9 14 INA 3 915 INB4 4 e 16 INAT 510 17 INBi 6 e 18 INA2 7 a 19 INB2 g e 20 inas 910 21 INB5 10 22 INA3 9 23 INB3 12 9 24 NC 13e 9 25 Front View Figure 6 Connector layout M323 without
10. 4 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 2 PRODUCT OVERVIEW 2 1 INTRODUCTION The M323 M module is an Intelligent quadrature encoder input M module based on an MC68332 micro controller The M323 can be configured for interfacing either quadrature incremental encoders with or without an index channel In index mode up to four encoders with two quadrature channels and an index channel can be connected In non index mode up to six encoders with two quadrature channels can be connected The M323 operates on two encoder input channels and decodes a pair of out of phase signals in order to increment or decrement a counter The M323 is particularly useful for decoding position and direction information from a slotted encoder in motion control systems The MC68332 executes local firmware downloaded by the host through the M module interface or booted from ROM Interaction with the host is done via a command structure in dual ported memory and a mailbox which provides a polling and interrupt mechanism 2 2 TECHNICAL OVERVIEW MC68332 local 32 bit micro controller 64kByte RAM shared with the M module bus Up to 1MBit local EPROM or FLASH memory in socket A08 D16 M module interface Mailbox with polling host interrupt and local interrupt mechanism Identification EEPROM Executes
11. 7 4 DOCUMENT HISTORY Version 1 0 First release Version R1 1 Function GETALLCNTR added to firmware command set Version 1 1 AcQuisition Technology bv Box 627 5340 AP Page 42 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A rtisan Artisan Technology Group is your source for quality Technology Group new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com 7 information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED SELE BAD Contact us 888 88 SOURCE sales artisantg com www artisantg com
12. Signal A lagging Signal B amp Sensor 2 SS 0gs decrementing counter Figure 10 Typical M323 application The M323 uses two input channels to decode quadrature signals into a 32 bit counter The counter is updated when a valid transition is detected on either one of the two inputs full 4x resolution is derived from the encoder signals The counter is incremented or decremented depending on the lead lag relationship of the two signals at the time of servicing the transition The user can read the counter at any time The counter is free running overflowing to 0x00000000 or underflowing to OxFFFFFFFF depending on the direction AcQuisition Technology bv P O Box 627 5340 AP Page 16 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 4 3 I O INTERFACE Each encoder input consists of an opto coupler input which is protected for reverse connection and has a leakage current protection Default the encoder inputs are rated at 5V 1mA The figure below shows the input circuitry of encoder input A of channel 0 the remaining inputs have comparable input circuitry HCPL 073A Uf 1 25V vec If 404A min 5mA max Local CPU J ve n gt VVV O INAO INAO 7 i 27k 5V 3mA Encoder signal a IfV INAO NE Figure 11 M323 enc
13. The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 5 4 HOST INTERRUPTS The M323 can generate host interrupts There are various interrupt sources that use the host interrupt request Commands are provided to un mask and acknowledge interrupts individually This section gives a description of the interrupt related commands MS KI Un Mask Interrupts Command 0x0020 Inputs Interrupt mask Outputs None Function A bit set in the interrupt mask will enable the corresponding interrupt a bit cleared will disable the interrupt Every interrupt source has a corresponding bit defined in the interrupt mask Definition of the interrupt mask can be found in the table below Flag IRQ_BLANK 0x0000 nothing to report IRQ_INDEX_0 0x0001 signal index channel 0 IRQ_INDEX_1 0x0002 signal index channel 1 IRQ_INDEX_2 0x0004 signal index channel 2 IRQ_INDEX_3 0x0008 signal index channel 3 IRQ_EXCEPTION 0x0010 internal exception error IRQ_ALL OxFFFF all interrupt sources AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 27 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 IACK Acknowledge Interrupts Command
14. User Manual 5 2 COMMAND SET Version 1 1 The table below gives an overview of the commands available to the host CPU Hex DONE SYNC VERSION MSKI IACK INIT CONFIG PRESET GETCNTR GETINDEX GETALLCNTR DEBUG 0x0000 0 0001 0 0020 0 0030 0 0040 0 0100 0 0200 0 0500 0 0600 0 0700 0 8001 command completed synchronize firmware sign of live returns version information mask un mask interrupts acknowledge interrupts initialize module index mode no index mode configure encoder channel index input edge rising falling both index function enable disable counter preset write counter preset value if counter preset on index is disabled then the position counter will be loaded immediately get counter value get and clear channel index status get counter value captured on index get current level of index input get value of all counters service command for debug and test purposes Table entries represented in italic are no user commands these commands are provided for service purposes The following sections give a detailed description of the commands arranged by functionality AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 25 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 5 3 GENERAL CO
