XMC 4000
32-bit Microcontroller Series for Industrial Applications
D elta Sigma Demodul ator (DSD)
AP32302
Application Note
About this document
Scope and purpose
This document describes the features of the Delta Sigma Demodulator (DSD) peripheral for the XMC4000
microcontroller family. This document also describes how to configure the DSD for a number of use cases
such as high resolution measurement, fast overcurrent detection and resolver interface.
Applicable Products
XMC4000 Microcontrollers Family
References
Infineon: Example code: http://www.infineon.com/XMC4000 Tab: Documents
Infineon: XMC Lib, http://www.infineon.com/DAVE
Infineon: DAVE™, http://www.infineon.com/DAVE
Infineon: XMC Reference Manual, http://www.infineon.com/XMC4000 Tab: Documents
Infineon: XMC Data Sheet, http://www.infineon.com/XMC4000 Tab: Documents
V1.0
1
2015-07
Delta Sigma Demodulator (DSD)
AP32302
Table of Contents
Table of Contents
About this document .....................................................................................................................1
Table of Contents ..........................................................................................................................2
1
1.1
1.2
Delta Sigma (ΔΣ) Basics .................................................................................................3
Delta Sigma Modulator ....................................................................................................................... 3
Delta Sigma Demodulator .................................................................................................................. 5
2
2.1
2.2
XMC DSD implementation ..............................................................................................6
XMC DSD Unit overview ....................................................................................................................... 6
XMC DSD Unit Connections ................................................................................................................. 7
3
3.1
3.2
3.2.1
3.2.2
3.2.3
CIC Filter ......................................................................................................................8
CIC Filter configuration ....................................................................................................................... 8
Use case: High resolution ADC measurement .................................................................................. 10
XMC Lib configuration ................................................................................................................. 10
Initialization ................................................................................................................................ 10
Function implementation ........................................................................................................... 11
4
4.1
4.2
4.3
4.3.1
4.3.2
4.3.3
Timestamp and Offset ................................................................................................. 12
Timestamp implementation ............................................................................................................. 12
Offset implementation ...................................................................................................................... 12
Use case: Extrapolation of ADC result using a timestamp ............................................................... 12
XMC Lib configuration ................................................................................................................. 13
Initialization ................................................................................................................................ 14
Function implementation ........................................................................................................... 14
5
5.1
5.2
5.3
Auxiliary Filter with Comparator .................................................................................. 15
Auxiliary Filter implementation ........................................................................................................ 15
Comparator implementation ........................................................................................................... 15
Use case: Fast overcurrent detection ............................................................................................... 16
6
6.1
6.2
Triggered Measurement .............................................................................................. 17
Fixed and variable integration window ............................................................................................ 17
Use case: Periodic measurement with fixed window ...................................................................... 18
7
7.1
7.2
7.3
7.4
7.4.1
7.4.2
7.4.3
Resolver Support ........................................................................................................ 19
Carrier generation and ΔΣ ADC synchrony ...................................................................................... 20
Rectification and delay compensation ............................................................................................. 21
Integration and synchronization ...................................................................................................... 22
Use case: Resolver analysis ............................................................................................................... 23
XMC Lib configuration ................................................................................................................. 24
Initialization ................................................................................................................................ 25
Function implementation ........................................................................................................... 26
8
Revision History .......................................................................................................... 27
Application Note
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V1.0, 2015-07
Delta Sigma Demodulator (DSD)
AP32302
Delta Sigma (ΔΣ) Basics
1
Delta Sigma (ΔΣ) Basics
The delta-sigma (ΔΣ) principle is a digital signal processing method for encoding analog signals into digital
signals. It consists of a delta-sigma modulation (DSM) for encoding analog signals into a bitstream, as found
in an ADC, and the delta-sigma demodulation (DSD) for encoding the bitstream into a data word, as found in
the XMC microcontroller.
Delta Sigma ADC (DSADC)
PROBE
Optional: Decoupling
DSM
Channel x
Clock fs [MHz]
A+
Analog
Intput
XMC4500
DSD
Delta Sigma
Modulator
(Ananlog
Frontend)
UIN
A-
D15
Delta Sigma
Demodulator
(Digital
Filter)
Tp
Digital
Output
D0
Bit Stream Mdat
= (1/Tp)mean = k * UIN [bits/]
DEV_DSD_01_Delta_Sigma_ADC_Principle.vsd
Figure 1
Delta Sigma ADC (DSADC) Principle
Compared to other ADC methods like successive-approximation-register (SAR) the ΔΣ ADC is more flexible in
terms of dynamics and resolution. Also, this method can be used for very high resolution sampling. Due to
the state of data as bitstream the connection can easily be isolated. This can be used for safety isolation to
protect against human shock, or functional isolation to level shift between nonlethal voltages.
1.1
Delta Sigma Modulator
A Delta Sigma Modulator converts an analog input signal (Vin) to a digital output Bitstream. The bit density
(Mdat bits/s) is proportional to the analog mean value. This is given by the equilibrium condition ∆V=0 at the
integrator input, where the analog signal is balanced to the feedback of impulse quanta (Vref* tp) from the
output Bitstream.