15. e do Pea wR ed Hae Ra Dak 23 5 1 HOST INTERFACE Me ER Ade baw and ita ERR A e 23 5 2 COMMAND SET a A ee Raed wea ieee 25 5 3 GENERAL COMMANDS 26 5 4 HOST INTERRUPTS LL 27 5 5 ENCODER CONTROL COMMANDS 29 6 SOFTWARE 3000 bu an Pu a wk E aia 33 6 1 APIS SUPPORT risien asa a 33 msc rana 33 P API 33 6 1 3 CODE GENERATION ls s 34 6 2 TYPE DEFINITIONS AND STRUCTURES LL 34 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 1 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 6 3 LIBRARY FUNCTION RETURN VALUES 35 6 4 FUNCTION REFERENCE dillo e a tehde we need 36 6 5 SOFTWARE DISTRIBUTION LL 39 7 ANNEX ee cee Sires ex E Um wee A 41 7 1 BIBLIOGRAPHY nea de ee a San hed ees e hd E Hae ee EE 41 7 2 COMPONENT IMAGE LL 41 7 3 TECHNICAL DATA sdraio Mate Oe AA ede aka owe eae hay 42 7 4 DOCUMENT HISTORY 42 AcQuisition Technology bv Box 627 5340 AP Page 2 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation
16. for m323_read channel Channel number 0 to 5 input counter Counter value output CMDSTRUCT typedef struct Command template for m323 ioctl UINT16 cmd command field UINT16 result result field UINT16 prm 32 parameter field For each available command a command structure is defined according to the command template CMDSTRUCT For an overview and details on the usage refer to the source file m323lib h 6 3 LIBRARY FUNCTION RETURN VALUES Each library function returns a result which is either an APIS error code or an M323 library error code APIS results have bit 15 cleared library results have bit 15 set For an overview of APIS error codes refer to the APIS programmer s manual for an overview of the library result codes refer to the table below Hex NOERR 0x0000 No error UNKCMD 0x8001 Unknown command PRANGE 0x8002 Parameter out of range EXCPERR 0x8003 local exception error INVREQ 0x8008 Invalid request ERR_MEM 0x8100 System memory error ERR_TIMEOUT 0x8200 Command timeout ERR_IDEEP 0x8300 ID eeprom error ERR_MODID 0x8400 Wrong module ID AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 35 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 6 4 FUNCTION REFERENCE This section contains the reference of the functions provided by the
17. local firmware Firmware bootable from local ROM or downloadable via the M module bus Controls up to four encoders with index or six encoders without index Inputs are optical isolated industrial inputs Industrial inputs can be adapted for a wide variety of signal ranges Module can accept 2 channel quadrature squarewave encoder outputs Index inputs can be configured for rising edge falling edge both edges or level sensitive Each encoder input is assigned to a 32 bit counter Index signal can be used to load the corresponding counter with a preset value Counter value during movement has one LSB uncertainty Counter value at ease is accurate Good noise immunity AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 5 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 Intentionally left blank AcQuisition Technology bv Box 627 5340 AP Page 6 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 3 INSTALLATION AND SETUP 3 1 UNPACKING THE HARDWARE The hardware is shipped in an ESD protective container Before unpacking the hardware make sure that this takes place in an environment with controlled static electricity The
18. must be downloaded and started by the host The boot method is configurable with jumper J2 for details please refer to section 3 3 1 and 4 7 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 7 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 3 3 JUMPER SETTINGS In the following paragraphs the jumper setting of the M323 is described The figure below shows the location and orientation of the jumper Figure 2 M323 Jumpers 3 3 1 BOOT SELECTION JUMPER J2 With jumper J2 the M323 can be configured for booting from ROM or booting from RAM The figure below shows jumper J2 positions for both configurations J2 1 2 J2 2 3 000 Boot from RAM Boot from ROM Figure 3 Boot device selection AcQuisition Technology bv Box 627 5340 AP Page 8 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 3 4 CONNECTING THE MODULE This section gives an overview of the I O pins of the M323 which are available on the DSUB 25 P3 connector at the front of the module and the 24 pole male P2 header at the component side of the module The figure below illustrates the
19. Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 1 INTRODUCTION 1 1 VALIDITY OF THE MANUAL This user manual is of revision 1 1 The manual is valid for the M323 RO x from AcQuisition Technology bv running firmware version R1 x 1 2 PURPOSE This manual serves as instruction for the operation of the M323 Quadrature Incremental Encoder input module the connection of encoders and the integration on an M module carrier Furthermore it gives the user additional information for special applications and configurations of the product The APIS based example software and library are also discussed Detailed information concerning the individual assemblies data sheets etc are not part of this manual In the annex you will find a bibliography 1 3 SCOPE The scope of this manual is the usage of the M323 Quadrature Incremental Encoder M module 1 4 DEFINITIONS ACRONYMS AND ABBREVIATIONS AcQ AcQuisition Technology bv APIS AcQ Platform Interface Software M module Mezzanine I O concept according to the M module specification Platform Combination of hardware and operating system AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 3 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 1 5 NOTES CONCERNING THE
20. M323 APIS based software library m323_open Open M323 device Syntax int m323_open APIS_PATH path_id M323_DEV device M323_OPEN_T mode Description Open a hardware path to an M323 check APIS version compatibility verify module ID by reading the identification EEPROM and initialize the M323 The function initializes the provided device structure of type M323 DEV The programmer must make sure that enough space is available for the device structure The module s transmitter and receiver channels will be initialized according to the mode argument If the module is configured for booting from RAM firmware will be downloaded to the dual ported memory of the module for detail refer to section 4 7 2 Arguments APIS PATH path id Module APIS path id M323 DEV device Pointer to M323 device M323 OPEN T mode Operating mode index or no index Returns APIS error code or M323 library error code m323 close Close M323 device Syntax int m323 close M323 DEV device Description Close an M323 device consequently a reset of the M323 will be performed and allocated memory is freed Arguments M323 DEV device Pointer to M323 device Returns APIS error code or M323 library error code AcQuisition Technology bv P O Box 627 5340 AP Page 36 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module Us
21. MMANDS This section describes general commands that are provided for obtaining firmware information and for setting the operating mode of the M323 SYNC Sign Of Live Command 0x5aba Inputs None Outputs None Function This function is intended to check whether or not the MC68332 is running The local software takes no special action and terminates the execution normally set the result field to NOERR set the POLL bit in the control register clear the cmd field and generate a host interrupt if not masked VERSION Get Module Information Command 0x0001 Inputs None Outputs Version number Function This function is provided to provide version information of the module As a result the output parameter 0 contains the revision of the local firmware The firmware revision is a represented as a decimal number for example 10 which means the firmware is of revision 1 0 INIT Select Operating Mode Command 0x0040 Inputs Mode of operation Outputs None Function This function is provided to select the operating mode of the M323 The M323 can operate in two modes four quadrature encoders with index or six quadrature encoders without index signal Parameter 0 must contain the required configuration Mode of operation 0 four channels with index 1 six channels without index NOTE The command INIT must be called to start decoding of encoder signals AcQuisition Technology bv Box 627 5340 AP Page 26 of 42 Oss
22. NOMENCLATURE Hex numbers are indicated with a leading 0x sign for example 0x20 or Oxff File names are represented in italic filename txt A code example is printed in courier The jumpers are designated by J and a serial number When specifying whether a jumper should be connected or removed it is referred to solely by this designation if it has only one position e g J5 connected However if the jumper has more than one position it is also indicated which pins are connected to each other e g J8 1 2 Pin 1 of a jumper is always marked in the configuration diagram Ji 1 2 J1 2 3 Connected eee jumper Sa 1 own fata jumper 0 e o Figure 1 Example jumper nomenclature In some illustrations jumpers are shown merely for purposes of orientation In this case they are indicated with a dotted line Their correct setting is described in another chapter Active low signals are represented by a trailing asterisks i e IACK 1 6 OVERVIEW Chapter 1 contains an introduction chapter 2 contains an overview of the product described in this user manual Refer to chapter 3 for information on the installation and setup of the product Chapter 4 contains a detailed description of the M323 chapter 5 describes the local firmware and chapter 6 the host software Chapter 7 is the Annex containing technical data the document history etc AcQuisition Technology bv P O Box 627 5340 AP Page
23. Quadrature Encoder Inputs T q 2 3 Timing amp Control Mailport IDENT As shown by the block diagram the M323 is based on a MC68332 micro controller with SRAM for execution of local firmware and FLASH for booting the local firmware Communication with the host system takes place through the M module interface The front end of the module consists of optical isolated industrial inputs for connecting quadrature encoder devices and optional index devices The on chip Time Processing Unit TPU of the micro controller is used for implementing the quadrature decoding function The following paragraphs contain detailed information regarding the sub components of the M323 AcQuisition Technology bv Box 627 5340 AP Oss The Netherlands Page 15 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 4 2 QUADRATURE DECODER FUNCTION The M323 features a quadrature decode algorithm that operates on two encoder input channels and decodes a pair of out of phase signals in order to increment or decrement a counter The M323 is particularly useful for decoding position and direction information from a slotted encoder in motion control systems The figure below shows a typical application Slotted Encoder Signal A leading Signal B Incrementing counter Slotted Encoder