DV – Criteria on finite operation conditions:
fp Average Value =
(1/T) = Vin / Vref * Mclk
(Vin - 0) * (T - tp) + (Vin - Vref) * tp = 0
ANALOG IN
Pos. [Vs] Area
+ Neg. [Vs] Area = 0
DIGITAL OUT
Quantification
Timing Error
Vin = Mean Value of
Vin(t) within T
Vin(t)
Vin
-Vref
t
T
1
0
t
T - tp
T - tp
tp
Integrator
Vin_max (here: ”Vref”)
Vin
+
S
- DV
tp
Comparator
D 0
Clk 1
0
tp
T - tp tp
fp Average
~ Analog Average Value
Quantizer
1
VS
D Q
Latch
Vref
1-bit DAC
tp
1
Q 0
1
Negative Feed-Back
tp = 1/Mclk
Saturation
0
Saturation
Bitstream
Q
0
Quantification
t
T - tp
t
Vin_min (here: ”0")
Modulation Clock
D-Latch (in) =
Comparator(out)
Comparator
VS Threshold
DV = Vin(t)-Vref(t)
Vin
Vin(t)
Mdat: Bitstream Density (1/T)
&
Mdat
A
D
Mclk
Mclk
Delta - Sigma - Modulator
Vin_max (here: ”Vref”)
Vin(t)
DEV_DSD_01_Delta_Sigma_Modulation.vsd
Figure 2
Vin_min (here: ”0")
Delta Sigma Modulator – 1 Order
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
Delta Sigma (ΔΣ) Basics
A 2nd order (or higher) DSM is more precise than a 1st order DSM. It can process input signals at a higher
bandwidth and at a lower clock rate. The output from a 2nd order DSM has less noise and is much closer to
the ideal pulse proportion output signal. In particular, a 2nd order DSM significantly avoids “non-random”
noise.
Integrator
Vin1
+
S
-
Integrator
Vin2
+
Comparator
Mdat
S
-
Quantizer
D Q
Latch
Q
Vref
Vref
ANALOG IN
0
0
tp
tp = 1/Mclk
Modulation Clock
1-bit DAC
tp
Negative Feed-Back
DIGITAL OUT
&
A
tp = 1/Mclk
D
Mclk
Mclk
Delta – Sigma – Modulator (2nd Order)
DEV_DSD_01_2nd_Order_Delta_Sigma_Modulation.vsd
Figure 3
Delta Sigma Modulator – 2 Order
nd
To reconstruct a signal, the sampling frequency (fs) needs to be more than double signal frequency (fNyquist).
fs > 2* fNyquist
This provides anti-aliasing. Due to the delta sigma method the sampling frequency is factors higher than the
signal frequency.
DS-ADC frequency components
SAR-ADC frequency components
fNyquist
”Undesired”
Bit
Stream
PCM
f
”Desired”
Figure 4
”Desired”
fs = 2 * fNyqvist
(fNyquist’) fNyquist
fs /N
fs /2
”Undesired”
f
fs =N * (fNyqvist’)
(N = ”Oversampling” Ratio)
ΔΣ ADC- Oversampling
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
Delta Sigma (ΔΣ) Basics
1.2
Delta Sigma Demodulator
The Delta Sigma Demodulator (DSD) task is to extract the analog information out of a bitstream. For this
purpose the essential parts are generally a digital decimation filter - and optionally data refinement.
Figure 5 Delta Sigma Demodulator Filter shows the digital filter structure of a Cascaded Integrator-Comb
(CIC) filter -without data refinement. These type of filters are defined by the cascade stage (k) and the
decimation factor (N). These factors influence the filter characteristics: response time, resolution, output
period and filter group delay.
k-stage Cascaded Integrator-Comb (CIC) filter
Input
Output
fs
Bit Stream
x(n)
Figure 5
1
1 – z -1
1
1 – z -1
1. Integrator
k. Integrator
N
Decimator
1 – z -1
1 – z -1
1. Differentiator
k. Differentiator
fs / N
Result
y(m)
Delta Sigma Demodulator Filter
When the filter is cleared a new valid value is available after the filter response time (Tr). The response time
can be calculated by:
After the filter output period (TOut) a new valid value is available in the result register. This time can be
calculated by:
The resolution in bits (pK) can be calculated by the following equation. Note that the sign bit is included in
the calculation.
The filter group delay (TG) in the steady state can be calculated by:
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
XMC DSD implementation
2
XMC DSD implementation
The delta sigma demodulator (DSD) unit in the XMC4000 family offers 4 DSD channels. Each channel can be
connected to standard external delta sigma modulators via selectable bit stream inputs and clock input or
output. There are configurable CIC filters with decimation rates of 4 - 256, offset compensation, fast limit
checking and facilities for resolver applications such as a carrier generator.
Delta Sigma Demodulator Module
DSD Channel
Carrier Generator
Figure 6
Delta Sigma Demodulator Module
2.1
XMC DSD Unit overview
Each DSD channel has a dedicated Main Filter with an associated Auxiliary Filter in parallel. The Main Filter
intend for high resolution results and provides an Integrator and a Rectifier for data refinement (such as
noise or carrier rejection). The parallel Auxiliary Filter (Aux Filter) is intend for a fast reaction and provides
fast limit checking by an upper-lower boundary comparator.
The Rectify and Integrator unit after the Main Filter and the Comparator after the Auxiliary Filter can be
disabled and bypassed. If they are disabled, the output form the Main and Auxiliary filter is stored in the
respective result register.