24. WARE DISTRIBUTION This section gives an overview of the software distribution me emm M323 SOFTWARE m323rel txt Release notes M323 SOFTWAREILIB Mm323lib c ANSI C M323 APIS software library M323 SOFTWAREILIB m323lib h Definitions for the M323 library M323 SOFTWARE LIB m323defs h Definitions for the M323 M323 SOFTWARE FIRM m323tfirm c Downloadable firmware image for the M323 M323 SOFTWARE EXAMPLE m323demo c Demo program for the M323 M323 SOFTWARE EXAMPLE m323irqd c Interrupt driven demo program for the M323 M323 SOFTWARE EXAMPLE makefile bor Borland C makefile for M323 on i2000 M323 SOFTWARE EXAMPLE makefile os9 OS9 makefile for M323 on i4000 MMODID SOFTWAREILIB modideep c ANSI C ID EEPROM APIS software library MMODID SOFTWAREI LIB ideeprom h Definitions for the ID EEPROM library M323 example software is APIS based therefore APIS support for the target platform is required for code generation AcQuisition Technology bv Box 627 5340 AP Oss The Netherlands Page 39 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 The following figure is an example of the M323 software integrated in the APIS environment on an i4000 OS 9 target platform im OVE AcQ s distribution AS APIS basis distribution mm DO E APIS documentation T SOLE M ERST readme txt Distribution overview F
25. al Version 1 1 4 6 3 PAGE REGISTER The dual ported memory of the M323 is accessed using a page register for the upper address bits The first 128 bytes of the address space of the M323 M module is used as a window into the dual ported memory as described in the previous section PAGEREG Offset 0x80 15 10 9 8 7 6 5 4 3 2 1 0 notused ars ara ats ate an ato ao as az reset X X X X X X x X x X Write only A16 A7 Dual ported memory address bits These bits determine the current dual ported memory page selected A page has a length of 128 bytes A6 A0 4 6 4 CONTROL REGISTER With the control register the local reset of the M323 M module can be controlled Furthermore the control register provides a mailbox The mailbox controls interrupts to and from the module and provides a polling mechanism CTRL Offset 0x82 15 1 4 3 2 1 0 _ __ ram reser umo umo reset 0 1 0 0 Read Write PBIT Poll Bit When read this bit reflects the state of the Poll Bit either 0 or 1 This bit can be cleared by the host by writing a one 1 and set by the local CPU Writing a zero 0 has no effect RESET Local reset When asserted the M323 will be kept in reset state and pending interrupt requests will be cleared After power up the reset bit is set however when the module is configured for booting from ROM J2 in 2 3 position the reset bit is cleared automatically LIRQ Local Interrup
26. behaviour 4 7 2 BOOTING FROM RAM When the module is configured for booting from RAM jumper J2 in 1 2 position at power up the M323 is kept in reset state Before any control operations are available firmware has to be downloaded to the dual ported memory by the host Firmware must copied to the dual ported memory starting at offset 0 in page 0 using 16 bit wide write accesses The M323 local CPU must be started by clearing the RESET bit in the control register When the PBIT in the control register is set the module is ready for accepting control commands Communication with the M323 takes place via a command structure in the dual ported memory at page 4 For details on the command structure refer to section 5 1 CAUTION Once the firmware is started any write accesses to the dual ported memory at pages other than page 4 may result in erroneous behaviour For details on downloading firmware please refer to the software distribution AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 21 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 Intentionally left blank AcQuisition Technology bv Box 627 5340 AP Page 22 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Inc
27. ed in the M323 example software standard ANSI C types are not listed char 8 bit signed data unsigned 8 bit unsigned data short 16 bit signed data unsigned 16 bit unsigned data long 32 bit signed data unsigned 32 bit unsigned data volatile unsigned char 8 bit physical access volatile unsigned short 16 bit physical access volatile unsigned long 32 bit physical access PIS PATH unsigned APIS physical path ID PIS HANDLE void APIS physical path handle PIS WIDTH int APIS access size in bytes union ID EEPROM contents struct Consisting of either short synccode Sync code 0x5346 modnum Module number binary coded revision Revision number modchar Module characteristics res 4 Reserved manstr 16 Manufacturer string ID data Or reg 16 Raw data AcQuisition Technology bv Box 627 5340 AP Page 34 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 struct M323 Device which consists of APIS_HANDLE apis_handle APIS handle volatile UINT16 irgstat Global interrupt status 323 OPI enum mode Function argument for m323 open index Open M323 in index mode no index Open M323 in no index mode 323 WRITE Argument for m323 write channel Channel number 0 to 5 counter Counter preset valu Argument