Delta Sigma Demodulator Channel
Input
Clock
fs [MHz]
Bit Stream
Mdat [bits/s]
Main
CIC
Filter
Rectify
|a|
Integrator
Result
Handling
S
R
Sign
Signal
Auxilary
CIC
Filter
Comperator
Result
Handling
R
DEV_DSD_01_Delta_Sigma_Demodulation_Channel.vsd
Figure 7
DSD Channel
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
XMC DSD implementation
2.2
XMC DSD Unit Connections
A DSD channel bit stream input (DINxA/-B) and the Modulator Clock Input/Output (MCLKxA/-B) are routed to
GPIOs. The Trigger Signal Input ITRx [A...D] is routed via the Event Request Unit 1 (ERU1). This offers a trigger
signal from a Timer, a GPIO, or a conditional trigger signal. Additionally, the rectification signal SIGNA/B for
the Rectifier is also routed through the ERU1.
The Carrier Patten Generator is routed to the GPIOs and the Carrier Sign Signal is routed to the Rectify unit.
The Service Request Main output (SRMx) is linked to NVIC interrupts and GPDMA service providers and the
corresponding Service Request Auxiliary (SRAx) is linked only to the NVIC interrupt network.
ERU1
Trigger Signal
Inputs
ITRx[A...D]
ERU1
Sign Input
SIGNA/B
Bitstream Inputs
DINxA/-B
Modulator Clocks
GPIO
Carrier Signal
GPIO
Carrier Sign
GPIO
Input
Control
MCLKxA/-B
fsys
Figure 8
Carrier Generator
Main CIC Filter
Integrator & Rectifier
Timestamp
Main CIC Result
Auxilary CIC Filter
Comperator
Aux CIC Result
GPDMA req.
Service
Req:s
GPIO
fC PG
SRMx
DMA
NVIC
SRMx
SRAx
DSD interconnection
The bit stream input and the modulator clock is connected to the Main CIC Filter and the Auxiliary CIC Filter.
The trigger signal input is connected to the Integrator and the Timestamp. A timestamp trigger stores
information from the Main CIC Filter, the Main CIC Result and the Integrator. The Auxiliary CIC Filter and Main
CIC Filter are routed to the respective result registers. Alternatively the Main CIC Filter can be routed to the
Integrator & Rectifier and then to the Main CIC Result. The sign signal for the Rectifier can come from the
Carrier Generator or from SGNA/B.
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
CIC Filter
3
CIC Filter
The DSD channel Cascaded Integrator-Comb (CIC) filters, Main CIC Filter and Auxiliary CIC Filter, can be
enabled for “CICk” characteristics. Where k is in range of k=1-3 or F for CIC1, CIC2, CIC3 or CICF. The decimation
factor can be selected from 4-256 in the Main CIC Filter and from 4-32 in the Auxiliary CIC filter.
3.1
CIC Filter configuration
A higher filter stage increases the resolution but also increase the response time. The demodulator filter
stage should be higher than the modulator stage. The decimation factor has influence on the resolution, the
response time and the filter output period. A higher decimation factor increases the resolution but also
increases the response time and the filter output period.
Influence of Decimation factor
Influence of Filter type
Resolution
higher
higher
Figure 9
CIC 2 CIC F CIC 3
&
Output Period
faster
faster
CIC 1
Responsetime
Resolution
Responsetime
Filtertype
4
32
256
Decimation factor
Filter configurations overview
The following table shows the filter calculations for a sampling frequency of 10MHz. The calculations are
based on the formulas in 1.2 Delta Sigma Demodulator.
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
CIC Filter
Table 1
Common filter configurations
Filter type Decimation factor Response time (Tr)
(N)
CICk
[µs]
Filter output period Resolution (pK)
(TOut) [µs]
[Bit]
CIC²
16
3.2
1.6
9
32
6.4
3.2
11
64
12.8
6.4
13
128
25.6
12.8
15
256
51.2
25.6
17
16
4.8
1.6
13
32
9.6
3.2
16
64
19.2
6.4
19
128
38.4
12.8
22
256
76.7
25.6
25
16
3.4
1.6
9
32
6.6
3.2
11
64
13.0
6.4
14
128
26.0
12.8
16
256
52.0
25.6
18
CIC ³
CIC
F
Note: The XMC DSD provides a 16bit result register. Due to filter type and decimation factor a resolution over
16bit can be achieved. To avoid overflow, the result is automatically shifted based on the decimation
factor and filter type.
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
CIC Filter
3.2
Use case: High resolution ADC measurement
Some applications require an ADC resolution higher than 12bit. For these cases, the DSD ADC has a 16 bit
result register.
If the DSM provides a higher resolution than 16bit the XMC DSD can also be configured to support this higher
resolution. To avoid an overflow, the result is automatically shifted based on the decimation factor and filter
type to a 16bit value.
In the following example, there is no additional data refinement such as an auxiliary filter or integrator.
An external two stage delta sigma modulator with 16bit resolution, 14bit accuracy and 10MHz sample
frequency is used.
The Main CIC Filter is configured as CIC³ to match the two stages modulator. The dynamic of the measured
signals allows a slower response time and a 16bit resolution can be achieved with a smaller decimation
factors. The decimation factor is set to 32. This will lead to a 16bit resolution, a response time of 9.6µs and a
filter output period of 3.2µs.
The 10MHz clock signal is generated from the external modulator. The modulator clock input and sample
frequency are equal. The Data is sampled at rising clock edge.
3.2.1
XMC Lib configuration
In this example the XMC4400 peripheral clock frequency is 120MHz. The clock is provided by an external
device, therefore the clock_source is XMC_DSD_CH_CLOCK_SOURCE_A and the clock_divider configuration
has no influence. The external clock and the bit stream have the same frequency. Therefore a strobe of
XMC_DSD_CH_STROBE_DIRECT_CLOCK_RISE is used.
The decimation factor of 32 together with the filter type XMC_DSD_CH_FILTER_TYPE_CIC3 fulfills the
request of 16bit resolution with a good accuracy. With different start_values two or more filters can be
shifted to each other. This is not necessary in this example therefore the decimation factor is used.
The offset can be used to compensate a HW offset. By default there is no compensation.
XMC_DSD_CH_FILTER_CONFIG_t filter_1 = {
.clock_divider = XMC_DSD_CH_CLK_DIV_2,
.clock_source = XMC_DSD_CH_CLOCK_SOURCE_A,
.data_source = XMC_DSD_CH_DATA_SOURCE_A_DIRECT,
.decimation_factor = 32U,
.filter_start_value = 32U,
.filter_type = XMC_DSD_CH_FILTER_TYPE_CIC3,
.offset = 0U,
.result_event = XMC_DSD_CH_RESULT_EVENT_DISABLE,
.strobe = XMC_DSD_CH_STROBE_DIRECT_CLOCK_RISE,
} ;
3.2.2
Initialization
In this example, the DSD_CH0 is configured with the filter_1 configuration specified in the previous section.
The initialization sequence is important. Make sure that the DSD is enabled before the Main Filter is
initialized. The GPIO ports should be initialized after the filter initialization.
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
CIC Filter
XMC_DSD_Enable(DSD);
XMC_DSD_EnableClock(DSD);
XMC_DSD_CH_MainFilter_Init(DSD_CH0,&filter_1);
After initialization the module can be started.
Note: If two filters are used simultaneously both should be started with one function call (for example:
XMC_DSD_CH_ID_0| XMC_DSD_CH_ID_1).
XMC_DSD_Start(DSD,XMC_DSD_CH_ID_0);
3.2.3
Function implementation
The result can now be readout in a loop. Remember that the result is updated every 3.2µs due to the clock
input and decimation factor.
XMC_DSD_CH_GetResult(DSD_CH0,&result0);
Application Note
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AP32302
Timestamp and Offset
4
Timestamp and Offset
The sampling frequency of a ΔΣ ADC is many times less than an SAR ADC. This is due to the system structure
and the lower sample frequency. Due to external components the data can be contain a constant offset. In
this case this offset has to be subtracted to gain the correct data.
4.1
Timestamp implementation
In many applications, the measured ADC data needs to available at a pre-determined frequency. This
frequency might be out of sync with the ΔΣ ADC cycle so that data needs to be extrapolated.
Therefore it is necessary to know the last valid result and the age of the result.
For this use case the XMC DSD provides a Timestamp function. The last result, the decimation counter (dcount)
and the integration counter (icount) are stored in the timestamp register when a trigger occurs. (See: Figure 8
DSD interconnection).
With decimation factor (N) the age of the result can be calculated in DSD clock cycles:
4.2
Offset implementation
In some applications a permanent offset is added to the result. The XMC DSD provides the possibility to
subtract a 16bit signed offset value before the data is stored into the result register. This subtraction is done
in hardware so there is no load added to the CPU.
4.3
Use case: Extrapolation of ADC result using a timestamp
The main program cycle time is 10µs so an ADC value is required in this period. The configured output
period is 3.2µs so jitter is introduced if there is no synchronization. To avoid jitter based on the DSD filter
output period and the program cycle time, the ADC data needs to be extrapolated. Also a known offset of
100mV has to be subtracting from the result.
The CCU40.CC40 timer is used to trigger the timestamp of the DSD every 10µs. The timer also triggers an
interrupt service routine which reads the timestamp register. The age of the result is calculated using the
formula in section above.
The offset is 100mV, the input range in the used hardware is ±2.5V, and the resolution is configured to 16bit
signed. This leads to an offset of (int16_t) 1310.
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
Timestamp and Offset
4.3.1
XMC Lib configuration
Main filter configuration
The Main filter configuration is the same as in section 3.2Use case: High resolution ADC measurement is
reused. But the timestamp function and an offset of 1310 is added. This offset is automatically subtracted
from the result.
XMC_DSD_CH_FILTER_CONFIG_t filter_1 = {
.clock_divider = XMC_DSD_CH_CLK_DIV_2,
.clock_source = XMC_DSD_CH_CLOCK_SOURCE_A,
.data_source = XMC_DSD_CH_DATA_SOURCE_A_DIRECT,
.decimation_factor = 32U,
.filter_start_value = 32U,
.filter_type = XMC_DSD_CH_FILTER_TYPE_CIC3,
.offset = 1310U,
.result_event = XMC_DSD_CH_RESULT_EVENT_DISABLE,
.strobe = XMC_DSD_CH_STROBE_DIRECT_CLOCK_RISE,
} ;
Timestamp configuration
The trigger_mode configures the timestamp to react on rising edge. With the trigger source A on the
XMC4400 the ERU1.PDOUT1 is selected. A timer triggers the DSD through the ERU. The ERU and Timer
(CCU4) configurations are described in the respective Application Notes.