28. er Manual Version 1 1 m323_read Get counter value Syntax int m323_read M323_DEV device M323_READ_T encoder UINT32 count Description This function is provided to get the counter value of a specified channel through the GETCNTR command Arguments M323 DEV device Pointer to M323 device M323 READ T encoder Encoder data consisting of the input parameter channel 0 to 5 and the output parameter counter value UINT32 count Not used must be provided for compatibility reasons Returns APIS error code or M323 library error code m323_write Write counter preset value Syntax int m323_write M323_DEV device M323_WRITE_T msg UINT32 count Description This function can be used to write the preset value of a channel When preset on index is disabled the counter will be loaded immediately if preset on index is enabled with the CONFIG command then the counter will be loaded with the preset value when an index pulse is detected Arguments M323 DEV device Pointer to M323 device M323 WRITE T encoder Encoder data consisting of the parameter channel 0 to 5 and the parameter preset value UINT32 count Not used must be provided for compatibility reasons Returns APIS error code or M323 library error code AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 37 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE
29. following recommendations should be followed Make sure your body is discharged to the static voltage level on the floor table and system chassis by wearing a conductive wrist chain connected to a common reference point If a conductive wrist chain is not available touch the surface where the board is to be put like a table a chassis etc before unpacking the board Leave the board only on surfaces with controlled static characteristics i e specially designed anti static table covers If handling the board over to another person first touch this persons hand wrist etc to discharge any static potential IMPORTANT Never put the hardware on top of the conductive plastic bag in which the hardware is shipped The external surface of this bag is highly conductive and may cause rapid static discharge causing damage The internal surface of the bag is isolating Inspect the hardware to verify that no mechanical damage appears to have occurred Please report any discrepancies or damage to your distributor or to AcQuisition Technology immediately and do not install the hardware 3 2 ROM The M323 features a 32 pin JEDEC socket that can fit a FLASH EPROM containing the firmware The use of Flash EPROM s type AM29F010 from AMD is recommended The MC68332 CPU boots from either dual ported RAM or local ROM When booting from ROM the local CPU will start running after a system reset When booting from RAM firmware
30. index INAO INBO INA4 INB4 INA1 INB1 INA2 INB2 INA5 INB5 INA3 INB3 P2 24 pole female header INAO 2 INBO 4 INA4 6 INB4 8 INA1 10 INB1 12 INA2 14 INB2 16 INA5 18 INB5 20 INA3 22 INB3 24 Top View 1 INAO 3 INBO 5 INA4 7 INB4 9 INAT 11 INBI 13 INA2 15 INB2 17 INA5 19 INB5 21 INA3 23 INB3 For cabling shielded multi cable must be used with metal DSUB 25 connector shells The shield must be coaxial terminated to the metal shell Page 12 of 42 AcQuisition Technology bv Box 627 5340 AP Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 3 4 2 CONNECTION QUADRATURE ENCODER DEVICES Example for connecting an encoder device with 2 quadrature TTL outputs and index to channel 0 of the M323 M323 Quadrature TTL Encoder INAO ree INA Lo _ N INBO ChB INBO m Index e INIO 5 i no TT GND A wm 5V Power Supply ChA Ch B Index Encoder Signals Figure 7 Connecting TTL Encoder to M323 NOTE Quadrature TTL encoder devices in general are capable of sinking enough current for direct connection to the M323 however some encoder devices are not capable of s
31. ion refer to the M module Specification 4 6 6 INTERRUPT HANDLING The M323 is capable of generating interrupts of type A software end of interrupt In the interrupt service routine the host must acknowledge the interrupt by writing a one to the host interrupt request bit in the control register Because the M323 is not capable of delivering an interrupt vector this must be handled by the carrier board AcQuisition Technology bv P O Box 627 5340 AP Page 20 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 4 7 BOOTING THE M323 The MC68332 micro controller of the M323 executes firmware from local memory The module can be configured for booting from ROM or booting from RAM 4 7 1 BOOTING FROM ROM For this option an EPROM or FLASH containing valid firmware must be inserted in the JEDEC socket U15 and Jumper J2 must be set in the 2 3 position After power up the module will boot from ROM without host interaction When the PBIT in the control register is set the module is ready for accepting control commands Communication with the M323 takes place via a command structure that resides in the dual ported memory at page 4 For details on the command structure refer to section 5 1 CAUTION Write accesses to the dual ported memory at pages other than page 4 may result in erroneous
32. lue captured as a result of a transition of the index signal Output parameter 3 contains the index flag which is zero if no index pulse has been detected or non zero if an index has occurred Output parameter 4 contains the current state of the index input 0 if low or 1 if high The table below contains a description of the output parameters Channel number Captured counter value upper 16 bits Captured counter value lower 16 bits Index flag 0 if no index detected or 1 if index detected Current state of index input 0 if low or 1 if high As a result of this command the internal index flag will be cleared DEBUG Undocumented Command 0x8001 Inputs Undocumented Outputs Undocumented Function This function is provided for service and developing purposes therefore a description of the usage is beyond the scope of this document For normal operation do not use this function AcQuisition Technology bv Box 627 5340 AP Oss The Netherlands Page 31 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 G ETALLCNTR Get the all counters Command 0x0700 Inputs None Outputs list of counter values Function Get counter value of all counters If the module is configured for index mode four counters are read if the module is configured for non index mode six counters are read After c