XMC_DSD_CH_TIMESTAMP_CONFIG_t timestamp_1= {
.trigger_mode = XMC_DSD_CH_TIMESTAMP_TRIGGER_RISE,
.trigger_source = XMC_DSD_CH_TRIGGER_SOURCE_A,
};
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AP32302
Timestamp and Offset
4.3.2
Initialization
In this example, the DSD_CH0 is configured with the filter_1 configuration defined in the previous section.
The initialization sequence is important. Make sure that the DSD is enabled before the Main Filter is
initialized. The Timestamp should be initialized after the filter initialization.
XMC_DSD_Enable(DSD);
XMC_DSD_EnableClock(DSD);
XMC_DSD_CH_MainFilter_Init(DSD_CH0,&filter_1);
XMC_DSD_CH_Timestamp_Init(DSD_CH0,×tamp_1);
After initialization the module can be started.
Note: If two filters are used simultaneously both should be started with one function call (e.g.
XMC_DSD_CH_ID_0| XMC_DSD_CH_ID_1).
XMC_DSD_Start(DSD,XMC_DSD_CH_ID_0);
4.3.3
Function implementation
The result can now be readout in a loop. Remember that the result is updated every 10µs due to the trigger
input.
XMC_DSD_CH_GetResult_TS_Time(DSD_CH0,&result0,&time0);
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
Auxiliary Filter with Comparator
5
Auxiliary Filter with Comparator
In some applications not only a high resolution but also a fast reaction is necessary. As described in section 3
CIC Filter the filter run and response time of a ΔΣ ADC system are influenced by the filter type and the
decimation factor. The two requirements of high resolution and fast reaction are conflicting because a
smaller filter stage (k) and lower decimation factor (N) decreases the filter response and run time but also
reduces the resolution.
5.1
Auxiliary Filter implementation
To meet this requirements two filters in parallel are implemented. One main filter, for normal operation, and
one auxiliary filter, with a fast reaction on invalid ADC values. The reaction time on an invalid ADC value can
be further decreased by checking the auxiliary filter result in hardware and then triggering an interrupt.
For this use case each XMC DSD channel provides an auxiliary filter in parallel to the main filter. The auxiliary
filter provides the same filter stages (k) as the main filter and offers a decimation factor from 4-32.
5.2
Comparator implementation
The result of the auxiliary can be checked in hardware against a boundary band and an event is triggered if
the result is outside or inside the band.
SAULx
Upper
Upper
Lower
Lower
SBLLx
Figure 10
SAULx
Upper
Result
Range
2n - 1
SBLLx
Result Outside Valid Band
SBLLx: Signal Below Lower Limit
Result Inside Valid Band
SAULx: Signal Above Upper Limit
Lower
Auxiliary Filter boundaries
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
Auxiliary Filter with Comparator
5.3
Use case: Fast overcurrent detection
This example uses the delta sigma modulator from 3.2 Use case: High resolution ADC measurement project.
Configurations are also the same. An auxiliary filter and a comparator are added.
In this example the ΔΣ ADC measures a phase current and an overcurrent needs to be detected in less than
2µs. To get a high resolution the main filter is configured as CIC³ with a decimation factor of 32. This leads to
a response time of 9.6µs and a filter output period of 3.2µs. The ΔΣ ADC can detect up to ±3A. Currents over
±2.5A are defined as overcurrent.
An auxiliary filter configured as CIC³ and a decimation factor of 4 has a response time Tr =1.2µs, a filter
output period TOut = 0.4µs and a resolution of 7bits. This leads to a safe detection in 1.6µs with a resolution of
0.05A.
Therefore, the boarders are set to UPPER= 53 (+2.5A) LOWER = -53 (-2.5A).
Main
Filter
Current
analysis
DSM
Auxiliary
Filter
Comperator
Main Filter
Legend:
On- chip hardware
Off- chip hardware
Figure 11
Interrupt
overcurrent
reaction
Auxiliary Filter
Filtertype:
CIC³
Filtertype:
CIC³
Decimation:
32
Decimation:
4
Response time:
9.6 µs
Response time:
1.2 µs
Filter run time:
3.2 µs
Filter run time:
0.4 µs
Resolution:
16 bit
Resolution:
7 bit
DSD Main and Auxiliary filter configuration
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
Triggered Measurement
6
Triggered Measurement
The ΔΣ ADC is very well suited for continuous signal measurement. However, in some applications only a
small measurement window is available, or the measurement has to be synchronized.
6.1
Fixed and variable integration window
The XMC DSD provides trigger functionality in the integrator stage. This allows the measurement to be
started with a rising or falling edge of the trigger. Depending on the application the integration window can
be fixed by the number of results or can vary depending on the length of the trigger.
Integrated
Values
Discarded
Valid
Idle
Idle
V
t
Trigger
t
Repetition
2
R
3
1
0
t
Figure 12
Triggered measurement with fixed window
Figure 12 shows a Triggered measurement with a fixed window. A trigger clears the filter and the integrator.