33. nels When one encoder input channel is used and no other TPU channels are active the maximum transition rate is 100 kHz When four channels are used simultaneously the maximum frequency for each channel is 50 kHz if six channels are used the maximum frequency is 33 kHz for each channel The maximum rate of index pulses regardless on which index channels the transitions are detected is 5 kHz NOTE Exceeding performance limits described above might result in erroneous behaviour 4 6 M MODULE INTERFACE 4 6 1 MEMORY MAP The following table shows the address map of the M323 module All addresses are relative to the base address of the module Dual ported memory window 4 6 2 DUAL PORTED MEMORY The M323 features 64kByte dual ported memory The dual ported memory on the M323 is divided in 512 pages of 128 bytes The memory can be accessed by the host via a 128 byte memory window and a page register The dual ported memory window resides at offset 0x00 to 0x7e of the M module memory map CAUTION The dual ported memory is 16 data bit wide and should only be written using 16 bit write accesses Byte writes to the dual ported memory are NOT supported and will result in undefined behaviour AcQuisition Technology bv P O Box 627 5340 AP Page 18 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manu
34. nstrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 The table below contains a list of the available result codes which can be found in the result field of the command structure Result Code Hex NOERR 0x0000 no error UNKCMD 0x8001 unknown command PRANGE 0x8002 parameter out of range EXCPERR 0x8003 general exception error LOCBERR 0x8004 local bus error LOCAERR 0x8005 local address error LOCILL 0x8006 illegal instruction SPURINT 0x8007 spurious interrupt INVREQ 0x8008 invalid request FLASHERR 0x800B flash program error The table below lists the interrupt status bits of the irqstat field Interrupt Status Hex IRQ_BLANK 0x0000 Nothing to report IRQ_INDEX_0 0x0001 signal index channel 0 IRQ_INDEX_1 0x0002 signal index channel 1 IRQ INDEX 2 0x0004 signal index channel 2 IRQ INDEX 3 0x0008 signal index channel 3 IRQ_EXCEPTION 0x0010 Internal exception error An interrupt flag in the interrupt status field set means that the corresponding event has occurred the flag must be cleared by the host CPU Interrupt flags are updated regardless whether or not the corresponding interrupt is enabled AcQuisition Technology bv Box 627 5340 AP Page 24 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module
35. oder input The M323 input circuitry is developed to accept 5V TTL compatible input signals Transitions are detected around 1 3V The minimum input current If 40A for detecting a transition is approximately 86 A the maximum input current is 5 mA To connect the M323 to signals larger than 5V series resistors have to be applied The table below contains values of series registers for common signal levels Switchin 0 Level 1 3V 1 3V 1 3V 4 4 NOISE IMMUNITY To a large extend the M323 hardware protect counters from erroneous updates due to noise All input channel incorporate a digital filter which rejects pulses of less than 100nsec and guarantees to pass pulses of greater than 250nsec In addition when servicing a transition the M323 logic always checks the new signal state against the signal state of the last service and if they are equal then no action is taken This protects against noise pulses that are long enough to get through the digital filter but not long enough to last from the actual transition time to the time that the M323 services the signal AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 17 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 4 5 PERFORMANCE The performance limit of the M323 is dependent upon the number of active encoder input chan
36. ompletion of the command output parameters 0 and 1 contain respectively the upper and lower 16 bit of the signed 32 bit counter value for channel 0 parameters 3 and 4 contain the counter value for channel 1 and so on AcQuisition Technology bv P O Box 627 5340 AP Page 32 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 6 SOFTWARE This chapter describes the example software which is available for the M323 The example software is available in ANSI C source code and consists mainly of an M323 function library which provides functions for easy access to the M323 and a demo program which illustrate the usage of the software library The M323 library functions are APIS based physical accesses and interrupt support are handled by APIS AcQ Platform Independent Interface Software The next section contains general information on APIS for detailed information please refer to the APIS Programmer s Manual 6 1 APIS SUPPORT AcQ produces and supports a large number of standard M modules varying from networking and process I O to motion control applications Physically the M modules are supported by a large number of hardware platforms VMEbus PCI CompactPCl as well as a wide variety of operating systems OS 9 Windows NT Linux etc APIS offers a way to program platform independent ap