At the same time it starts a new measurement. First a user defined number of filter results are discarded
(discarded window). This allows to blank the filter response time and to add an additional delay. The filter
response time depends on the filter type. After the discarded window the integration window starts. A user
defined amount of filter results [V] are integrated. When this number is reached a new data is available in the
result register. This also increases the repetition counter [R]. After a user defined number of repetition the
integration stops.
Integrated
Value
Discarded
Idle
Valid
Idle
V
0
t
Trigger
t
Figure 13
Triggered measurement with variable window
Different from a fixed window, a triggered measurement with a variable window repeats the measurement
not based on the repetition counter but on the end of the Trigger. Therefore the integration repetition is
variable. Is the window closed by the trigger, the filter and the integrator are cleared. If the trigger ends in
the middle of integration, the result from the last full integration is available in the result register.
Application Note
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V1.0, 2015-07
Delta Sigma Demodulator (DSD)
AP32302
Triggered Measurement
With both methods up to 64 main filter results can be integrated to one integration result. To avoid overflow
the integration result is automatically shifted right by 6 bits (divided by 64) independent of the number of
integrated values.
6.2
Use case: Periodic measurement with fixed window
This example uses the same delta sigma modulator configuration from the 3.2 Use case: High resolution ADC
measurement. An integrator stage and an integrator start trigger are added.
In this example, the signal measured by the ΔΣ ADC has a noise pulse that occurs periodically at 15 kHz. A
trigger marks the beginning of the noise which lasts for a maximum for 2 µs. One measurement has to be
done after each noise pulse. To blank the noise pulse the ΔΣ ADC is started via the trigger and stopped after
one measurement.
For this use case the CIC³ is used to meet the DSM requirements. A decimation factor of 16 leads to a filter
output period of 1.6 µs, a response time of 4.8 µs and a resolution of 13 bit.
To keep a good resolution and to increase the accuracy, 32 of these 13 bit results are summated by the
integrator. This leads to a new filter output period of 51.2 µs and a resolution of 12 bit. The resolution is
decreased due to the shift after integration but the accuracy is increased due to the integration.
To avoid influence of the noise the filter is reset with the trigger. To meet the response time of 4.8µs, the first
three values are discarded. Additionally this feature can blank the noise while the trigger is generated with
the start of the noise. In this use case the noise pulse last for 2µs and the filter rune time is 1.6µs, when two
additional two values are discarded the noise pulse is secure blanked.
With this filter configuration a result is generated 59.2µs after trigger.
Application Note
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AP32302
Resolver Support
7
Resolver Support
A resolver is a feedback system for an absolute angle, for example in a motor control application. In general
a resolver has three coils where either one or two coils are extended and the remaining coils are measured.
This Application Note covers a single excitation and dual measurement.
Resolver
Carrier
Generator
Amplifier
primary
coil
cosine- coil
DSD
Channel
Angle
calculation
DSM
sinecoil
DSD
Channel
Figure 14
DSD Resolver Support
In this concept the primary coil is excited by a carrier generator with an AC voltage. This voltage is
transmitted to a rotor. In the next step it is transmitted from the rotor to two 90° shifted coils (sine and
cosine) where the ratio is angle depending. This leads to an angle depending amplitude of the carrier signal
in the sine and cosine coil. An arc tangent (arctan) calculation of the sine and cosine amplitude will result in
an angle.
While the primary coil is excited with an AC voltage, this AC signal is multiplied with the amplitude of the
sine and cosine coil. This means the excitation signal has to be canceled out.
Signal after main filter
Signal after rectifier
Signal after integrator
Legend:
Digital value
Target envelope
Figure 15
Signal shapes
Figure 15 shows the target envelope and the digital value after the specific part of the DSD for one
mechanical rotation. To achieve the target envelope the data needs to be rectified and integrated.
Application Note
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Resolver Support
Different concepts about the integration length exist. In this example the integration is done over a half
carrier wave. A full period would additionally eliminate an offset error but the filter output period is longer.
When the excitation is canceled, the angle can be calculated with an arctan function or a PLL approach.
7.1
Carrier generation and ΔΣ ADC synchrony
With the DSD module, the XMC controller provides a carrier signal and full carrier cancelation in hardware.
Therefore the carrier generator can generate rectangle, triangle or a sine wave with the frequency range of
3.7 to 58 kHz at 120 MHz CPU clock. The carrier generator provides a bit reverse counting for a higher
switching rate. Most resolvers are specified at 10 kHz.
Resolver
Carrier
Generator
PWM
Amplifier
primary
coil
cosinecoil
Signed signal
= 0°
90°
180°
Carrier Generator
sinecoil
Waveform:
Output frequency:
3.7 – 58kHz
=
@120MHz CPU
Figure 16
0°
90°
180°
Carrier Generator overview
The sine and cosine amplitudes are sampled by an external DSM and the bit stream is provided for the DSD.
The synchrony between DSD, DSM and carrier generator is mandatory. If they are not synchronized there is
jitter in the result even at a standstill. For this synchronization the DSD XMC provides two options:
A carrier generator with a clock signal for the DSM or a clock and sign signal input from an external device.
Carrier Generator on chip
Carrier Generator off chip
Resolver
Carrier
Generator
DSD
Channel
Amplifier
Resolver
Carrier
Generator
primary
coil
cosinecoil
DSD
Channel
data
Amplifier
cosinecoil
data
DSM
data
DSD
Channel
primary
coil
DSM
data
sinecoil
DSD
Channel
clock
sinecoil
clock
Legend:
XMC hardware
Off- chip hardware
Figure 17
Carrier Generator and DSM synchronization
Application Note
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Delta Sigma Demodulator (DSD)
AP32302
Resolver Support
7.2
Rectification and delay compensation
After the main filter the sine and cosine amplitudes with the overlaid carrier signal are provided. With the
rectification unit of the DSD the signals are rectified in hardware.
Main
Filter
Integrator
0°
90°
180°
Rectify
Filter
output:
Sign
signal:
Rectifier
output:
Figure 18
Rectification
For this either the sign signal from the carrier generator can be used, or if an external carrier generator is
used, the sign signal can be fed in externally.
Rectification delay
The carrier generator provides the carrier signal and the sign signal.
The sign signal is directly connected to the DSD channel. The carrier signal however, has to pass the
amplifier, the resolver and the Delta Sigma Moderator before it reaches the DSD channel. This creates a
delay between the signal and the sign signal.
Carrier
Generator
Angle
calculation
Amplifier
DSM
DSD
2
3
Timing
Carrier generator
Figure 19
2
Resolver
Timing
DSD
Rectification delay
This delay, if not compensated, leads to an incorrect rectification. Figure 19 shows a delay between carrier
generator and data. In this example a delay of three filter results is shown. These results in 6 wrong rectified
Application Note
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AP32302
Resolver Support
values, they are red marked in the Figure 19. The values are negative instead of positive which leads to a
reduced integration.
The error is visible after an integration of a measurement with and without rectification error.
The left diagram in Figure 20 shows the measurement with rectification errors. The right diagram shows the
measurement without rectification errors. The maximum value for the integration is reduced. While the
rectification error affects the sine and cosine signal equally the calculated angle is right, but the resolution is
reduced. The XMC DSD unit can capture this delay and provide hardware delay compensation
independently for each channel.
Angle calculation resolution
depending on integration result
Angle calculation
With delay
Figure 20
With delay
compensation
Angle resolution loss through rectification error
7.3
Integration and synchronization
The integration can be done in two different ways. In the continuous method the DSD is integrating
continuously. DSD cycle time is the filter output period. In most applications the DSD cycle time will not
match the main program cycle time. Therefore the actual angle can be extrapolated with the Timestamp
function. The Timestamp function is described in 4 Timestamp and Offset. The second solution is the
triggered method, here a trigger marks the start of the integration and the window size is either fixed or
variable via trigger length. This method is described in 6 Triggered Measurement.
Application Note
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AP32302
Resolver Support
V
Integration Window
t
New Result
New Result
Trigger
Timestamp
V
Integration Window
t
Trigger
Start Integration
Figure 21
New Result
Trigger
Start Integration
New Result
Resolver integration methods
7.4
Use case: Resolver analysis
A resolver is used as angle feedback system in a motor control application with Field Orientated Control
(FOC). The PWM Frequency of 15 kHz is used. The current control has to be done each second cycle,
therefore all 133µs a new angle has to be measured. To compensate the offset error and to provide the
highest accuracy a full carrier period will be integrated. The resolver needs to be excited with 10 kHz sine
wave with a tolerance of ±5 %. In this example a Modulator with 10 MHz sample frequency and 16 bit
resolution is used.
To synchronize the carrier generator, delta sigma modulator and demodulator, the carrier signal and the
clock for the delta sigma modulator are generated by the XMC. The carrier frequency is generated from the
XMC clock. A divider of 12 and 1024 steps per period will lead to a carrier frequency of 9.765 kHz. With
decimation factor of 16 and a modulator frequency of 10MHz exactly 64 main filter results fit in one carrier
period. This synchrony is mandatory to avoid chitter. As the requirement is to integrate over one complete
period the integration factor is also 64. Due to the modulator and to achieve high resolution, a CIC³ filter is
used. This main filter and integrator configuration leads to a filter response time of 4.8 µs, a filter update
time of 102.4 µs and a resolution of 13 bit.
For the integration the triggered method with fixed integration window is used. The start trigger occurs with
a period of 133 µs. Based on the filter response time of 4.8 µs 3 main filter results will be discarded and 64
integrated. This means the trigger has to occurs 107.2 µs before the phase current measurement for the FOC
ends. This guarantees a synchronization between current and angle measurement.
Application Note
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AP32302
Resolver Support
7.4.1
XMC Lib configuration
Main filter configuration
The clock is provided by the XMC. The bit stream frequency of the DSM is the half the received clock
frequency. Therefore the DSD provides a clock of 20 MHz. In this example the XMC4400 peripheral clock
frequency is 120 MHz so the clock_divider is XMC_DSD_CH_CLK_DIV_6. And the clock_source is
XMC_DSD_CH_CLOCK_SOURCE_INTERN. As data_source source A is selected. The decimation factor is 16
and the start value is also 16. The filter Type is set to CIC³ and no offset is added. The result event is enabled
to read the angle when a new result is ready. The DSM clock is set at double of the rate of the data clock and
the strobe XMC_DSD_CH_STROBE_DOUBLE_CLOCK_FALL is selected.