37. onable attorney fees arising out of directly or indirectly any claim of personal injury or death associated with such unintended or unauthorized use even if such claim alleges that AcQuisition Technology was negligent regarding the design or manufacture of the part Printed in The Netherlands AcQuisition Technology bv Box 627 5340 AP Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 CONTENTS 1 INTRODUCTION Bed eee P eC Ro C RR dos Cx o o C d 3 1 1 VALIDITY OF THE MANUAL 3 1 2 PURPOSE ds aUo aee Paint eh i Re ha e Re da 3 1 3 SCOPE ue acturi dO ae Ata dba ca a er P a Aca deca VUE aD ka a ws E drca A d 3 1 4 DEFINITIONS ACRONYMS AND ABBREVIATIONS 3 1 5 NOTES CONCERNING THE NOMENCLATURE 4 1 6 OVERVIEW 5 Z5 xo oe RC CRGA a DR i ea 4 2 PRODUCT OVERVIEW 2 2 ria e rice ROC RC Ri Re c FCR a e teca 5 2 1 INTRODUCTION 4 3 aa dede dece wt iaia 5 2 2 TECHNICAL OVERVIEW 3 2 2 a label oad edad c Rucker pu dead a d ed dug d 5 3 INSTALLATION AND SETUP ll 7 3 1 UNPACKING THE HARDWARE LL 7 3 2 BOOT ROM scs ar acum oo eaa era A dct aar UR cde ek af acta au ara 7 3 3 JU MPER SETTINGS amete chon
38. ourcing enough current in this case pull up resistors between the channel inputs and the power supply must be connected For details refer to the application notes of the encoder device For details and on the input circuitry and signal ratings please refer to section 4 3 Example for connecting an encoder device with 2 quadrature RS422 outputs to channel 1 of the M323 M323 Quadrature RS422 Encoder INA1 cena ET INA1 Ch A N INB1 Ch B INB1 Ch B Power Y cha L LL Ch B Encoder Signals Figure 8 Connection RS422 Encoder to M323 AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 13 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 Intentionally left blank AcQuisition Technology bv Box 627 5340 AP Page 14 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 4 FUNCTIONAL DESCRIPTION This chapter gives a detailed description of the M323 The M module interface is described as well as the encoder inputs 4 1 BLOCK DIAGRAM 68332 CPU TPU Optical Isolated Industrial Input Circuitry
39. plications example and test software for controlling hardware Application software written for APIS only needs re compiling for a particular platform and is operational with little effort provided that the application is operating system independent 6 1 1 CONCEPT Hardware accesses to registers and memory are handled by APIS Some minor operating system dependent functions frequently used in hardware related software such as interrupts handling and a delay function are also provided by APIS APIS platform support consists of an Application Programming Interface in the form of definition files coded in ANSI C and platform dependent modules e g source files libraries and or drivers In the most simple outline a platform dependent APIS module consist of nothing more then macro definitions in which APIS calls are substituted by direct hardware accesses But in most cases an APIS module will consist of a library with interface routines and in some implementations a device driver is needed for interaction with the operating system 6 1 2 API The Application Programming Interface for APIS is implemented in two ANSI C coded definition files apis h which contains general definitions and platform_apis h which contains platform specific definitions and references to the APIS function calls The application source file must include the APIS header file apis h Porting of the application to a platform consists of re compiling the source code wi
40. position of P2 and P3 P1 is the M module bus connector a description of the pin assignments of P1 is beyond the scope of the document P2 P3 P1 Leg cd asgl Figure 4 M323 Connector Position The M323 can be configured to accept up to four incremental encoders with index index mode or six incremental encoders without index non index mode The connector pin assignments depend on the operating mode of the M323 The connector layouts in both operating modes are explained For details on configuration of the operating mode refer to chapter 5 Finally some examples on connecting encoder devices are given AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 9 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 3 4 1 PIN ASSIGNMENTS me e nie we re we os ns s eas me CR O TTT AcQuisition Technology bv Box 627 5340 AP Page 10 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 petit sona Acea
41. remental Encoder M module User Manual Version 1 1 5 LOCAL FIRMWARE This chapter is valid for the local firmware of revision R1 x 5 1 HOST INTERFACE The M323 features a command interface and mailbox register provided for communication between the host and the local CPU The command structure resides at page 4 of the dual ported memory and the mailbox can be accessed via the control register on the M323 The command interface consists of a command field a result field and a parameter field Offset command command field result result field parmO parameter 0 parmi parameter 1 parm2 parameter 2 parm15 parameter 15 irgstat interrupt status The page register must be set to 4 The M323 can accept commands at any time provided that a previous requested operation is completed Before a command is given make sure the command field is empty no outstanding command present Then write the parameters if any to the parameter field After that the command must be written to the command field When a command is handled by the CPU return parameters if any are stored in the parameter field the result is updated in the result field and finally the command field is cleared by the CPU The CPU is ready to accept new commands For a complete overview of the available commands and the usage refer to section 5 2 AcQuisition Technology bv Box 627 5340 AP Oss The Netherlands Page 23 of 42 Artisan Technology Group Quality I