XMC_DSD_CH_FILTER_CONFIG_t filter_1 = {
.clock_divider = XMC_DSD_CH_CLK_DIV_6,
.clock_source = XMC_DSD_CH_CLOCK_SOURCE_INTERN,
.data_source = XMC_DSD_CH_DATA_SOURCE_A_DIRECT,
.decimation_factor = 16U,
.filter_start_value = 16U,
.filter_type = XMC_DSD_CH_FILTER_TYPE_CIC3,
.offset = 0U,
.result_event = XMC_DSD_CH_RESULT_EVENT_ENABLE,
.strobe = XMC_DSD_CH_STROBE_DOUBLE_CLOCK_FALL,
};
Integrator configuration
The relation between carrier generator and main filter is configured so that 64 main filter results occur in
one carrier period. One complete period has to be integrated, therefore counted_values are set to 64. When
a trigger occurs the main filter and integrator are reset. To blank the response time 3 values are discarded.
There will be only one measurement per trigger so integration_loop is 1. As trigger source A is selected. The
start condition is a rising trigger and it stops after the number of loops, which is 1.
XMC_DSD_CH_INTEGRATOR_CONFIG_t integ_1 ={
.counted_values = 64,
.discarded_values = 3,
.integration_loop = 1,
.integrator_trigger = XMC_DSD_CH_TRIGGER_SOURCE_A,
.start_condition = XMC_DSD_CH_INTEGRATOR_START_TRIGGER_RISE,
.stop_condition = XMC_DSD_CH_INTEGRATOR_STOP_END_OF_LOOPS,
};
Rectifier configuration
The rectification needs a sign source. The on chip carrier generator is used, so the sign_source is set to
XMC_DSD_CH_SIGN_SOURCE_ON_CHIP_GENERATOR. The relation between carrier generator and main
filter is configured so that 64 main filter results occur in one carrier period. Therefore the half_cycle is set to
64/2 = 32. The delay is specific to the hardware setup. In this example a delay of 3 was measured.
Application Note
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AP32302
Resolver Support
XMC_DSD_CH_RECTIFY_CONFIG_t rect_1 = {
.sign_source = XMC_DSD_CH_SIGN_SOURCE_ON_CHIP_GENERATOR,
.delay = 3,
.half_cycle = 32,
};
Carrier Generator
In this example the XMC4400 peripheral clock frequency is 120 MHz and target frequency is 10 kHz. Dividing
the peripheral clock frequency by 12288 gives a result of 9,7kHz, so the DSD is configured to
XMC_DSD_GENERATOR_CLKDIV_12288. The required wave form is a sine wave, so the mode is set as
XMC_DSD_GENERATOR_MODE_SINE. For a better sine shape the bit reverse mode is selected. The polarity is
set to normal.
XMC_DSD_GENERATOR_CONFIG_t generator_1 = {
.frequency = XMC_DSD_GENERATOR_CLKDIV_12288,
.mode = XMC_DSD_GENERATOR_MODE_SINE,
.bit_reverse = true,
.inverted_polarity = false,
};
7.4.2
Initialization
The DSD_CH0 is configured with the filter_1 configuration from the previous above. The initialization
sequence is important. Make sure that the DSD is enabled before the Main Filter is initialized. The
Timestamp should be initialized after the filter initialization.
XMC_DSD_Enable(DSD);
XMC_DSD_EnableClock(DSD);
XMC_DSD_CH_MainFilter_Init(DSD_CH0,&filter_1);
XMC_DSD_CH_MainFilter_Init(DSD_CH2,&filter_1);
XMC_DSD_CH_Timestamp_Init(DSD_CH0,×tamp_1);
XMC_DSD_CH_Timestamp_Init(DSD_CH2,×tamp_1);
Application Note
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Resolver Support
After initialization the module can be started. If two filters are used simultaneously both should be started
with one function call.
XMC_DSD_Start(DSD,XMC_DSD_CH_ID_0| XMC_DSD_CH_ID_2);
7.4.3
Function implementation
Both DSD channels create an event when there is a new result. For readout the channel 0 interrupt is
enabled.
NVIC_EnableIRQ(DSD0_M_0_IRQn);
In the interrupt service routine (ISR) the results can be stored.
#define result_ISR
DSD0_0_IRQHandler
void result_ISR(void)
{
XMC_DSD_CH_GetResult(DSD_CH0,&result0);
XMC_DSD_CH_GetResult(DSD_CH2,&result2);
}
After the results for sine and cosine are stored, the angle can be calculated. This can be done using the
arctan() function. Various arctan() calculations are available with different execution times and resolutions.
In a FOC motor control application the Cartesian to polar transformation function also provides an arctan()
calculation. For example, the Infineon MOTOR_LIB_Car2Pol() available in the motor_lib.c when using DAVE™
v4 Apps.
Application Note
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V1.0, 2015-07
Delta Sigma Demodulator (DSD)
AP32302
Revision History
8
Revision History
Current Version is V1.0, 2015-07
Page or Reference
Description of change
V1.0, 2015-07
Initial Version
Application Note
27
V1.0, 2015-07
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Edition 2015-07
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