42. sion 1 1 Copyright statement Copyright 2002 by AcQuisition Technology bv OSS The Netherlands All rights reserved No part of this publication may be reproduced transmitted transcribed stored in a retrieval system or translated into any language in any form or by any means without the written permission of AcQuisition Technology bv Disclaimer The information in this document has been carefully checked and is believed to be entirely reliable However no responsibility is assumed for inaccuracies AcQuisition Technology does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others AcQuisition Technology products are not designed intended or authorized for use as components in systems intended to support or sustain life or for any other application in which the failure of an AcQuisition Technology product could create a situation where personal injury or death may occur including but not limited to AcQuisition Technology products used in defence transportation medical or nuclear applications Should the buyer purchase or use AcQuisition Technology products for any such unintended or unauthorized application the buyer shall indemnify and hold AcQuisition Technology and its officers employees subsidiaries affiliates and distributors harmless against all claims costs damages and expenses and reas
43. t The CLRIRQSTAT function is running as critical code with interrupts disabled Additionally the definition file m323lib h contains type definitions for each available command compatible with the command structure template however elements are referenced by name and the size is limited to the number of parameters actually used int size Size of the provided command structure in bytes Note that the size must be at least equal to the size of the command field result field and the number of parameters input or output whichever are the most For an optimal size use the sizeof ANSI C macro Returns APIS error code or M323 library error code AcQuisition Technology bv P O Box 627 5340 AP Page 38 of 42 Oss The Netherlands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 m323 i rq h M323 Interrupt Service Routine Syntax int m323_irgh APIS_HANDLE apisHandle M323_DEV device Description The interrupt handler will clear the interrupt request of the M323 The module s interrupt status will be saved in device gt irqstat Arguments APIS HANDLE apisHandle APIS handle the APIS handle can be obtained from the M323 device handle device apis handle M323 DEV device Pointer to M323 device Returns If the interrupt was caused by the module 0 is returned otherwise 1 is returned 6 5 SOFT
44. t request When asserted an interrupt request to the local CPU MC68332 will be made HIRQ Host Interrupt Request This bit reflects the state of the host interrupt line one 1 means asserted Writing a one 1 to this location clears the pending interrupt AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 19 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 4 6 5 IDENTIFICATION EEPROM The identification of an M module is implemented using a serial EEPROM with a 64 16 word organisation The industry standard component 93C46 is used in order to make the identification compatible throughout the complete range of available modules Access to the identification EEPROM takes place through the following register EEPROM Offset OxFE o ii 4 3 2 1 0 L__motused_ _ reset 0 0 0 X Read Write CS Chip Select This bit corresponds to the chip select input of the EEPROM CLK Clock This bit corresponds to the clock input of the EEPROM DI O Data input output This bit corresponds to the data input of the EEPROM when writing and data output of the EEPROM when reading For information on controlling the EEPROM refer to the NM93C46 data sheets A software example can be found in the file ideeprom c that is part of the software distribution For information on the memory organizat
45. th a defined pre processor macro for selection of the used platform The APIS header file contains generic APIS definitions and includes a platform specific header file according to the platform selection macro APIS calls are translated to the platform specific calls in the APIS header file and the platform specific definition file platform_apis h platform is a name that identifies a hardware and operating system combination e g i40000s9 The macro PLATFORM must be defined either via a pre processor definition provided at compile time or via a macro definition in the application source AcQuisition Technology bv P O Box 627 5340 AP Oss The Netherlands Page 33 of 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com M323 Quadrature Incremental Encoder M module User Manual Version 1 1 6 1 3 CODE GENERATION APIS based example software is available in ANSI C source code Source code files must be compiled with the pre processor definition PLATFORM set to a valid value conforming the target platform Building of the example software for the M323 is platform dependent for details refer to the release notes of the APIS support package of the target platform and the APIS Programmer s Manual Examples of APIS supported platforms are i40000s9 i2000dos i3000win etc 6 2 TYPE DEFINITIONS AND STRUCTURES The table below contains a list and description of all types and structures us
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